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Tytuł:
Turning maneuver of biomimetic underwater vehicle
Autorzy:
Praczyk, T.
Szymak, P.
Powiązania:
https://bibliotekanauki.pl/articles/114569.pdf
Data publikacji:
2017
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
biomimetic underwater vehicle
maneuverability
Opis:
Biomimetic underwater vehicle equipped with two side fins and one tail fin can perform a turning maneuver in many ways using for that purpose a suitable setting of its fins. In order to select the most effective variant of the turning maneuver a number of tests with a real vehicle were performed. The paper presents the tests themselves as well as their results.
Źródło:
Measurement Automation Monitoring; 2017, 63, 7; 234-237
2450-2855
Pojawia się w:
Measurement Automation Monitoring
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Investigation of a new hovering autonomous underwater vehicle for underwater missions
Autorzy:
Amirkolai, Faryar Shamshiri
Ghasemi, Reza Hasanzadeh
Powiązania:
https://bibliotekanauki.pl/articles/2141881.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
Hovering type Autonomous Underwater Vehicle
HAUV
inspection
state feedback controller
Opis:
It is impossible to implement very tasks by diver, because of complexity of underwater environment and high pressure in the deep sea. These tasks can just be done by a vehicle that includes all special requirements such as: high maneuverability, precise controllability, and especially hovering capability. Underwater robots are integral parts of the industry and marine science. The application of the underwater vehicles has increased with the development of the activities in deep sea. This paper presents a special Hovering type Autonomous Underwater Vehicle (HAUV) for underwater missions. To provide the most suitable and efficient formation of vehicle thrusters for reduction of complexity of control strategies and control of the most degrees of freedom, in this paper, a new thrusters’ configuration is investigated, in terms of number of the thrusters, position and the thrust direction of the thrusters. The state feedback controller is designed according to the linear dynamic model and then applied to the non-linear model to validate the controller performance. Designed controller consists of three controllers: horizontal plane controller, vertical plane controller and surge controller. The last controller is developed to control the forward speed. For examination of the system behavior in presence of environmental disturbance and hydrodynamic coefficients uncertainty, the robustness of controller is also investigated.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 2; 3-13
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimization of autonomous underwater vehicle mission planning process
Autorzy:
Wawrzyński, Wojciech
Zieja, Mariusz
Żokowski, Mariusz
Sigiel, Norbert
Powiązania:
https://bibliotekanauki.pl/articles/2173653.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
sea bottom research
autonomous underwater systems
AUV trajectory
badania dna morskiego
autonomiczne systemy podwodne
trajektoria AUV
Opis:
This article presents the information concerning aspects of the autonomous underwater vehicle (AUV) mission planning process, emphasizing maritime security monitoring and surveillance, and using side-looking sonars as a primary data source. The paper describes characteristic mission plan phases and gives suggestions for the operators, mainly concerning the safety and effectiveness of the AUV mission. The article describes the coverage path planning algorithm, which could be used to create an effective AUV mission plan, considering AUV manoeuvrability, sonar characteristics, and environmental factors. The results of the algorithms have been verified during the real mission of the AUV vehicle.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 2; art. no. e140371
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
New proposal concerned with displaying underwater vehicle parameters
Autorzy:
Jurczyk, Karolina.
Powiązania:
Zeszyty Naukowe / Akademia Marynarki Wojennej im. Bohaterów Westerplatte 2017, nr 2, s. 61-74
Data publikacji:
2017
Tematy:
Pojazdy podwodne bezpilotowe (UUV)
Wizualizacja (grafika)
LabVIEW (program komputerowy)
Sterowanie
Obsługa i eksploatacja
Artykuł z czasopisma naukowego
Artykuł z czasopisma wojskowego
Artykuł problemowy
Opis:
Rysunki, tabele.
Bibliografia na stronie 73-74.
Dostawca treści:
Bibliografia CBW
Artykuł
Tytuł:
Studies of precise positioning in Autonomous Underwater Vehicle navigation
Autorzy:
Felski, A.
Powiązania:
https://bibliotekanauki.pl/articles/320881.pdf
Data publikacji:
2006
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
pojazdy autonomiczne
nawigacja podwodna
autonomous vehicle
underwater navigation
Opis:
Autonomous Underwater Vehicles plays specific role in underwater investigation. A crucial barrier for it remains the possibility of precise determination of their position in submersible state. Commonly used radionavigation systems do not work in such circumstances. There are other systems, still not accurate, too much expensive or difficult to deploy into specific place. Many authors discussed different methods and techniques for such application in particular Kalman Filter, Concurrent Mapping and Localization Algorithms etc. Objective of the paper is the idea of AUV navigation which consists of two phases: firstly a trip of AUV along pre-planned route and secondary that transformation of collected data in post-processing mode with modern adjustment methods.
Źródło:
Annual of Navigation; 2006, 11; 37-46
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stability of motion of the crewed autonomous underwater vehicle
Autorzy:
Świtek, J.
Powiązania:
https://bibliotekanauki.pl/articles/244411.pdf
Data publikacji:
2011
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
fluid mechanics
ship hydrodynamics
stability of motion
underwater vehicle
Opis:
In this article I investigate the issues related to the motion stability of a crewed autonomous underwater vehicle of the 'wet' type. In vehicles of this kind, the necessity to perform decompression imposes certain requirements relating to the parameters of the motion. In particular it requires maintaining a constant depth regardless of the operating conditions. For this reason, the investigation is limited to an analysis of a two-dimensional motion within the vertical plane. The analysis of motion stability is based on the classic motion equations. In formulating the relations of forces, along with the hydrostatic influences, viscosity and inertia of the water environment are considered. Forces relating to the viscosity are examined through the resistance coefficients. The specific calculations draw from the results of model tests. Forces related to the inertia of the environment are accounted for considered through the water added-mass coefficients. In order to assess the quality of motion, a coefficient of damping and a degree of stability are used as values indicating the character of the results of the dynamic motion equations. The results of the example calculations are presented in the form of diagrams, complete with the lines representing the constant values of the above indicators of the motion stability for different structural solutions under various conditions in which the vehicle is operated.
Źródło:
Journal of KONES; 2011, 18, 1; 159-666
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
CFD and FEM model of an underwater vehicle propeller
Autorzy:
Chruściel, T.
Ciba, E.
Dopke, J.
Powiązania:
https://bibliotekanauki.pl/articles/260502.pdf
Data publikacji:
2014
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
ROV
ROV propeller
semi-open duct for horizontal propellers
rapid prototyping propeller
Opis:
Within the framework of the project for design and optimization of the Remotely Operated Vehicle (ROV), research on its propulsion has been carried out. The entire project was supported by CFD and FEM calculations taking into account the characteristics of the underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to create a measurable model of this task it was necessary to analyze numerical methodology of propeller design, along with the structure of a propellers with nozzles and contra-rotating propellers. It was confronted with theoretical solutions which included running of the analyzed propeller near an underwater vehicle. Also preliminary qualitative analyses of a simplified system with contra-rotating propellers and a semi-open duct were carried out. The obtained results enabled to make a decision about the ROVs duct form. The rapid prototyping SLS (Selective Laser Sintering) method was used to fabricate a physical model of the propeller. As a consequence of this, it was necessary to verify the FEM model of the propeller, which based on the load obtained from the CFD model. The article contains characteristics of the examined ROV, a theoretical basis of propeller design for the analyzed cases, and the results of CFD and FEM simulations.
Źródło:
Polish Maritime Research; 2014, 3; 40-45
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Thrust measurement of biomimetic underwater vehicle with undulating propulsion
Autorzy:
Szymak, Piotr.
Powiązania:
Zeszyty Naukowe / Akademia Marynarki Wojennej im. Bohaterów Westerplatte 2018, nr 2, s. 69-82
Współwytwórcy:
Przybylski, Michał (wojskowość). Autor
Data publikacji:
2018
Tematy:
Biomimetyczny pojazd podwodny
Napęd
Napór hydrodynamiczny
Artykuł z czasopisma naukowego
Artykuł z czasopisma wojskowego
Raport z badań
Opis:
Bibliografia na stronach 81-82.
Dostawca treści:
Bibliografia CBW
Artykuł
Tytuł:
Correction of navigational information supplied to biomimetic Autonomous Underwater Vehicle
Autorzy:
Praczyk, T.
Powiązania:
https://bibliotekanauki.pl/articles/259696.pdf
Data publikacji:
2018
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
underwater navigation
odometry
underwater vehicle
Opis:
In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV) need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration) and course (heading) provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS) is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.
Źródło:
Polish Maritime Research; 2018, 1; 13-23
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematical control of motion of underwater vehicle in horizontal plane
Autorzy:
Garus, J.
Powiązania:
https://bibliotekanauki.pl/articles/259399.pdf
Data publikacji:
2004
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
underwater vehicle
autopilot
fuzzy logic
Opis:
In the paper presented is a method of designing a fuzzy-logic-based autopilot for control of horizontal motion of an unmanned underwater vehicle. The control system’s synthesis was performed under the assumption that the vehicle can move with variable linear and angular velocities and the quantities possible to be measured are: position and orientaŹtion of the vehicle in the inertial reference system. The task of the autopilot was to minimiŹze the mean squares of deviations from the motion trajectory given in the form of a broken line defined by the coordinates of successive turning points. To generate control signals three independent fuzzy PD controllers using the control principles based on the Mac Vicar-Whelan’s standard base, were applied. For the linguistic variables of each controller appropriate fuzzy sets were selected and linear membership functions of trapezoidal and triangular form were defined. The presented results of the simulation tests performed for the remotely operated underwater vehicle "Ukwiał", with and without influence of disturbances resulting from sea current, confirm the proposed approach to be correct and effective.
Źródło:
Polish Maritime Research; 2004, 2; 27-31
1233-2585
Pojawia się w:
Polish Maritime Research
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:
Evaluation of effectiveness of waterjet propulsor for a small underwater vehicle
Autorzy:
Rowinski, Lech
Kaczmarczyk, Maciej
Powiązania:
https://bibliotekanauki.pl/articles/2033211.pdf
Data publikacji:
2021
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
ship propulsion
hydromechanics
waterjet
underwater vehicle
Opis:
The goal of the project described is to replace the existing propulsion system of a small underwater vehicle with a solution less prone to mechanical damage and ensuring a lower risk of the entanglement of fibrous objects suspended in the body of water. Four typical marine screws are utilised in the current design of the vehicle. One possible solution of the problem is the application of waterjet propulsors located inside the body of the vehicle instead. The general conditio of the application of the new solution was to secure at least the same motion control capabilities of the vehicle while the basic capability is its propulsion effectiveness at the required speed. Specific features of the considered waterjet propulsor, when compared with their application in surface vessel propulsion, are the lack of the head losses and the low significance of cavitation issues. One of the difficulties in the considered case is the small diameter of the propulsor in comparison to commercially available waterjet units, which have diameters between 0.1 [m] and 1.0 [m]. There is very little data regarding the design and performance of devices in the 0.02 to 0.05 [m] range. Methods utilised to forecast the performance of the new propulsion system are presented and results compared. These were semi-empirical calculations, numerical calculations and tests of real devices. The algorithm that is based on semi-empirical calculations is of particular interest while it offers possibility quick assessment of performance of a propulsor composed of several well defined components. The results indicate the feasibility of modification of the propulsion system for the considered vehicle if all the existing circumstances are taken into account.
Źródło:
Polish Maritime Research; 2021, 4; 30-41
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive control of autonomous underwater vehicle based on fuzzy neural network
Autorzy:
Qin, Z.
Gu, J.
Powiązania:
https://bibliotekanauki.pl/articles/384507.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
autonomous underwater vehicle
fuzzy neural network
adaptive control
stability
Opis:
This paper presents an adaptive control method based on fuzzy neural network for Autonomous Underwater Vehicle (AUV). The Fuzzy Neural Network (FNN) could build the inverse model of AUV through on-line learning algorithm, which is free of fuzzy neural network structure knowledge and prior fuzzy inference rules. The adaptive controller for AUV based on FNN is proposed, and then the stability of the resulting AUV closed-loop control system is analyzed by Lyaponov stability theory. The validity of the proposed control method has been verified through computer simulation experiments.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 104-111
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Report on research with biomimetic autonomous underwater vehicle - low level control
Powiązania:
Zeszyty Naukowe / Akademia Marynarki Wojennej im. Bohaterów Westerplatte 2018, nr 1, s. 105-123
Współwytwórcy:
Praczyk, Tomasz. Autor
Szymak, Piotr. Autor
Naus, Krzysztof. Autor
Pietrukaniec, Leszek. Autor
Hożyń, Stanisław. Autor
Data publikacji:
2018
Tematy:
Pojazdy podwodne bezpilotowe (UUV)
Bionika
Napęd
Obsługa i eksploatacja
Sterowanie
Artykuł z czasopisma naukowego
Artykuł z czasopisma wojskowego
Raport z badań
Opis:
Bibliografia, netografia na stronach 122-123.
Dostawca treści:
Bibliografia CBW
Artykuł
Tytuł:
Accuracy of positioning Autonomous Biomimetic Underwater Vehicle using additional measurement of distances
Autorzy:
Naus, K.
Szymak, P.
Powiązania:
https://bibliotekanauki.pl/articles/320915.pdf
Data publikacji:
2016
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
underwater positioning
estimation of coordinates
autonomous biomimetic underwater vehicle
Opis:
The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV) using two methods: dead reckoning (DR) and extended Kalman filter (EKF). In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.
W artykule przedstawiono opis badań dokładności estymowania współrzędnych pozycji ABUV (Autonomous Biomimetic Underwater Vehicle) metodą zliczania drogi (dead reckoning — DR) oraz rozszerzonym filtrem Kalmana (external Kalman filter — EKF). W pierwszej części przybliżono tematykę systemów nawigacyjnych ABUV i sformułowano problem naukowy związany z pozycjonowaniem podwodnym. W części głównej opisano sposób estymowania współrzędnych pozycji metodą DR i EKF oraz eksperyment badawczy polegający na programowym symulowaniu przejścia ABUV po zadanym odcinku testowym. Część końcowa zawiera porównawczą analizę statystyczną otrzymanych wyników prowadzoną pod kątem oceny dokładności estymowania współrzędnych pozycji metodami DR i EKF. Przedstawiono w niej także uogólnione wnioski z badań oraz problemy związane z właściwym rozmieszczeniem elementów systemu pomiarowego odległości.
Źródło:
Annual of Navigation; 2016, 23; 5-21
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 113

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