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Jedną z najbardziej interesujących gałęzi robotyki, posiadającą ogromny potencjał biznesowy, są bezzałogowe pojazdy podwodne UUV (Unmanned Underwater Vehicle). W ciągu ostatnich trzydziestu lat stworzono ponad dziewięć tysięcy tego typu obiektów, mających zastosowanie w pracach ratunkowych, badawczych oraz militarnych. Dynamika rozwoju tej grupy pojazdów spowodowana jest w dużej mierze postępem technologicznym,...
W artykule przedstawiono projekt i realizację bezzałogowego pojazdu podwodnego o napędzie hybrydowym. Pojazd może być sterowany zdalnie w pozycji nawodnej, jak również posiada możliwość przemieszczenia podwodnego do wskazanego rejonu w celu przeprowadzenia rozpoznania oraz ataku poprzez detonację przenoszonego ładunku lub autodestrukcję. W artykule przedstawiono projekt i wykonanie konstrukcji mechanicznej,...
We describe an approach with considerations for the limitations of operating underwater, including low bandwidth communications, for performing UUV collaborative missions. We implement a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs to explicitly account for the limitations of operating...
Multi-vehicle teams are being used more and more frequently to solve increasingly complex problems [1, 2]. In order for the team to work effectively, the vehicles must communicate to coordinate their efforts. In applications with high quality communication links, the vehicles are able to operate almost as a single entity. But in more harsh and dynamic environments, such as underwater, communication...
In order to determine the hydrodynamic parameters of UUV, a parameter identification algorithm using extended state equations and extended Kalman filter is proposed. Based on the DOF of UUV and hydrodynamic parameters to design the experiments, the identification results is used to rebuild the equations of UUV and compare the original motion track with simulation track together. The simulation result...
Unmanned Underwater Vehicle(UUV) needs to keep its position and attitude steady when operating a near-surface task. However, the wave force and high damping characteristic brings great challenge to near-surface stabilization. To overcome these difficulties, firstly, we design a sliding mode controller with residuals to form a close-loop system driven by compensating error. Then, based on robust optimal...
In order to ensure the collected images can be matched exactly when UUV operates autonomously underwater. An improved Harris-FAST algorithm is proposed in this paper. The algorithm takes full advantages of FAST algorithm and Harris algorithm, which makes the threshold value with self-adaptive and the detected corner in multi-scale and omnibearingly. It can overcome the corner information loss and...
In the Underwater Transportation processing, the fixed set-point control of a dynamic positioning system enables an unmanned underwater vehicle (UUV) automatically to move to a set position by means of a control system, as well as to maintain its precision when deviating from that set position. In response, this paper aims to improve its generalization ability by indirectly pruning the structure of...
Unmanned Underwater Vehicle (UUV) is widely applied. In the process of accomplishing underwater task, the UUV will separate some detection equipment. When the load separate, there will be a large interference to UUV. The adaptive fuzzy sliding mode control theory is used to design the controller. In the controller, the adaptive fuzzy method is to design the switch gain in sliding mode controller....
Autonomous underwater docking recovery of UUV to a moving platform dock is presented in this paper. Suited docking strategy and control method is designed to realize accurate, safe and fast docking of UUV based on an optical terminal guidance system with two cameras and two guiding lights. The kinematics and dynamics of UUV during docking process is modeled to describe the hydrodynamic interaction...
Considering the UUV energy self-contained is limited, and the task to execute has different importance, how to make UUV in the finite energy configuration case as far as possible to complete the important task with high priority, the path planning problem for multi constrained multi-objective is one of the key problems of autonomous control technology for UUV to solve. A hybrid optimization algorithm...
In this paper, we considered the problem to improve the performance of the UUV when the navigation error exists in the application of target acquisition. The mother ship guides the UUV to acquire the target based on the location information sent back by the UUV. Since the navigation error exists, the discovery probability of the target has been highly decreased. Based on the modeling of the navigation...
The vulnerability of military installations and critical infrastructure sites from underwater threats is now well accepted and, in order to combat these security weaknesses, there has been growing interest in — and adoption of — sonar technology. Greater availability of Autonomous/Unmanned Underwater Vehicles (A/UUVs) to both adversary nations and terrorists/saboteurs is also a cause of increasing...
We detail the development of a novel propulsion system for unmanned underwater vehicles (UUV's) inspired by the punting locomotion of the ‘Little Skate’. The hybrid legged, gliding and punting gait is a potential enabling technology for UUV access to complex littoral environments. Design, development and initial trials with the prototype vehicle are presented. A combination of video motion capture...
As part of The Technical Cooperation Program (TTCP), a series of trials has been held over the past three years to focus on collaboration in the unmanned maritime systems environment between the following nations: Australia (AS), Canada (CA), New Zealand (NZ), the United Kingdom (UK), and the United States (US). The trials have taken place in San Diego, CA US, Patuxent River, MA US, and Portsmouth,...
Unmanned underwater vehicle (UUV) has been applied for civil field all over the world. In technologies of UUV, the underwater recovery technology plays an essential part. And the superior precision control system is necessary for UUV underwater recovery. In this paper, the research background is the mother ship carries UUV recycling in piggyback method. And the important point is the method of dynamic...
In this paper, the problem of the recovery path planning and guidance for UUV (Unmanned Underwater Vehicle) in unknown ocean environment is solved. First, a DD-RRT algorithm is proposed to construct the path avoiding obstacles and incurs the minimum cost from a starting point to a target point. Then UUV is guided along the planned path to the target point by heading-vector control. The algorithm is...
This paper deals with the design principles and implementation of a reconfigurable real-time software platform designed for data exchange between software modules of unmanned underwater and surface vehicles. The aim of developing a new robotic platform was the realization of a light-weight OS-independent library that allows integrating AUVs, ROVs and surface vehicles to a single computing cluster...
Creating autonomy for maritime vehicles that allows multiple developers and users to quickly integrate and develop capabilities is a difficult process. Multiple examples of autonomy exist; however, creating an environment that is modular and expandable is not often a goal of many autonomous systems. This work presents an advanced Autonomous Vehicle Architecture (AVA) for maritime systems that was...
This paper describes the BUSCAMOS-Oil monitoring system, which is a robotic platform consisting of an autonomous surface vessel combined with an underwater vehicle. The system has been designed for the long-term monitoring of oil spills, including the search for the spill, and transmitting information on its location, extent, direction and speed. Both vehicles are controlled by two different types...
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