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The horizontal autonomous behavior agent of AUV is designed which takes the behavior of agent as a dynamic interaction process between AUV and environment. The vertical autonomous behavior agent is designed by fuzzy theory to integrate the depth keeping behavior and height keeping behavior. In order to coordinate the horizontal and vertical autonomous behavior agents, the coordination principle based...
Ship mathematical model and environmental disturbance model of a J-lay vessel are built, the model of pipe horizontal forces and moment acting on the ship is built by catenary theory. In order to avoid the ship's high frequency motion component disturbing the closed-loop control system, passive nonlinear observer is applied to estimate the vessel's low frequency variables during positioning process...
A marine environmental information observation system based on UUV was designed and implemented to overcome the deficiency of marine environment observation mode through surface ship which is severely affected by the marine environment, unable to observe snugly and near sea bottom. This system comprises surface support subsystem and UUV subsystem, may navigate according to a pre-loaded mission plan...
In order to get reliable communication no matter under the water or above the surface, a kind of multi channel and distributed wireless communication network architecture for UUVs was presented. This network architecture includes underwater communication, surface communication and internal communication. Underwater communication is acoustic modem, and the surface communication consists of RF, Wi-Fi,...
When autonomous underwater vehicle(AUV) is in subsea, it should quickly make a decision in order to acclimatize itself to the fateful change of situation. AUV's decision is restricted by many factors. Taking into account of main restrictions, the decision model of AUV is established and decision-making course based on improved analytic hierarchy process (IAHP) is explained too. The simulation and...
In this paper, we present a MEMS assembly system under hybrid control of vision and force feedback. The construction of a micro-vision system is introduced in detail and a new micro-force sensor was developed. The strategies of integrating force and vision feedback have been investigated experimentally and impact experimental results are presented. A task of pin in hole of Phi 0.1mm was completed...
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