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This paper presents a 3D path following control scheme for a class of torpedo-type autonomous underwater vehicles (AUVs) with uncertainty terms in their dynamics. For this kind of torpedo-type AUVs, there are only three control inputs, surge force, pitch and yaw moments, available for the vehicles' 6DOF 3D underwater motions. Therefore, it's a typical underactuated system. To tackle the 3D path following...
The earliest events following mucosal HIV-1 infection, prior to measurable viremia, remain poorly understood. Here, by detailed necropsy studies, we show that the virus can rapidly disseminate following mucosal SIV infection of rhesus monkeys and trigger components of the inflammasome, both at the site of inoculation and at early sites of distal virus spread. By 24 hr following inoculation, a proinflammatory...
For underwater control and localization of an unmanned underwater vehicle (UUV), we have used vision information of a suggested pattern image. The pattern is based on suggested criteria. From the pattern specialized on direction information we extracted directional lines and had done Double Hough Transform (DHT) method on them. Once Hough Transform (HT) is usually done for extracting lines from an...
The localization of unmanned underwater vehicle (UUV) is important for the UUV to inspect or manipulator objects. We assume that there is an UUV with a camera sensor and the UUV uses the underwater floor pattern for localization. Because the pattern is known beforehand, the pattern matching between the pattern image and the camera image lets the UUV know its position. The pattern matching algorithm...
Abstmct-This paper presents a kind of real time obstacle detection method for underwater vehicles equipped with 2D forward looking sonar. Due to frequent failure or multipath effects, it is very often uneasy to get satisfactory sonar range measurements, especially in the water tank environment. How to extract as accurate as possible environmental information from these sonar raw (noisy) measurements...
For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV model we had simulation experiments for the coastal navigation using our proposed algorithm. The experimental...
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