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A sea demining system using autonomous marine surface vehicles (AMSV) is introduced. The research involves the development of exemplars of these vehicles, and the procedures for area scanning and coverage. The demining is made by field influence, towing a submerged “fish”. This study is made both with simulations and with scale experiments.
This paper presents an adaptive region tracking control for Autonomous Underwater Vehicle (AUV). The AUV is required to track a moving region to accomplish a given task. The desired target is specified as a region rather than a point so that the control effort used to track the region is minimal. In the applications where the accuracy is of utmost importance, the desired region can be chosen to be...
This thesis describes a new method that in real time predicts fall and collision in order to support remote control of a tracked vehicle with sub-tracks. A tracked vehicle has high ability of getting over rough terrain. However, it is difficult for an operator at a remote place to control the vehicle's moving direction and speed. Hence, we propose a new path evaluation system based on the measurement...
When employing autonomous vehicles, it is desirable to use controllers which can be rigorously shown to always ensure safety is maintained. In this manuscript we compare two approaches for the problem of navigation through environments containing obstacles. The first uses boundary following to maintain an avoidance distance to obstacles, and the second uses a MPC-type algorithm to plan short range...
Colour Stereo visions are the primary perception system of the most Unmanned Ground Vehicles (UGVs), which can provide not only 3D perception of the terrain but also its colour and texture information. The downside with present stereo vision technologies and processing algorithms is that they are limited by the cameras' field of view and maximum range, which causes the vehicles to get caught in cul-de-sacs...
Unmanned Vehicles (UxVs) are now a key Intelligence Surveillance and Reconnaissance (ISR) resource for first-world defense organizations. But the barrier to entry for making unmanned systems has fallen, with terrorist groups and crime syndicates capable of creating sophisticated robots using Commercial Off-The-Shelf (COTS) components. With the explosive growth of unmanned systems in the air, on the...
The compact design of the UTAR-AAV is an attractive solution to the problem of big size amphibious vehicle available in the market. Most amphibious vehicles aim to navigate in a wide and open area. This paper sets out the design considerations for the development of the compact UTAR-AAV. The body and buoyancy design is made compact to pass through narrow and confined area. Differential drive made...
This paper describes a control methodology of SVM inverse model for unmanned surface vehicle (USV) system heading control. The method is composed of SVM inverse model and PID feedback compensation that are illustrated in detail. In the MATLAB platform, unmanned surface vehicle module and SVM control module were established. The whole system simulation was conducted. The experiments results show that...
Confined/inshore waters may represent the best type of environment for the conduct of clandestine operations, especially from the sea: the features of such an environment weaken the detection and identification processes carried out by the defenders, while allowing the covert execution of illegal activities, as well as a better exploitation of surprise. The most significant illegal activities conducted...
Keeping our ports and waterways safe from threats has become increasingly relevant. Hull and harbor infrastructure inspections are not performed regularly as they are time consuming, require careful planning and involve a huge amount of risk as well as human and monetary resources. An Autonomous Underwater Vehicle (AUV)-based approach will speed up operations and help locate and identify possible...
On Kanda port construction in Fukuoka prefecture, no fewer than 2,800 harmful chemical bombs have been discovered beneath the sea bottom so far. In advance of dredging in the port, we have carefully carried out magnetic inspection for looking for chemical bombs. Since a true target often gets mixed in a lot of suspicious metallic objects, we must cautiously draw up detected objects one by one. Use...
Divers and swimmers pose a potential water-side threat to assets in ports and harbors. Developing effective technologies and systems to detect, localize, and classify these threats is critical to protecting those assets. Once a potential threat has been identified, it is necessary to intervene to either deter or further classify a threat. UUVs are a technology that can be employed in this role, but...
Many who are interested in the topic of Waterside Security focus primarily on the detection of threats. This may seem like a logical focal point, but the ideal starting point should be to understand the system-of-systems with which security is to be ensured so that e.g. threat detection can be analysed within the broader context. For this purpose it is necessary to have a tool that can consider all...
A guaranteed cost control method for autonomous vehicle platoon with communication constraints (such as quantization, time-delay and packet-losses) is developed in this paper. Firstly, a vehicle model is established for the platoon's longitudinal movement, which is shown to be a great improvement of the existing models in that networked communication constraints are considered. Then, a guaranteed...
This paper presents an optimized robust controller for trajectory control of an Autonomous Underwater Vehicle (AUV) - Manipulator system. The trajectory of a manipulator mounted on an AUV is highly affected by the dynamic coupling between the AUV and manipulator as well as the hydrodynamic parameter variations. Design of a controller to overcome these effects is presented. Unconstrained optimization...
The aim of this work is to describe an intelligent system based on fuzzy logic that is developed to control a quadrotor. A quadrotor is a helicopter with four rotors, that make the vehicle more stable but more complex to model and to control. The quadrotor has been used as a testing platform in the last years for various universities and research centres. A quadrotor has six degrees of freedom, three...
This paper presents a cost-effective approach to design an embedded autopilot system for a 4-rotor aerial vehicle. The system is targeted for autonomous control research, and it consists of an onboard system and a ground station. The onboard system interfaces with the vehicle and provides data link for sensor measurements and control data. The ground station provides a user-friendly interface for...
This paper presents design of a robust hovering controller for a quad tilt-wing UAV to hover at a desired position under external wind and aerodynamic disturbances. Wind and the aerodynamic disturbances are modeled using the Dryden model. In order to increase the robustness of the system, a disturbance observer is utilized to estimate the unknown disturbances acting on the system. Nonlinear terms...
Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
In this paper, the self organizing neural network approach is proposed in the micro air vehicle, inducted with nano-sensors to capture the enemy's arsenal. It is proposed that the nano-sensors sense the given locations. By using self organizing feature the micro air vehicle flies to the desired locations and capture the objects. The micro air vehicle starts from the base station once all the locations...
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