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A Modular Continuously Learning Control System For Thruster Based Autonomous Underwater Vehicles And Test Vehicle
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Book Synopsis A Modular, Continuously Learning Control System for Thruster-based Autonomous Underwater Vehicles and Test Vehicle by : Jeffrey Michael Pollard
Download or read book A Modular, Continuously Learning Control System for Thruster-based Autonomous Underwater Vehicles and Test Vehicle written by Jeffrey Michael Pollard and published by . This book was released on 2012 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques by : Tien Anh Tran
Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.
Book Synopsis Autonomous Underwater Vehicles by : Jing Yan
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Book Synopsis Advanced Model Predictive Control for Autonomous Marine Vehicles by : Yang Shi
Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Book Synopsis Introduction to Autonomous Manipulation by : Giacomo Marani
Download or read book Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.
Book Synopsis Underwater Robots by : Gianluca Antonelli
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Book Synopsis Autonomous Underwater Vehicles by : Sabiha Wadoo
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Book Synopsis Network-Based Control of Unmanned Marine Vehicles by : Yu-Long Wang
Download or read book Network-Based Control of Unmanned Marine Vehicles written by Yu-Long Wang and published by Springer Nature. This book was released on 2023-05-02 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.
Book Synopsis Controller Design for an Autonomous Underwater Vehicle by : Brian James Decker
Download or read book Controller Design for an Autonomous Underwater Vehicle written by Brian James Decker and published by . This book was released on 2006 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Underwater Robots by : Gianluca Antonelli
Download or read book Underwater Robots written by Gianluca Antonelli and published by . This book was released on 2006-06-13 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.
Book Synopsis Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy by : Chao Shen
Download or read book Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy written by Chao Shen and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing reliance on oceans, rivers and waterways in a spectrum of human activities have demonstrated the large demand for advanced marine technologies that facilitate multifarious in-water services and tasks. The autonomous underwater vehicle (AUV) is a representative marine technology which has been contributing continuously to many ocean-related fields. An elaborate control system is essential to AUVs. However, AUVs present difficult control system design problems due to their nonlinear dynamics, the unpredictable environment and the poor knowledge about the hydrodynamic coupling of the vehicle degrees of freedom. When designing the motion controller, the practical constraints on the AUV system such as limited perceiving, computing and actuating capabilities should also be respected. The model predictive control (MPC) is an advanced control technology that leverages optimization to calculate the control command. Thanks to the optimization nature, MPC can conveniently handle the complex nonlinearity in system dynamics as well as the state and control constraints. MPC takes the receding horizon control paradigm which gains satisfactory robustness against model uncertainties and external disturbances. Therefore, MPC is an ideal candidate for solving the AUV motion control problems. On the other hand, since the optimization is solved by iterative numerical algorithms, the obtained control signal is an implicit function of the system state, which complicates the characterization of the closed-loop properties. Moreover, the nonlinear system dynamics makes the online optimization nonlinear programming (NLP) problems. The high computational complexity may cause an issue on the real-time control for embedded platforms with limited computing resources. In order to push the advanced MPC technology towards real-world AUV applications, this PhD dissertation is concerned with fundamental AUV motion control problems and attempts to address the aforementioned challenges and provide novel solutions. This dissertation proceeds with Chapter 1 by providing state-of-the-art introductions to related research areas. The mathematical model used for the AUV motion control is elaborated in Chapter 2. In Chapter 3, we consider the AUV navigation and control problem in constrained workspace. A unified receding horizon optimization framework consisting of the dynamic path planning and the nonlinear model predictive control (NMPC) tracking control is developed. Although the NMPC tracking controller well accommodates the practical constraints on the AUV system, it presents a brand new design philosophy compared with the existing control systems that are implemented on real AUVs. Since the existing AUV control systems are reliable controllers, AUV practitioners tend not to fully replace them but to improve the control performance by adding features. By considering this, in Chapter 4, we develop the Lyapunov-based model predictive control (LMPC) scheme which builds on the existing AUV control system and invoke online optimization to improve the control performance. Chapter 5 focuses on the path following (PF) problem. Unlike the trajectory tracking control which equally emphasizes the spatial and temporal control objectives, the PF control often prioritizes the path convergence over the speed assignment. To incorporate this objective prioritization into the controller design, a novel multi-objective model predictive control (MOMPC) scheme is developed. While the MPC technique provides several salient features (e.g., optimality, constraints handling, objective prioritization, robustness, etc.), those features come at a price: a computational bottleneck is formed by the heavy burden of solving online optimizations in real time. To explicitly address this issue, in Chapter 6, the computational complexity of the MPC algorithms is particularly emphasized. Two novel strategies which potentially alleviate the computational burden of the MPC-based AUV tracking control are proposed. In Chapter 7, some conclusive remarks are provided and a few avenues for future research are identified.
Book Synopsis Underwater Vehicles by : George M. Roman
Download or read book Underwater Vehicles written by George M. Roman and published by Nova Science Publishers. This book was released on 2020 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--
Book Synopsis Underwater Robotic Vehicles by : Junku Yuh
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
Book Synopsis Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube by : Duane T. Davis
Download or read book Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube written by Duane T. Davis and published by . This book was released on 1996-09-01 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.
Book Synopsis Model Based Design and Verification of a Rapid Dive Controller for an Autonomous Underwater Vehicle by : Gordon S. MacDonald
Download or read book Model Based Design and Verification of a Rapid Dive Controller for an Autonomous Underwater Vehicle written by Gordon S. MacDonald and published by . This book was released on 1989 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles are being considered today by many organizations as a low cost substitute for manned vehicles. Requirements for autonomy emphasize the need for a robust system controller that can adequately maneuver the vehicle and ensure precise tracking of a planned path. This thesis presents the determination of hydro-dynamic coefficients for vertical motion of a radio controlled underwater vehicle based on open loop testing. The equations of motion were manipulated using software Matrix-x to create satisfactory closed loop control system for rapid maneuvering in the vertical plane. Because vehicle data provided by on-board sensors was limited, both state estimation and disturbance estimation/compensation techniques were used, leading to a model based compensator which enhanced control. Results show that a satisfactory closed loop control design can be achieved using these modern controller design techniques. The extension to the design of steering control is addressed. Keywords: Autonomous underwater vehicles; Automatic dive control; Model based compensators; Military theses.
Book Synopsis Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux by :
Download or read book Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux written by and published by . This book was released on 1790 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Hydrodynamics and Control of an Autonomous Underwater Vehicle Equipped with a Vectored Thruster by : Yann G. Le Page
Download or read book Hydrodynamics and Control of an Autonomous Underwater Vehicle Equipped with a Vectored Thruster written by Yann G. Le Page and published by . This book was released on 2000 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt:
