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Depscor Research On Arls Intelligent Control Architecture Hierarchical Hybrid Model Based Design Verification Simulation And Synthesis Of Mission Control For Autonomous Underwater Vehicles
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Book Synopsis DEPSCOR: Research on ARL's Intelligent Control Architecture: Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles by :
Download or read book DEPSCOR: Research on ARL's Intelligent Control Architecture: Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles written by and published by . This book was released on 2007 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research, our goal has been to develop hierarchical hybrid mission control architecture for autonomous systems illustrating its application to autonomous underwater vehicle (AUV), verify the logical correctness of the controller designed, look into the feasibility of simulating the operations executed by the AUV, and automate controller synthesis. The correct operation of a system we design is a requirement. The challenge to develop a hierarchical hybrid mission controller for underwater vehicle which facilitates modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).
Download or read book Memories of Fort McCoy, 1980 written by and published by . This book was released on 1980* with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion by :
Download or read book Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion written by and published by . This book was released on 1996 with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures. The functionalities required of such vehicles and their relation to 'intelligent control' technology is discussed. In particular, the use of Prolog as a computer language for the specification of the discrete event system (DES) aspects of the mission control is proposed. The connections between a Prolog specification and the more common Petri Net graphical representation of a DES are made Links are made between activation commands, transitioning signals. and the continuous state dynamic control system (DC S) responsible for vehicle stabilization. Details are given of the NPS Phoenix vehicle implementation at the present time, together with experimental validation of the concepts outlined using a simplified example mission. The paper ends with a listing of questions and concerns for the evaluation of software controllers A list of references is given for readers interested in this subject.
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 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 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 191 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 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 Intelligent Autonomy for Unmanned Marine Vehicles by : Carlos C. Insaurralde
Download or read book Intelligent Autonomy for Unmanned Marine Vehicles written by Carlos C. Insaurralde and published by Springer. This book was released on 2015-06-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.
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 AI Technology for Underwater Robots by : Frank Kirchner
Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by Springer Nature. This book was released on 2019-10-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.
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 Preliminary Design and Cycle Verification of a Digital Autopilot for Autonomous Underwater Vehicles by :
Download or read book Preliminary Design and Cycle Verification of a Digital Autopilot for Autonomous Underwater Vehicles written by and published by . This book was released on 1988 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUV's) are being considered for a diversity of U.S. Navy missions. They protend the advantages of cost effective fleet multiplication, minimal detectability, and reduced risk to personnel and high-value fleet assets. In response to the Department of the Navy and DARPA interests, AUV research and development by a number of public and private sector organizations has intensified in recent years. The Naval Postgraduate School has now built the first of a series of AUV models which will be used as test-beds for evolving automated control technologies. This thesis documents the results of initial efforts to install an on-site facility to support the design and development of a model-based digital autopilot for control of the NPS test vehicle. Keywords: Digital autopilot, Autonomous underwater, Theses, Vehicles.
Book Synopsis Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs). by :
Download or read book Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs). written by and published by . This book was released on 2007 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: An increasing variety of sensors are becoming available for use onboard autonomous vehicles. Given these enhanced sensing capabilities, scientific and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to function in complex, cluttered environments and react to changing environmental parameters. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. In this research, a nonlinear controller was derived, designed, implemented in simulation and onboard a AUV, and in-water tested in order to enhance vehicle maneuverability. The structure of a controller is hierarchical such that an inner loop non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a library of outer-loop non-linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner which selects which outer-loop controller will be used. The algorithms are generic and in no way vehicle specific and can therefore be implemented on various AUVs.
Book Synopsis Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV) by : Bradley J. Leonhardt
Download or read book Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV) written by Bradley J. Leonhardt and published by . This book was released on 1996-03-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School Autonomous Underwater Vehicle (AUV), Phoenix, has a well developed lower level architecture (Execution level) while the upper, Strategic and especially the Tactical, levels need refinement. To be useful in the fleet an easier means of creating mission code for the Strategic level is required. A software architecture needed to be implemented at the Tactical level on-board Phoenix which can accommodate multi-processes, multi- languages, multiprocessors and control hard real time constraints existing at the Execution level. Phoenix also did not have a path replanning capability prior to this thesis. The approach taken is to provide Phoenix a user friendly interface for the autogeneration of human readable mission code and the creation and implementation of a Tactical level control architecture onboard Phoenix to include path replanning. The approach utilizes Rational Behavior Model (RBM) architectural design principles. This thesis focuses on the Officer of the Deck and replanning at the Tactical level, and refinement of the Captain at the Strategic level. While further testing is necessary, Phoenix is now capable of behaving as a truly autonomous vehicle. Results of this thesis show that nontechnical personnel can generate Prolog code to perform missions on-board Phoenix. Path replanning and obstacle avoidance software are also implemented. Most important this thesis demonstrates successful operation of all three levels of the RBM architecture on-board Phoenix.
Book Synopsis Autonomous Underwater Vehicles by : Cynthia Mitchell
Download or read book Autonomous Underwater Vehicles written by Cynthia Mitchell and published by Nova Science Publishers. This book was released on 2017 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gravity-gradient and magnetic-gradient inversion equations are combined to estimate the orientation and distance of an underwater object. The CKF algorithm based on EMMAF algorithm and Spherical-Radial is proposed and is applied to the fault diagnosis of slaver AUV in multi AUV collaborative positioning system. Simulation results are used to analyze the advantages and disadvantages of the three algorithms. This book looks at how a Service-Oriented Agent Architecture (SOAA) for marine robots is endowed with resilient capabilities in order to build a robust (fault-tolerant) vehicle control approach. Particular attention is paid to cognitive RCAs based on agent technologies and any other smart solution already applied or potentially applicable to UMVs. The book also presents current and future trends of RCAs for UMVs.
Book Synopsis Subsurface Sensing by : Ahmet S. Turk
Download or read book Subsurface Sensing written by Ahmet S. Turk and published by John Wiley & Sons. This book was released on 2011-07-06 with total page 916 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid understanding of the capabilities and limitations of the techniques used for buried object detection. Presenting theory along with applications and the existing technology, it covers the most recent developments in hardware and software technologies of sensor systems with a focus on primary sensors such as Ground Penetrating Radar (GPR) and auxiliary sensors such as Nuclear Quadruple Resonance (NQR). It is essential reading for students, practitioners, specialists, and academicians involved in the design and implementation of buried object detection sensors.
Book Synopsis Queueing Theory and Applications by : Süleyman Özekici
Download or read book Queueing Theory and Applications written by Süleyman Özekici and published by Chem/Mats-Sci/E. This book was released on 1990 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of this convention was to educate participants on basic topics in queueing theory, and orient them towards research on current issues in theory and applications. The first part of the book concentrates on basic theory, the second emphasizes applications.
