[PDF] Model Based Design And Verification Of A Rapid Dive Controller For An Autonomous Underwater Vehicle eBook

Author : Gordon S. MacDonald
Publisher :
Page : 131 pages
File Size : 33,81 MB
Release : 1989
Category : Oceanographic submersibles
ISBN :

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Autonomous underwater vehicles are being considered today by many organizations as a low cost substitute for manned vehicles. Requirements for autonomy emphasize the need for a robust system controller that can adequately maneuver the vehicle and ensure precise tracking of a planned path. This thesis presents the determination of hydro-dynamic coefficients for vertical motion of a radio controlled underwater vehicle based on open loop testing. The equations of motion were manipulated using software Matrix-x to create satisfactory closed loop control system for rapid maneuvering in the vertical plane. Because vehicle data provided by on-board sensors was limited, both state estimation and disturbance estimation/compensation techniques were used, leading to a model based compensator which enhanced control. Results show that a satisfactory closed loop control design can be achieved using these modern controller design techniques. The extension to the design of steering control is addressed. Keywords: Autonomous underwater vehicles; Automatic dive control; Model based compensators; Military theses.

Author : Wade H. Shafer
Publisher : Springer Science & Business Media
Page : 421 pages
File Size : 10,67 MB
Release : 2012-12-06
Category : Science
ISBN : 1461534747

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Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS) * at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 34 (thesis year 1989) a total of 13,377 theses titles from 26 Canadian and 184 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this important annual reference work. While Volume 34 reports theses submitted in 1989, on occasion, certain univer sities do report theses submitted in previous years but not reported at the time.

Author :
Publisher :
Page : 99 pages
File Size : 23,40 MB
Release : 2007
Category :
ISBN :

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In this research, our goal has been to develop hierarchical hybrid mission control architecture for autonomous systems illustrating its application to autonomous underwater vehicle (AUV), verify the logical correctness of the controller designed, look into the feasibility of simulating the operations executed by the AUV, and automate controller synthesis. The correct operation of a system we design is a requirement. The challenge to develop a hierarchical hybrid mission controller for underwater vehicle which facilitates modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).

Author : W. H. Shafer
Publisher : Plenum Publishing Corporation
Page : 392 pages
File Size : 29,20 MB
Release : 1992
Category : Education
ISBN : 9780306443480

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Masters Theses Listed by Discipline: Aerospace Engineering. Agricultural Economics, Sciences and Engineering. Architechtural Engineering and Urban Planning. Astronomy. Astrophysics. Ceramic Engineering. Communications Engineering and Computer Science. Cryogenic Engineering. Electrical Engineering. Engineering Mechanics. Engineering Physics. Engineering Science. Fuels, Combustion, and Air Pollution. General and Environmental Engineering. Geochemistry and Soil Science. Geological Sciences and Geophysical Engineering. Geology and Earth Science. Geophysics. Industrial Engineering. Marine and Ocean Engineering. Materials Science and Engineering. Mechanical Engineering and Bioengineering. Metallurgy. Meteorology and Atmospheric Science. 17 additional disciplines. Index.

Author : Glenn M. Brunner
Publisher :
Page : 0 pages
File Size : 42,29 MB
Release : 1988
Category : Autonomous underwater vehicles
ISBN :

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System identification for an Autonomous Underwater Vehicle model design is performed using Recursive Least Squares to provide a best fit discretized transfer function between dive plane command signals and vehicle response data. The data was provided by constructing a radio controlled vehicle model and performing vertical plane maneuvers in a water tank. The analog input and output signals were digitized and recorded. The vehicle design, sensor calibration, and resulting responses are discussed. Vertical plane equations of motion were derived and theoretical plant models formulated. Also, analog controller designs were performed based on the theoretical plant models. This study will lead to adaptive model controllers for the future. Keywords: Theses; Performance tests.

Author : Advisory Committee on Technology and Society
Publisher : National Academies Press
Page : 1298 pages
File Size : 46,41 MB
Release : 1989
Category : Social Science
ISBN : 9780309037860

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Cities and Their Vital Systems asks basic questions about the longevity, utility, and nature of urban infrastructures; analyzes how they grow, interact, and change; and asks how, when, and at what cost they should be replaced. Among the topics discussed are problems arising from increasing air travel and airport congestion; the adequacy of water supplies and waste treatment; the impact of new technologies on construction; urban real estate values; and the field of "telematics," the combination of computers and telecommunications that makes money machines and national newspapers possible.

Author : George M. Roman
Publisher : Nova Science Publishers
Page : 109 pages
File Size : 37,41 MB
Release : 2020
Category : Technology & Engineering
ISBN : 9781536189674

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"Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--