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In-band full duplex (IBFD) can theoretically double the throughput of communication systems, and its feasibility has been demonstrated in wireless radio design. It is a promising alternative for the severely bandwidth-limited underwater communication system since it exploits both the temporal and spectral efficiency to the most. Self-interference cancelation is the primary challenge in IBFD's implementation...
Conformation optimization and achieve resonation with wave are two key parts of designing pendulum wave energy converters. The object of this paper is to study hydrodynamics of a novel floating type pendulum wave energy converter and make optimization through full 3-D simulations. We will also conduct experiment in a wave tank to verify our simulations.
Based on the scattering of dual-frequency transmission pulses and frequency-domain data processing, Philip R. Atkins has proposed a new method for standard-target phase calibration of sonar systems. This approach reduces the impact of unknown range and sound speed parameters upon phase calibration accuracy. However, since solutions to the phase of scattering of targets underwater are not offered,...
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,...
As buoyancy-driven underwater gliders which have multi-functionality become more and more important instruments of monitoring and exploring the ocean, it is momentous to research and verify the performance of hardware of glider and the function of control software by establishing mathematical model and simulation. So a semi-physical motion simulation system of buoyancy-driven underwater glider is...
Underwater vehicle controller design proves difficult for time varying, nonlinear dynamics, coupled model and uncertain flow. Also it is hard to construct the nonlinear coupled uncertain model. Fortunately, we find a simple method to deal with that problem. Variable universe fuzzy control algorithm is superior in model-independent and nonlinear control. Also it is a simple and universal method. It...
For the terminal phase of AUV impact the non-stationary targets, the terminal guidance problem is studied. Based on backstepping sliding mode control method and linear extended state observer, a nonlinear guidance law with impact angle constraints is proposed. Regarding the target acceleration and external disturbance as unknown disturbance, and using the linear extended state observer to estimate...
The paper addresses the problem of steering a group of underactuated marine surface vehicles along one parameterized path, while the path variables of the vehicles are uniformly dispersed between those of two virtual leaders. This problem arises for example when multiple marine surface vehicles are required to track the same path to avoid obstacles and dangerous areas, or to reduce the workload of...
We describe the implementation of a protocol stack for multi-modal underwater networks, where multiple physical layer technologies are available to each node. This condition implies greater flexibility, by allowing each node to decide how to serve specific transmissions and traffic classes depending on system, quality-of-service, and application-specific policies implemented in a controller. In this...
We propose a protocol that automates address assignment and resolution for nodes in an underwater network. The protocol resolves address conflicts and assigns a unique address to every node. It also informs each node about the addresses of the other nodes in the network. Using this protocol, any node can perform name resolution to find the address of a particular node. The protocol works in a distributed...
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