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Control And Guidance Of Underwater Vehicles
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Book Synopsis Guidance and Control of Ocean Vehicles by : Thor I. Fossen
Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.
Book Synopsis Control of Ships and Underwater Vehicles by : Khac Duc Do
Download or read book Control of Ships and Underwater Vehicles written by Khac Duc Do and published by Springer Science & Business Media. This book was released on 2009-08-09 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.
Book Synopsis Advances in Unmanned Marine Vehicles by : G.N. Roberts
Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.
Book Synopsis Sensing and Control for Autonomous Vehicles by : Thor I. Fossen
Download or read book Sensing and Control for Autonomous Vehicles written by Thor I. Fossen and published by Springer. This book was released on 2017-05-26 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.
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.
Author :Committee on Undersea Vehicles and National Needs Publisher :National Academies Press ISBN 13 :0309588723 Total Pages :114 pages Book Rating :4.3/5 (95 download)
Book Synopsis Undersea Vehicles and National Needs by : Committee on Undersea Vehicles and National Needs
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Author :Sanjay Sharma Publisher :Institution of Engineering and Technology ISBN 13 :1785613383 Total Pages :348 pages Book Rating :4.7/5 (856 download)
Book Synopsis Navigation and Control of Autonomous Marine Vehicles by : Sanjay Sharma
Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-04-02 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons.
Book Synopsis Autonomous Underwater Vehicles by : Frank Ehlers
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Book Synopsis Encyclopedia of Robotics by : Marcelo H. Ang
Download or read book Encyclopedia of Robotics written by Marcelo H. Ang and published by Springer. This book was released on 2018-07-13 with total page 4000 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Encyclopedia of Robotics addresses the existing need for an easily accessible yet authoritative and granular knowledge resource in robotic science and engineering. The encyclopedia is a work that comprehensively explains the scientific, application-based, interactive and socio-ethical parameters of robotics. It is the first work that explains at the concept and fact level the state of the field of robotics and its future directions. The encyclopedia is a complement to Springer’s highly successful Handbook of Robotics that has analyzed the state of robotics through the medium of descriptive essays. Organized in an A-Z format for quick and easy understanding of both the basic and advanced topics across a broad spectrum of areas in a self-contained form. The entries in this Encyclopedia will be a comprehensive description of terms used in robotics science and technology. Each term, when useful, is described concisely with online illustrations and enhanced user interactivity (on SpringerReference.com).
Book Synopsis Predictive Functional Control by : Jacques Richalet
Download or read book Predictive Functional Control written by Jacques Richalet and published by Springer Science & Business Media. This book was released on 2009-05-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: first industrial application of MPC was in 1973. A key motivation was to provide better performance than could be obtained with the widely-used PID controller whilst making it easy to replace the PID controller unit or module with his new algorithm. It was the advent of digital control technology and the use of software control algorithms that made this replacement easier and more acceptable to process engineers. A decade of industrial practice with PFC was reported in the archival literature by Jacques Richalet et al. in 1978 in an important seminal Automatica paper. Around this time, Cutler and Ramaker published the dynamic matrix control algorithm that also used knowledge of future reference signals to determine a sequence of control signal adjustment. Thus, the theoretical and practical development of predictive control methods was underway and subsequent developments included those of generalized predictive control, and the whole armoury of MPC methods. Jacques Richalet’s approach to PFC was to seek an algorithm that was: • easy to understand; • easy to install; • easy to tune and optimise. He sought a new modular control algorithm that could be readily used by the control-technician engineer or the control-instrument engineer. It goes without saying that this objective also forms a good market strategy.
Book Synopsis Handbook of Marine Craft Hydrodynamics and Motion Control by : Thor I. Fossen
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-04-16 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz
Book Synopsis Handbook of Marine Craft Hydrodynamics and Motion Control by : Thor I. Fossen
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2011-05-23 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen_marine
Book Synopsis Underwater Vehicles by : Alexander Inzartsev
Download or read book Underwater Vehicles written by Alexander Inzartsev and published by BoD – Books on Demand. This book was released on 2009-01-01 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Book Synopsis Simulation, Modeling, and Programming for Autonomous Robots by : Davide Brugali
Download or read book Simulation, Modeling, and Programming for Autonomous Robots written by Davide Brugali and published by Springer. This book was released on 2014-09-19 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.
Book Synopsis Deterministic Artificial Intelligence by : Timothy Sands
Download or read book Deterministic Artificial Intelligence written by Timothy Sands and published by BoD – Books on Demand. This book was released on 2020-05-27 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Kirchhoff’s laws give a mathematical description of electromechanics. Similarly, translational motion mechanics obey Newton’s laws, while rotational motion mechanics comply with Euler’s moment equations, a set of three nonlinear, coupled differential equations. Nonlinearities complicate the mathematical treatment of the seemingly simple action of rotating, and these complications lead to a robust lineage of research culminating here with a text on the ability to make rigid bodies in rotation become self-aware, and even learn. This book is meant for basic scientifically inclined readers commencing with a first chapter on the basics of stochastic artificial intelligence to bridge readers to very advanced topics of deterministic artificial intelligence, espoused in the book with applications to both electromechanics (e.g. the forced van der Pol equation) and also motion mechanics (i.e. Euler’s moment equations). The reader will learn how to bestow self-awareness and express optimal learning methods for the self-aware object (e.g. robot) that require no tuning and no interaction with humans for autonomous operation. The topics learned from reading this text will prepare students and faculty to investigate interesting problems of mechanics. It is the fondest hope of the editor and authors that readers enjoy the book.
Book Synopsis Manoeuvring and Control of Marine Craft 2003 (MCMC 2003) by : Joan Batlle
Download or read book Manoeuvring and Control of Marine Craft 2003 (MCMC 2003) written by Joan Batlle and published by Elsevier. This book was released on 2004 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.
Book Synopsis Autonomous Vehicles in Support of Naval Operations by : National Research Council
Download or read book Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.
