A Real Time Autonomous Underwater Vehicle Dynamic Simulator PDF Download
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Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 92
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Book Description
The NPS Autonomous Underwater Vehicle Simulator is a joint project between the Naval Postgraduate School's Mechanical Engineering and Computer Science Departments. In order to test mission planning and execution software, an accurate vehicle dynamic model is required. Using dynamics based upon the Navy's Swimmer Delivery Vehicle (SDV), there is a need to continually update the hydrodynamic coefficients based upon actual vehicle-in-water testing. The NPS AUV Dynamic Simulator contains a full set of submarine equations of motion and hydrodynamic coefficients. The coefficients are modifiable on-line, and a replay capability exists for further performance review. Using Monterey Bay as an underwater testing environment, there is need to be able to display expansive terrain data while maintaining the real time simulation. The Variable Terrain Resolution Algorithm incorporated into the NPS AUV Dynamic Simulator enables the entire Monterey Bay data base to be displayed in real time. Resolution adjustments are made automatically based upon the vehicle's depth level and system performance.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 92
Get Book Here
Book Description
The NPS Autonomous Underwater Vehicle Simulator is a joint project between the Naval Postgraduate School's Mechanical Engineering and Computer Science Departments. In order to test mission planning and execution software, an accurate vehicle dynamic model is required. Using dynamics based upon the Navy's Swimmer Delivery Vehicle (SDV), there is a need to continually update the hydrodynamic coefficients based upon actual vehicle-in-water testing. The NPS AUV Dynamic Simulator contains a full set of submarine equations of motion and hydrodynamic coefficients. The coefficients are modifiable on-line, and a replay capability exists for further performance review. Using Monterey Bay as an underwater testing environment, there is need to be able to display expansive terrain data while maintaining the real time simulation. The Variable Terrain Resolution Algorithm incorporated into the NPS AUV Dynamic Simulator enables the entire Monterey Bay data base to be displayed in real time. Resolution adjustments are made automatically based upon the vehicle's depth level and system performance.
Author: Sabiha Wadoo
Publisher: CRC Press
ISBN: 1351833928
Category : Technology & Engineering
Languages : en
Pages : 208
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Book Description
Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Author: Donald P Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 252
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Donald P. Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 0
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Alexander Inzartsev
Publisher: BoD – Books on Demand
ISBN: 9537619494
Category : Transportation
Languages : en
Pages : 596
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Book Description
For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Author: Donald P. Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 252
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Tien Anh Tran
Publisher: CRC Press
ISBN: 1003817025
Category : Technology & Engineering
Languages : en
Pages : 191
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Book Description
The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.
Author: Cheng Siong Chin
Publisher: CRC Press
ISBN: 1000295710
Category : Computers
Languages : en
Pages : 164
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Book Description
This book supports readers in the development of a remotely operated vehicle (ROV) pilot training simulator by exploiting open-source or free gaming software and emphasizing the importance of using established and widely-available game design techniques to provide engaging scenarios for ROV training developers and trainees. There is no such book to guide the users to create an open-source virtual simulator for pilot training in the marine and offshore industry. This book can be used as a reference for undergraduate and postgraduate students, engineers, researchers, and lecturers in VR simulation using UnityTM as the leading software. Some of the key features of the book include: • Step-by-step procedures in development ROV pilot training simulator • Use of open-source software UnityTM that is freely available to all readers • The codes used in the book are self-sufficient as there are no codes hidden from readers
Author: Michael H. Davis
Publisher:
ISBN:
Category :
Languages : en
Pages : 61
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Book Description
In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Author: Yi Qu
Publisher: Springer Nature
ISBN: 9819710952
Category :
Languages : en
Pages : 521
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Book Description
