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Underwater vehicles are usually designed with additional degrees of freedom than those required to accomplish given manipulator tasks. A robot platform should be effective to maintain its position and orientation in order to attain diverse underwater tasks. This study addresses the dynamic modeling of an autonomous underwater vehicle (AUV) which consists of tilting thrusters for hovering motion to...
Thermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, and high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for ocean local precisely thermocline tracking. Combining with the advantage of the AUV yo-yo movement, this paper presents a simple and effective thermocline...
In this paper, we propose a novel approach for SSS registration based on modified phase correlation, which is capable of handling low resolution and noise. The modified phase correlation combines threshold segmentation with phase correlation to carry out side-scan sonar (SSS) image registration. Image registration aims to transform images obtained from different views to the same coordinate. Underwater...
The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, and the wrist-clamp module can output continuous...
The reliability issue of the mechanical system of Autonomous Underwater Vehicles was analyzed. The system reliability models of the mechanical system of AUV were built under the conditions of random load and ultimate load, respectively. A temporal dynamic model was also built to describe the relationship between reliability and time. Then, the methods of reliability allocation were studied, and an...
The sonar system of JiaoLong human occupied vehicle(HOV) consists of nine kinds, sixteen sonars for communication, navigation, positioning, and detection. There is a ultra-short baseline(USBL) and a long baseline(LBL) for positioning. USBL is used to localize JiaoLong. Through it, the mothership can get HOV position in real-time. By Acoustic Communication System, HOV can get its own position every...
This paper studies the problem of undersea bottom-following through using the Autonomous Underwater Vehicle(AUV) equipped with Altimeter and Depth gauge. We can improve the ability of AUV to perceive the information of the seabed by using the Extended Kalman Filter(EKF) to complete the information fusion of data comes from Altimeter and Depth gauge. The seabed terrain slope is estimated by the least...
This paper proposes a novel diving plane control scheme for autonomous underwater vehicle (AUV) based on tracking differentiator (TD) and cascade control (CC). The outer loop controller and inner loop controller adopt PI and P, respectively. Firstly, the mathematical model of AUV is established. The model consists of two parts: one is the depth model, and the other is the pitch model. Then, both controllers...
This paper address the subject of application of MOOS-IvP based framework to collaborative control of multiple autonomous underwater vehicle (MAUV) system developed by groups at harbin engineering university. Firstly, AUV systems that constitute the MAUV system are briefly introduced. The heterogeneous nature of different AUV proposes a challenge for coordination of the system. Secondly, VxWorks version...
In this paper, we propose a new structure that combines Grey Prediction with Line of Sight (GP-LOS) to predict yaw angle in order to achieve path following for autonomous underwater vehicle (AUV). The proposed structure can be described by two stages. First, we use grey prediction to predict the position coordinates of the next time. Second, taking advantage of the principles of the Line of Sight,...
Techniques for automating hologram processing, information extraction and construction video based on holographic data are discussed. The method for alive/dead particles identification is suggested. Experimental results are presented.
Prediction of vibration and radiation from large underwater structures is one of the most important research contents in engineering. The cylindrical shell structure is most common structure in engineering, and it is the main component of submarine at the same time. Shells with structural similarity have similar properties due to the similarity principle. Free vibration of the simple cylindrical shell...
This paper proposes to investigate the performance of a path planning method for a data acquisition task using multiple cooperative underwater vehicles (MAUV). We present a multiple objective path planning (MOPP) method to find the optimal solutions for the data acquisition task with certain constraints. This method is based on an Interval Programming (IvP) algorithm introduced in [1] for representing...
Autonomous underwater vehicles have proven their roles as useful tools for scientific exploration and data gathering. The current state of the art in commercial vehicles involves a statical mission planning phase which does not take into account any energy or time limits. This work proposes the use of a mixed integer quadratic programming solution that maximises the utility of data gathering missions...
This paper designed a control system of small autonomous underwater vehicle(AUV). A distributed control architecture that is MOOS-IvP is applied in this control system. Using this control architecture, there are distribute and modular characteristic in this control system. It comprises of the sensor module, the propulsion module, the fault detection module, the data log module, the device initialize...
Control and guidance of Autonomous Underwater Vehicle (AUV) is tedious process as it is an underactuated model where the numbers of inputs to the actuator are less than the number of degrees-of-freedom to be controlled; also the dynamics of AUV is affected by internal interruptions like sensor noise and exterior distractions namely hydrodynamic effects and ocean current. The difficulty of uncertainty...
The paper presents a real-time and reliable communication system for a newly developed hybrid underwater robotic vehicle (HURV). The surface monitoring station of the HURV is linked with the onboard underwater control system by a fine and neutral buoyance fiber, which enables the state monitoring and tele-operation mode of the vehicle based on the industrial Ethernet Modbus/TCP via the fiber-optic...
Underwater vehicle is an important tool in the exploration, survey and investigation of the ocean and have many scientific, military, and commercial applications. To develop an underwater vehicle is not an easy task; a reliable underwater vehicle requires a thorough system design and many costly field tests during which system specifications can be validated, and these field tests can be hard and...
Development of underwater vehicles is a complex and challenging task. Especially the integration of components like sensors and actuators in a control loop is difficult and costly and requires many experiments. One of the difficulties is the lack of debugging facilities underwater. In this paper, we suggest a distributed system architecture and a testbed concept for the development of networked autonomous...
To solve the trajectory tracking problem of underwater vehicles in the presence of unknown dynamics and external disturbances, a double-loop adaptive integral sliding mode controller that yields chattering-free performance is proposed in this paper. The designed double-loop controller consists of an outer-loop position controller (the kinematic controller) and an inner-loop velocity controller (the...
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