Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Hovering Mode Control Of The Glider Type Unmanned Underwater Vehicle
Download Hovering Mode Control Of The Glider Type Unmanned Underwater Vehicle full books in PDF, epub, and Kindle. Read online Hovering Mode Control Of The Glider Type Unmanned Underwater Vehicle ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Design of a Hover Mode Autopilot for the Phoenix Autonomous Underwater Vehicle by : Juan Cesar Gonzalez
Download or read book Design of a Hover Mode Autopilot for the Phoenix Autonomous Underwater Vehicle written by Juan Cesar Gonzalez and published by . This book was released on 1995 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: The potential uses for autonomous underwater vehicles (AUV's) is gaining recognition by organizations world wide. As such, continuous research toward improving existing vehicles by seeking new designs and increasing efficiency is being funded by organizations that serve to benefit from the new technology. Some examples for which AUV's may be used include mine countermeasures, submerged structural repair or destruction, search and rescue, biological study, ocean floor and coastal survey. The goal of this thesis is to design an autopilot that will use a combination of both vertical thrusters, both horizontal thrusters, and the main screws simultaneously to control the NPS phoenix AUV's posture during hovering conditions and short transits. The control design is implemented and simulated using Common LISP object oriented programming language. The results of this thesis are favorable. Since this thesis presents only a basic approach to an autopilot design, it is believed by the author that with further improvements to the design presented, the existing hover made autopilot can eventually be upgraded with the resulting autopilot design. This upgrade would greatly increase the autopilots efficiency. (AN).
Book Synopsis Design of a Hover Mode Autopilot for the Phoenix Autonomous Underwater Vehicle by :
Download or read book Design of a Hover Mode Autopilot for the Phoenix Autonomous Underwater Vehicle written by and published by . This book was released on 1995 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: The potential uses for autonomous underwater vehicles (AUV's) is gaining recognition by organizations world wide. As such, continuous research toward improving existing vehicles by seeking new designs and increasing efficiency is being funded by organizations that serve to benefit from the new technology. Some examples for which AUV's may be used include mine countermeasures, submerged structural repair or destruction, search and rescue, biological study, ocean floor and coastal survey. The goal of this thesis is to design an autopilot that will use a combination of both vertical thrusters, both horizontal thrusters, and the main screws simultaneously to control the NPS Phoenix AUV's posture during hovering conditions and short transits. The control design is implemented and simulated using Common LISP object oriented programming language. The results of this thesis are favorable. Since this thesis presents only a basic approach to an autopilot design, it is believed by the author that with further improvements to the design presented, the existing hover made autopilot can eventually be upgraded with the resulting autopilot design. This upgrade would greatly increase the autopilots efficiency. (AN).
Book Synopsis Multiple Input Sliding Mode Control for Autonomous Diving and Steering of Underwater Vehicles by : Todd D. Hawkinson
Download or read book Multiple Input Sliding Mode Control for Autonomous Diving and Steering of Underwater Vehicles written by Todd D. Hawkinson and published by . This book was released on 1990 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and analysis of multiple input autopilots using sliding modes in order to achieve accurate horizontal and vertical plane control of an autonomous underwater vehicle over a wide variation of speeds is presented. The simulated vehicle is equipped with two (fore and aft) sets of dive planes and two sets of rudders. In addition, two vertical and two horizontal thrusters are provided for control during low speed or hovering operations. The entire range of vehicle speeds from zero speed hovering to full speed ahead is divided into regions depending on control efficiency. Thrusters are used for low speed hovering, control surfaces for transition speeds. Linear quadratic regulator optimal control techniques coupled with the robustness properties of sliding mode control are utilized to provide the necessary control reversal which occurs during the transition from cruise to hover mode. Constant disturbances arising from underwater currents are effectively compensated resulting in accurate path keeping. As a consequence of the multiple input control methodology developed in this work, it is shown that both path and orientation accuracy can be achieved in moderate cross current environments. Finally, reduced order observers are designed in order to account for sensor absence or malfunction.
Book Synopsis Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO by : Ji-Hong Li
Download or read book Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO written by Ji-Hong Li and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO.
Book Synopsis A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle by : Chris. A. Thompson
Download or read book A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle written by Chris. A. Thompson and published by . This book was released on 1987 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) will have many operational scenarios that will include a transition from cruise to hover over a fixed position in the ocean. While hovering, the AUV must be able to balance the current induced forces a difficult task to accomplish automatically. The magnitude of these forces induced on an example AUV have been estimated for currents from 4 m/s to 1 m/s with the incident current varying from 0 deg to 360 deg. Using the estimated forces, different configurations of thrusters were investigated and the power required for different thruster configurations compared. Three thrusters (two longitudinal, one lateral) can balance the forces exactly and a unique solution was evaluated. With redundant thrusters, more economical schemes can developed using force allocation logic with minimum norm solutions. System horsepower requirements have been estimated and a conceptual model based controller methodology has been proposed. The force allocation logic proposed will now allow for a smooth transition from cruise to hover mode positions. Keywords: Theses; Stationkeeping.
Book Synopsis Advanced Mobile Robotics by : DaeEun Kim
Download or read book Advanced Mobile Robotics written by DaeEun Kim and published by MDPI. This book was released on 2020-03-06 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective.
Book Synopsis A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle by : Chris A. Thompson
Download or read book A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle written by Chris A. Thompson and published by . This book was released on 1987 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) will have many operational scenarios that will include a transition from cruise to hover over a fixed position in the ocean. While hovering, the AUV must be able to balance the current induced forces a difficult task to accomplish automatically. The magnitude of these forces induced on an example AUV have been estimated for currents from 4 m/s to 1 m/s with the incident current varying from 0 deg to 360 deg. Using the estimated forces, different configurations of thrusters were investigated and the power required for different thruster configurations compared. Three thrusters (two longitudinal, one lateral) can balance the forces exactly and a unique solution was evaluated. With redundant thrusters, more economical schemes can developed using force allocation logic with minimum norm solutions. System horsepower requirements have been estimated and a conceptual model based controller methodology has been proposed. The force allocation logic proposed will now allow for a smooth transition from cruise to hover mode positions. Keywords: Theses; Stationkeeping.
Author :Naval Postgraduate Naval Postgraduate School Publisher :CreateSpace ISBN 13 :9781512397413 Total Pages :96 pages Book Rating :4.3/5 (974 download)
Book Synopsis An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations by : Naval Postgraduate Naval Postgraduate School
Download or read book An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations written by Naval Postgraduate Naval Postgraduate School and published by CreateSpace. This book was released on 2015-05-27 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint robot-human operations potentially increase the efficiency, effectiveness and safety of the tasks they perform. The utilization of an autonomous underwater vehicle (AUV) as a robotic diver's assistant demands joint, dynamic operations involving precise physical interactions between an AUV, human divers, and the environment, which, in turn, requires a robust, accurate control system. A robot acting as a dive assistant would perform tasks such as tool carrying, worksite illumination, or other general assistance jobs that a "dive buddy" might perform. Such precise control of the AUV normally requires accurate knowledge of the vehicle's dynamics; however, this high level of accuracy is difficult to obtain without the employment of extensive system identification efforts. Additionally, the utility of the resulting model is greatly diminished if environmental conditions or vehicle configuration change frequently or unexpectedly. An ideal control system allows the AUV to switch between operational modes and objectives while accounting for uncertain environmental conditions, payload configurations, and possible failures of onboard actuators. Adaptive control has many applications in the underwater domain and can give a robotic diver's assistant the flexibility required to enable joint robot-diver operations. Therefore, two adaptive control system approaches, Model Reference Adaptive Control and L1 Adaptive Control, are investigated here for heave control of the Tethered, Hovering Autonomous Underwater System.
Book Synopsis An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations by : Naval Postgraduate Naval Postgraduate School
Download or read book An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations written by Naval Postgraduate Naval Postgraduate School and published by Createspace Independent Publishing Platform. This book was released on 2016-01-04 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint robot-human operations potentially increase the efficiency, effectiveness and safety of the tasks they perform. The utilization of an autonomous underwater vehicle (AUV) as a robotic diver's assistant demands joint, dynamic operations involving precise physical interactions between an AUV, human divers, and the environment, which, in turn, requires a robust, accurate control system. A robot acting as a dive assistant would perform tasks such as tool carrying, worksite illumination, or other general assistance jobs that a "dive buddy" might perform. Such precise control of the AUV normally requires accurate knowledge of the vehicle's dynamics; however, this high level of accuracy is difficult to obtain without the employment of extensive system identification efforts. Additionally, the utility of the resulting model is greatly diminished if environmental conditions or vehicle configuration change frequently or unexpectedly. An ideal control system allows the AUV to switch between operational modes and objectives while accounting for uncertain environmental conditions, payload configurations, and possible failures of onboard actuators. Adaptive control has many applications in the underwater domain and can give a robotic diver's assistant the flexibility required to enable joint robot-diver operations. Therefore, two adaptive control system approaches, Model Reference Adaptive Control and L1 Adaptive Control, are investigated here for heave control of the Tethered, Hovering Autonomous Underwater System.
Book Synopsis Autonomous Hovering Controller Design Using Sliding Mode Control Theory and Its Flight Test Verification for Small-scaled Unmanned Helicopter System by : 林建宏
Download or read book Autonomous Hovering Controller Design Using Sliding Mode Control Theory and Its Flight Test Verification for Small-scaled Unmanned Helicopter System written by 林建宏 and published by . This book was released on 2010 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Underwater Robots That Hover and Glide by :
Download or read book Underwater Robots That Hover and Glide written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Some of the most exciting robots on the planet are found underwater. Here, learn how today's roboticists have developed unique solutions to creating autonomous underwater vehicles (AUVs), like Wave Glider, that have overcome critical challenges involving sensors, power supply, and design to do things like circumnavigate the globe or travel to great depths.
Book Synopsis Bionic Gliding Underwater Robots by : Junzhi Yu
Download or read book Bionic Gliding Underwater Robots written by Junzhi Yu and published by CRC Press. This book was released on 2022-12-08 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater robots play a significant role in ocean exploration. This book provides full coverage of the theoretical and practical aspects of bionic gliding underwater robots, including system design, modeling control, and motion planning. To overcome the inherent shortcomings of traditional underwater robots that can simultaneously lack maneuverability and endurance, a new type of robot, the bionic gliding underwater robot, has attracted much attention from scientists and engineers. On the one hand, by imitating the appearance and swimming mechanisms of natural creatures, bionic gliding underwater robots achieve high maneuverability, swimming efficiency, and strong concealment. On the other hand, borrowing from the buoyancy adjustment systems of underwater gliders, bionic gliding underwater robots can obtain strong endurance, which is significant in practical applications. Taking gliding robotic dolphin and fish as examples, the designed prototypes and proposed methods are discussed, offering valuable insights into the development of next-generation underwater robots that are well suited for various oceanic applications. This book will be of great interest to students and professionals alike in the field of robotics or intelligent control. It will also be a great reference for engineers or technicians who deal with the development of underwater robots.
Book Synopsis Dynamic Response and Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering by : Lauren Alise Cooney
Download or read book Dynamic Response and Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering written by Lauren Alise Cooney and published by . This book was released on 2009 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of azimuthing thrusters for maneuvering in surge and heave. An analytical model was developed to describe the complex nonlinear vehicle dynamics, and experiments were performed to refine this model. The fluid dynamics of unsteady azimuthing marine propulsors are largely unstudied, especially for small vehicles like the Odyssey IV AUV. Experiments suggest that thrust developed by an azimuthing propulsor is dependent on the azimuth angle rate of change, and can substantially affect vehicle dynamics. A simple model capturing the effects of azimuthing on the thruster dynamics is developed, and is shown to improve behavior of the model.The use of azimuthing thrusters presents interesting problems and opportunities in maneuvering and control. Nonlinear model predictive control (MPC) is a technique that consists of the real-time optimization of a nonlinear dynamic system model, with the ability to handle constraints and nonlinearities. In this work, several variations of simulated and experimental MPC-based controllers are investigated. The primary challenge in applying nonlinear MPC to the Odyssey IV is solving the time intensive trajectory optimization problem online. Simulations suggest that MPC is able to capitalize on its knowledge of the system, allowing more aggressive trajectories than a traditional PID controller.
Download or read book 浜口梧陵翁小伝 written by and published by . This book was released on 1920 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Flapping Foil Propulsion for Cruising and Hovering Autonomous Underwater Vehicles by : Victor Polidoro
Download or read book Flapping Foil Propulsion for Cruising and Hovering Autonomous Underwater Vehicles written by Victor Polidoro and published by . This book was released on 2003 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt:
