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The purpose of this research is to develop a solar-powered autonomous surface vehicle (SASV) for the use of ocean environment monitoring and underwater passive acoustic monitoring of marine mammals. Measuring items of the logger version CTD with optical fast DO sensor are depth, temperature, conductivity, salinity, dissolved oxygen, chlorophyll and turbidity. The authors have also developed kinds...
Vision system is the important equipment for Unmanned Surface Vehicle (USV) to find obstacles and monitor surrounding environment. There are popular calibration methods for vision system used indoor and outdoor on land. However, the USV has to be transported, hoisted and deployed, and calibrated parameters may be changed in the process. Consequently, it is desired to calibrate the vision system in...
A hybrid underwater glider(HDUG) is developed based on a folding propeller. The blades of the propeller can fold and unfold according to the motor work or not. When it stop spinning, the blades will come to a rest position. The hydrodynamic performance will vary with the position of the blades, thus the transit efficiency of the HDUG will also vary. So there must be an optimal transit efficiency for...
Flooding disasters have led to heavy costs including enormous property losses and casualties. The biggest challenge lies in rescue operation is the low efficiency and the high security risk of rescuers, which is also a problem focused on by this work. Unmanned system is one of the solution that replace people in the rescue operation. However, there are still some obvious defects of unmanned system...
This paper proposes a method for attitude estimation that utilizes the depth measurement as well as the MEMS-AHRS (Micro-electromechanical systems Attitude Heading Reference System). Estimating attitude in real-time is crucial for navigation of an unmanned underwater vehicle since path planning, trajectory tracking, and collision-avoidance is based on the attitude information. Many of the attitude...
The supercavitation makes vehicles achieve high speed, but also brings many challenges in system stability, maneuvering, and control, especially in the state of incomplete-encapsulated supercavitation. Therefore, the analysis of the dynamic characteristic and modeling for the incomplete-encapsulated vehicle are carried out. Then a backstepping variable structure controller is designed. Furthermore,...
Multifunctional hybrid glider(MHG) is a new type of platform for ocean observation, integrating the concept of underwater glider and wave glider. The implementation scheme of its motion mechanism is proposed in this paper, and with the rubber webbed wings introduced and the structure redesigned, this vehicle can glide on the ocean surface and in the vertical profile. This can overcome the shortcomings...
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...
Power supply is an important inhibiting factor of autonomous operation of small ocean vehicles, wave energy vibration harvest method is a viable solution. The usual vibration energy harvest device is excited by its housing frame driven by external oscillation, subject to limited vehicle geometry size, and the low frequency of ocean waves, electrical power generated is very limited. A concept vehicle...
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,...
This paper presents an optimal design of consensus for multi-agent systems with damping term using a directed spanning tree. Compared with the undirected connected topology, the choice of Lyapunov function can be more complicated. Concerning about the directed spanning tree, the consensus of multi-agent systems is guaranteed by analyzing the eigenstructure of the system matrix. Being different from...
In this paper, we study the curvature-constrained path planning problem for AUV docking in stationary obstacle environment. Expanded obstacle circles are used to redefine the polygonal obstacles, thus the curvature constraint is incorporated into the path planning algorithm. Unlike the existing algorithms that try to avoid the obstacles when the planning path collides with them, the novel algorithm...
This paper considers an approach to a centralized planning for AUV group operation using for search of local heterogeneities in given aquatic area. Supposed that common problem could be divided for set of tasks executed in parallel by different vehicles. It leads to decreasing of common mission execution time. A method and algorithms for planning of AUV group operations are described that consider...
A new small-sized autonomous surface vehicle actuated by a water-jet has been developed at INESC TEC for search and rescue of victims at sea. This paper describes the vehicle main components and presents the control and guidance laws governing the motion and enabling it to perform line-following and target tracking missions. Results from field trials are presented, demonstrating the capabilities and...
Dynamic behaviors of AUV show a complex six-degrees of freedom (6-DOF) motion. They have great influence on the task precision and are influenced by uncertain marine environment parameters, in which influence of the lateral flow is one of the most significant. In this paper, dynamic behaviors of AUV in lateral flow are investigated using the CFD-based numerical method. Pressure distribution on the...
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...
One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical...
As applications for autonomous ocean vehicles expand into more dynamic and constrained environments, such as shallow, coastal areas, the benefits of using more precise dynamic model for control and estimation become more compelling. This paper presents a nonlinear observer for current estimation based on AUV dynamic model. Here, AUV dynamic model in currents is taken into consideration. Motivated...
In 2014, funded by the European Commission through the Marie Curie Programme, ten leading European research institutes and companies in underwater robotics formed the ROBOCADEMY Initial Training Network (ITN). The objective of the network is to educate young researchers from Europe and abroad in the development and application of underwater robots. The ROBOCADEMY training programme comprises of scientific...
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...
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