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    Wyświetlanie 1-7 z 7
    Tytuł:
    A dynamic submerging motion model of the hybrid-propelled unmanned underwater vehicle: Simulation and experimental verification
    Autorzy:
    Talarczyk, Tomasz
    Powiązania:
    https://bibliotekanauki.pl/articles/11542696.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    autonomous underwater vehicle
    hybrid propulsion system
    biomimetic underwater vehicle
    dynamic diving
    diving model
    autonomiczny pojazd podwodny
    układ napędowy hybrydowy
    biomimetyczny pojazd podwodny
    nurkowanie dynamiczne
    Opis:
    Hybrid propulsion in underwater vehicles is the new idea of combining conventional propulsion systems such as screw propellers with other kinds of propulsion like oscillating biomimetic fins, glider wings or jet thrusters. Each of these propulsion systems has its own benefits and drawbacks, and the goal is to have them complement each other in certain conditions. This paper covers the topic of a dynamic model of the pitch and heave motion of the HUUV (hybrid unmanned underwater vehicle) using screw propellers and biomimetic lateral fins. Firstly, the simulation model of the vehicle performing depth and pitch change is presented. Secondly, the vehicle’s hydrodynamic coefficients obtained from CFD simulations are discussed. Thirdly, the results of the HUUV experimental studies in a swimming pool are presented. Lastly, simulation results are compared with those of the experiment to verify the correctness of the model. The vehicle’s motion in the swimming pool during the experiments was recorded using a submerged camcorder and then analysed using the Tracker software.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2023, 33, 2; 207--218
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A robust controller design method and stability analysis of an underactuated underwater vehicle
    Autorzy:
    Chin, C. S.
    Lau, M. W. S.
    Low, E.
    Seet, G. G. L.
    Powiązania:
    https://bibliotekanauki.pl/articles/908396.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    pojazd podwodny
    stabilność
    sterowanie odporne
    symulacja
    underwater vehicle
    underactuated
    stabilizable
    robust controller
    simulation
    Opis:
    The problem of designing a stabilizing feedback controller for an underactuated system is a challenging one since a nonlinear system is not stabilizable by a smooth static state feedback law. A necessary condition for the asymptotical stabilization of an underactuated vehicle to a single equilibrium is that its gravitational field has nonzero elements corresponding to unactuated dynamics. However, global asymptotical stability (GAS) cannot be guaranteed. In this paper, a robust proportional-integralderivative (PID) controller on actuated dynamics is proposed and unactuated dynamics are shown to be global exponentially bounded by the Sordalen lemma. This gives a necessary and sufficient condition to guarantee the global asymptotic stability (GAS) of the URV system. The proposed method is first adopted on a remotely-operated vehicle RRC ROV II designed by the Robotic Research Centre in the Nanyang Technological University (NTU). Through the simulation using the ROV Design and Analysis toolbox (RDA) written at the NTU in the MATLAB/SIMULINK environment, the RRC ROV II is robust against parameter perturbations.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 3; 345-356
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Optimization of Thrust Allocation in the Propulsion System of an Underwater Vehicle
    Autorzy:
    Garus, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/907964.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    pojazd podwodny
    sterowanie nieograniczone
    układ napędowy
    underwater vehicle
    unconstrained control
    propulsion system
    thrust allocation
    Opis:
    The paper addresses methods of thrust distribution in a propulsion system for an unmanned underwater vehicle. It concentrates on finding an optimal thrust allocation for desired values of forces and moments acting on the vehicle. Special attention is paid to the unconstrained thrust allocation. The proposed methods are developed using a configuration matrix describing the layout of thrusters in the propulsion system. The paper includes algorithms of thrust distribution for both faultless work of the propulsion system and a failure of one of the thrusters. Illustrative examples are provided to demonstrate the effectiveness and correctness of the proposed methods.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 461-467
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fault identification in underwater vehicle thrusters via sliding mode observers
    Autorzy:
    Zuev, Alexander
    Zhirabok, Alexey
    Filaretov, Vladimir
    Powiązania:
    https://bibliotekanauki.pl/articles/1838162.pdf
    Data publikacji:
    2020
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    underwater vehicle
    thruster
    fault identification
    sliding mode observer
    pojazd podwodny
    identyfikacja uszkodzenia
    sterowanie ślizgowe
    Opis:
    The paper is devoted to the problem of increasing the efficiency of underwater vehicles by using a fault diagnosis system for their thrusters which provides detection, isolation, and identification of minor faults. To address the problem, a two-stage method is proposed. At the first stage, a bank of diagnostic observers is designed to detect and isolate the emerging faults. Each observer in this bank is constructed to be sensitive to some set of faults and insensitive to others. At the second stage, additional observers working in sliding mode are synthesized in order to accurately estimate the error value in the signal obtained from the angular velocity sensor and to estimate deviations of the thruster parameters from their nominal values due to the faults. In contrast to the existing solutions, reduced-order (i.e., lower-dimensional) models of the original system are proposed as a basis to construct sliding mode observers. This approach permits reduction of the complexity of the obtained observers in comparison with the known methods, where full-order observers are constructed. The simulation results show the efficiency and high quality of all synthesized observers. In all cases considered, it was possible to detect typical faults, as well as estimate their values.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2020, 30, 4; 679-688
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Dual quaternions for the kinematic description of a fish-like propulsion system
    Autorzy:
    Kitowski, Zygmunt
    Piskur, Paweł
    Orłowski, Mateusz
    Powiązania:
    https://bibliotekanauki.pl/articles/11542693.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    dual quaternion
    artificial fish
    underwater vehicle
    undulating propulsion system
    kwaternion dualny
    sztuczna ryba
    pojazd podwodny
    układ napędowy
    Opis:
    This study discusses the use of quaternions and dual quaternions in the description of artificial fish kinematics. The investigation offered here illustrates quaternion and dual quaternion algebra, as well as its implementation in the software chosen. When it comes to numerical stability, quaternions are better than matrices because a normalised quaternion always shows the correct rotation, while a matrix more easily loses its orthogonality due to rounding errors and oversizing. Although quaternions are more compact than rotation matrices, using quaternions does not always provide less numerical computation and the amount of memory needed. In this paper, an algebraic form of quaternion representation is provided which is less memory-demanding than the matrix representation. All the functions that were used to prepare this work are presented, and they can be employed to conduct more research on how well quaternions work in a specific assignment.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2023, 33, 2; 171--181
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Path planning for an autonomous underwater vehicle in a cluttered underwater environment based on the heat method
    Autorzy:
    Sun, Kaiyue
    Liu, Xiangyang
    Powiązania:
    https://bibliotekanauki.pl/articles/1838198.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    autonomous underwater vehicle
    path planning
    heat method
    heat diffusion
    cost function
    pojazd podwodny autonomiczny
    planowanie trasy
    dyfuzja ciepła
    funkcja kosztu
    Opis:
    This paper proposes a novel autonomous underwater vehicle path planning algorithm in a cluttered underwater environment based on the heat method. The algorithm calculates the isotropic and anisotropic geodesic distances by adding the direction and magnitude of the currents to the heat method, which is named the anisotropy-based heat method. Taking account of the relevant influence of the environment on the cost functions, such as currents, obstacles and turn of the vehicle, an efficient collision-free and energy-optimized path solution can be obtained. Simulation results show that the anisotropy-based heat method is able to find a good trajectory in both static and dynamic clutter fields (including uncertain obstacles and changing currents). Compared with the fast marching (FM) algorithm, the anisotropy-based heat method is not only robust, flexible, and simple to implement, but it also greatly saves time consumption and memory footprint in a time-variant environment. Finally, the evaluation criteria of paths are proposed in terms of length, arrival time, energy consumption, and smoothness.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2021, 31, 2; 289-301
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Path planning for an autonomous underwater vehicle in a cluttered underwater environment based on the heat method
    Autorzy:
    Sun, Kaiyue
    Liu, Xiangyang
    Powiązania:
    https://bibliotekanauki.pl/articles/1838202.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    autonomous underwater vehicle
    path planning
    heat method
    heat diffusion
    cost function
    autonomiczny pojazd podwodny
    planowanie trasy
    dyfuzja ciepła
    funkcja kosztu
    Opis:
    This paper proposes a novel autonomous underwater vehicle path planning algorithm in a cluttered underwater environment based on the heat method. The algorithm calculates the isotropic and anisotropic geodesic distances by adding the direction and magnitude of the currents to the heat method, which is named the anisotropy-based heat method. Taking account of the relevant influence of the environment on the cost functions, such as currents, obstacles and turn of the vehicle, an efficient collision-free and energy-optimized path solution can be obtained. Simulation results show that the anisotropy-based heat method is able to find a good trajectory in both static and dynamic clutter fields (including uncertain obstacles and changing currents). Compared with the fast marching (FM) algorithm, the anisotropy-based heat method is not only robust, flexible, and simple to implement, but it also greatly saves time consumption and memory footprint in a time-variant environment. Finally, the evaluation criteria of paths are proposed in terms of length, arrival time, energy consumption, and smoothness.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2021, 31, 2; 289-301
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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