Integrating Precision Relative Positioning into JASON/MEDEA ROV Operations

2006 ◽  
Vol 40 (1) ◽  
pp. 87-96 ◽  
Author(s):  
Brian Bingham ◽  
David Mindell ◽  
Thomas Wilcox ◽  
Andy Bowen
Keyword(s):  
System Design ◽  
Relative Position ◽  
Acoustic Noise ◽  
Estimation Theory ◽  
Proof Of Concept ◽  
Hydraulic Systems ◽  
Relative Positioning ◽  
Position Measurement ◽  
Data Product ◽  
Successful Integration

Advances in navigation continue to add precision and robustness to undersea operations. Two challenges limit navigation of the JASON/MEDEA two-vehicle ROV system: acoustic noise from JASON's hydraulic systems and lack of a direct relative position measurement between the two vehicles. This paper describes successful integration of the SHARPS ranging system—enabling precise relative positioning that is robust with respect to acoustic noise. We discuss four aspects of the installation: the capabilities of SHARPS as installed on the ROVs, the estimation theory predicted performance of the system design, the proof-of-concept navigation results from field deployments, and the operational utility of the SHARPS capability. The SHARPS installation integrates an important capability into the ROV system, enhancing the data product for science while adding safety and flexibility to the at-sea operations.

Active Vibration Absorption Using Delayed Resonator With Relative Position Measurement

1995 ◽  
Author(s):  
Nejat Olgac ◽  
Martin Hosek
Keyword(s):  
Relative Position ◽  
Primary Structure ◽  
Vibration Suppression ◽  
Control Force ◽  
Range Analysis ◽  
Position Measurement ◽  
Harmonic Force ◽  
Stability Range ◽  
Vibration Absorption ◽  
Active Vibration

Abstract A novel active vibration absorption technique, the Delayed Resonator, has been introduced recently as a unique way of suppressing undesired oscillations. It suggests a control force on a mass-spring-damper absorber in the form of a proportional position feedback with a time delay. Its strengths consist of extremely simple implementation of the control algorithm, total vibration suppression of the primary structure against a harmonic force excitation and full effectiveness of the absorber in a semi-infinite range of disturbance frequency, achieved by real-time tuning. All this development work was done using the absolute displacements of the absorber in the feedback. These displacement measurements may be difficult to obtain and for some applications impossible. This paper deals with a substitute and easier measurement: the relative motion of the absorber with respect to the primary structure. Theoretical foundations for the Delayed Resonator (DR) are briefly recapitulated and its implementation on a single-degree-of-freedom primary structure disturbed by a harmonic force is introduced utilizing both absolute and relative position measurement of absorber mass. Methods for stability range analysis and transient behavior are presented. Properties acquired for the same system with these two different feedback are compared. Relative position measurement case is found to be more advantageous in most applications of the Delayed Resonator method.

scholarly journals Design of Automated Robotic System for Draping Prepreg Composite Fabrics

Robotica ◽  
2020 ◽  
Vol 39 (1) ◽  
pp. 72-87 ◽  
Author(s):  
L.-P. Ellekilde ◽  
J. Wilm ◽  
O. W. Nielsen ◽  
C. Krogh ◽  
E. Kristiansen ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
System Design ◽  
Software Architecture ◽  
System Integration ◽  
Integrated System ◽  
Software Components ◽  
Proof Of Concept ◽  
Design And Implementation ◽  
Linear Actuators ◽  
Composite Fabrics

SUMMARYThis paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side, design and implementation of the software architecture are presented, along with necessary algorithms within sensor technologies and mathematical modeling. The essential system’s components were verified individually, and the entire integrated system was successfully validated in the Proof-of-Concept experiments, performed on an experimental physical model of the system.

scholarly journals Serverless Geospatial Data Processing Workflow System Design

2021 ◽  
Vol 11 (1) ◽  
pp. 20
Author(s):  
Mete Ercan Pakdil ◽  
Rahmi Nurhan Çelik
Keyword(s):  
Data Processing ◽  
System Design ◽  
Application Programming Interface ◽  
Geospatial Data ◽  
Proof Of Concept ◽  
The Public ◽  
Workflow System ◽  
Application Programming ◽  
Open Geospatial Consortium ◽  
Programming Interface

Geospatial data and related technologies have become an increasingly important aspect of data analysis processes, with their prominent role in most of them. Serverless paradigm have become the most popular and frequently used technology within cloud computing. This paper reviews the serverless paradigm and examines how it could be leveraged for geospatial data processes by using open standards in the geospatial community. We propose a system design and architecture to handle complex geospatial data processing jobs with minimum human intervention and resource consumption using serverless technologies. In order to define and execute workflows in the system, we also propose new models for both workflow and task definitions models. Moreover, the proposed system has new Open Geospatial Consortium (OGC) Application Programming Interface (API) Processes specification-based web services to provide interoperability with other geospatial applications with the anticipation that it will be more commonly used in the future. We implemented the proposed system on one of the public cloud providers as a proof of concept and evaluated it with sample geospatial workflows and cloud architecture best practices.

Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers

2014 ◽  
Vol 26 (2) ◽  
pp. 245-252 ◽  
Author(s):  
Katsuhiko Tabata ◽  
◽  
Toshiaki Iwai ◽  
Shigeki Kudomi ◽  
Yoshimichi Endo ◽  
...  
Keyword(s):  
Measurement System ◽  
Relative Position ◽  
Ultrasonic Waves ◽  
Automated Guided Vehicles ◽  
Position Measurement ◽  
Position Information ◽  
Distance Information ◽  
Position Accuracy ◽  
Improve Accuracy ◽  
Marker Distance

We have been developing a position measurement system for navigation of automated guided vehicles (AGVs) called SPARS. In this system, the AGV’s ultrasonic position measurement module communicates via ultrasonic waves with ultrasonic transponders that serve as land markers on a path to measure its relative position during travel. In previous studies, we conducted experiments and introduced improvements using the relative position between the AGV and land marker estimated from position information from a single land marker. It was found, however, that the ultrasonic communication S/N ratio decreases, lowering position accuracy, when the land marker distance and its direction angle are great. To solve this problem and improve accuracy, we examine position measurement based on distance information from two land markers.

Direct Position Control of Electro-Hydraulic Excavator

2018 ◽  
Author(s):  
Siavash Danaee ◽  
Jarmo Nurmi ◽  
Tatiana Minav ◽  
Jouni Mattila ◽  
Matti Pietola
Keyword(s):  
System Architecture ◽  
Hydraulic System ◽  
Position Control ◽  
Control Point ◽  
Point Of View ◽  
Test Case ◽  
Hydraulic Systems ◽  
Position Measurement ◽  
Physical Sensors ◽  
Accurate Position

Position measurement in the electro-hydraulic systems is feasible via the utilization of physical sensors. An improvement in technology has led to the manufacturing of high accurate position sensors for direct position control. This paper proposes utilization of direct position control in an electro-hydraulic system with a new hydraulic zonal system architecture implemented with Direct Driven Hydraulics. It was mentioned in early study that this hydraulic system architecture as a replacement for the traditional valve-based hydraulic systems, has higher energy efficiency rate. In this study, the simulation implementation and experimental verification of Direct Driven Hydraulics (DDH) will be investigated for a micro excavator test case from position control point of view. Results demonstrated that the implementation of DDH in an excavator case will lead to maximum 5 cm error in a single-cycle movement.

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