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This project creates a speech semantic recognition system that can be applied in the assistive robotic application by using the meaning of speech for people who suffer a permanent disability that cannot move around normally. The user interface of this speech semantic recognition system of this project are capable to receive the speech input of the user and an application interface transfers the input...
Environmental monitoring plays an important role in human life, so this project aims to provide a spatial-temporal resolution of data collected inland water storages and lakes through the development of a unique floating platform. Several challenges in monitoring environment especially the accessibility to the site and representativesness of data cause the quality of water and air become worse. Hence,...
Speech semantic recognition system is a system that can be applied on assistive robotic application that using a meaning of speech for people who suffers permanent disability to move around freely. In this project the user interface is provided in order to receive the speech input from the user and delivers the input of the speech from the user to the application. Speech signal is the input. From...
In general, having a good lifestyle and clean environment is the main goals in life. Hence, environmental monitoring plays a great role in human life. The problem of environmental pollution has become increasingly serious especially in water quality as well as air quality. Thus, this project aim on to provide a spatial-temporal resolution of data collected through the process of developing of a floating...
This paper presents prototype development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system. The hybrid-driven glider with an independently controllable wings and a rudder was developed to overcome the drawback of a typical buoyancy-driven underwater glider in terms of speed and maneuverability. However, it is difficult to control the glider due to...
An autonomous hybrid-driven glider is a new class of autonomous underwater glider that integrates the concept of a buoyancy-driven underwater glider and a conventional autonomous underwater vehicle (AUV). This glider has multi-functionality that enables it to overcome the speed and maneuverability limitations of buoyancy-driven gliders. Thus, this paper presents a mathematical model of the hybrid-driven...
This paper presents an analysis of homeostatic controller, which controls the motion of a hybrid-driven underwater glider. The homeostatic controller is inspired from a biological process known as homeostasis, which maintains a stable state in the face of massively dynamics conditions. Within a biological context, organism homeostasis is an emergent property of the interactions between nervous, endocrine...
This paper presents a neuroendocrine controller algorithm, which controls the motion of a hybrid-driven underwater glider. The controller is designed by combining an artificial neural network (ANN) and endocrine system (AES). The neural network predictive control based on the feedforward architecture is designed as the backbone of the controller. On the other hand, a gland cell of the AES is designed...
This paper presents a neural network motion control analysis of a hybrid-driven underwater glider. The hybrid-driven underwater glider is a new breed of underwater platform, which combines the features of a conventional glider and autonomous underwater vehicle (AUV). The neural network controller based on multilayer perceptron has been designed as a predictive control. The design objective is to map...
This paper describes the mathematical model and analysis of motion in a vertical plane for USM underwater glider. The underwater glider is a highly efficient autonomous underwater vehicle which glides through the ocean water column in saw-tooth pattern. It uses buoyancy for propulsion by controlling ballast pump and internal moving mass. In this research work, we have designed the mathematical model...
This paper describes the dynamic model and motion simulation for propeller-driven USM underwater glider with independently controllable wings and rudder. The underwater glider is a highly efficient autonomous underwater vehicle which glides through the ocean water column in saw-tooth pattern. It uses buoyancy for propulsion by controlling ballast pump and internal moving mass. However, in our research...
Underwater gliders are a new class of autonomous underwater vehicles, which are energy efficient, inexpensive and can be utilised for long duration mission. They use a ballast system and moving mass to glide in the saw-tooth path pattern through the ocean water column. This paper presents the dynamic model of USM underwater glider based on slender-body theory. In this work, a moving mass implementation...
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