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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...
An effective and accurate navigation algorithm is the critical to achieve the purpose of precise localization and autonomous navigation for Autonomous Underwater Vehicle (AUV). Extended Kalman Filter (EKF) is one of the most popular methods, because it is easy to implement. In spite of its wide applications, it still suffers from two major drawbacks as follows: (1) the noise covariance matrixes are...
This paper will describe a compact energy generation and storage system to harvest temperature differentials in the ocean. This is a unique power source underwater in the absence of solar and wave energy. The current state-of-the-art autonomous underwater vehicles and sensors are mostly powered by primary battery, and therefore have limited capacity and lifetime. Harvesting the ocean thermal energy...
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...
A nonlinear H∞ measurement feedback control algorithm is exploited for the control of Autonomous Underwater Vehicle in the Dive Plane. Here, the control algorithm is designed with the combination of a nonlinear H∞ state feedback law along with a nonlinear observer. The control problem of measurement feedback is formulated in terms of two Hamilton-Jacobi-Isaacs inequality by using the dissipative theory...
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 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...
An adaptive sliding mode heading control approach is proposed for autonomous underwater vehicle (AUV) including the dynamics of rudder in this paper. By the analysis of the driving principle of the rudder, a three-order state equation for AUV heading control system is established, in which the system input is the control voltage of the DC motor. For the problem of the modeling uncertainties, an adaptive...
Conventional grey GM(1,1) method might generate much large prediction errors when predicting the trend of weak thruster fault. To solve this problem, a prediction method based on improved grey prediction model is proposed. The proposed method selects the known sequence point with the minimum prediction error as the initial condition of grey derivative model, rather than first element of the known...
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