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Mission areas and technology requirements for dual-use AUVapplications
Title
Mission areas and technology requirements for dual-use AUVapplications.
Creator
White, Dan G., Harbor Branch Oceanographic Institute
Date Issued
1994
PURL
http://purl.flvc.org/fau/fd/FA00007412
Subject Headings
Submersibles--Automatic control, Underwater vehicles
Format
Document (PDF)
Determination of horizontal motion through optical flow computations
Title
Determination of horizontal motion through optical flow computations.
Creator
Chih-Ho, Yu, Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued
1993
PURL
http://purl.flvc.org/FCLA/DT/3183679
Subject Headings
Underwater navigation, Submersibles--Automatic control
Format
Document (PDF)
Cell-state-space-based fuzzy logic controller automatic design and optimization for high-order systems
Title
Cell-state-space-based fuzzy logic controller automatic design and optimization for high-order systems.
Creator
Song, Feijun., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Recent advances in computer engineering make the computational approaches to controller design for high order systems practical. In this dissertation, a series of computational methods based on cell state space for the design and optimization of Takagi-Sugeno (TS) type Fuzzy Logic Controllers (FLCs) are presented. The approaches proposed in this research can be classified into two categories: feed forward design and feedback design. An Optimal Control Table (OCT) based on cell state space is...
Show moreRecent advances in computer engineering make the computational approaches to controller design for high order systems practical. In this dissertation, a series of computational methods based on cell state space for the design and optimization of Takagi-Sugeno (TS) type Fuzzy Logic Controllers (FLCs) are presented. The approaches proposed in this research can be classified into two categories: feed forward design and feedback design. An Optimal Control Table (OCT) based on cell state space is used in all the feed forward design approaches. An FLC can be trained by Least Mean Square (LMS) algorithm with an OCT serving as the training set. For high order systems, due to physical memory limit, the cell resolution is generally low. A specially modified k-d tree representation of cell space is proposed to save the memory while keeping the cell resolution as high as possible. The control command for a point that is not a cell center is approximated by interpolating an OCT. All these commands can be used as training data to train an FLC. An iterative feedback design approach named Incremental Best Estimate Directed Search (IBEDS) is proposed to further optimize a training set. It is a kind of globally directed random search method. The general philosophy is that since the best possible performance of an FLC largely depends on the quality of the training set, if the training set is optimized, an FLC trained by the set would also be optimized. Based on IBEDS, two other feedback FLC design algorithms are also proposed. In one algorithm, subtractive clustering method is used to extract the structure of an FLC from an OCT. The coefficients of the FLC obtained are then optimized with IBEDS. The other algorithm applies IBEDS to three system models and finds the training set that has the worst performance for all the models. This training set is further optimized to improve robustness of a trained FLC.
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Date Issued
1999
PURL
http://purl.flvc.org/fcla/dt/12608
Subject Headings
Fuzzy logic, Automatic control, Fuzzy systems
Format
Document (PDF)
Implementation of a fuzzy logic controller for laser tracking system
Title
Implementation of a fuzzy logic controller for laser tracking system.
Creator
Wu, Xiaomin., Florida Atlantic University, Zhuang, Hanqi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description
With the strikingly fast development of industrial applications and research projects, control systems have become more and more complex than ever. Intelligent control techniques, featuring their being more robust and their availability when system mathematical models are unknown, have proven to be one of the most attractive and highlighted areas in the automatic control arena. This thesis concentrates first on the design of a laser tracking system. A standard design procedure of Fuzzy Logic...
Show moreWith the strikingly fast development of industrial applications and research projects, control systems have become more and more complex than ever. Intelligent control techniques, featuring their being more robust and their availability when system mathematical models are unknown, have proven to be one of the most attractive and highlighted areas in the automatic control arena. This thesis concentrates first on the design of a laser tracking system. A standard design procedure of Fuzzy Logic Controllers (FLCs) is followed, which is then realized in a PC-based environment in the design. An essential issue in this thesis study is the auto tuning of the Fuzzy Logic Controller. An efficient tuning method, mu-law functions, which can adjust both the shape and scaling gain of fuzzy controller's decision table is adopted. Also a search process called Downhill Simplex Search is chosen. Combining these two methods, a Simplex-mu-law auto-tuning algorithm that fits our application is applied to tune the FLC for the laser tracking system. Another issue covered in this research is to modify the Fuzzy Logic Controller structure by changing the distribution of the membership functions. Based on the analysis of the real time error histogram of the system, a novel method is proposed in the thesis for the modification of the membership functions To assess the effectiveness of the methods proposed in this thesis, a prototype laser tracking system is constructed at the FAU Robotics Center. The control strategy proposed in this thesis is tested extensively by simulations and experimentations on the prototype system.
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Date Issued
1999
PURL
http://purl.flvc.org/fcla/dt/15717
Subject Headings
Fuzzy logic, Automatic control, Fuzzy systems
Format
Document (PDF)
Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control
Title
Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control.
Creator
Dupire, Benoit Francois., Florida Atlantic University, Smith, Samuel M.
Abstract/Description
The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has...
Show moreThe Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
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Date Issued
2001
PURL
http://purl.flvc.org/fcla/dt/12789
Subject Headings
Submersibles--Automatic control, Software configuration management
Format
Document (PDF)
Theory of and a novel approach to high-stability frequency control circuits
Title
Theory of and a novel approach to high-stability frequency control circuits.
Creator
Brunell, David J., Florida Atlantic University, Bagby, Jonathan S.
Abstract/Description
Portable, wireless devices have become ubiquitous, and ever-increasing requirements of functionality and reliability are being placed upon these devices. There is a need to accommodate the oft-conflicting requirements of small size, low power consumption, low cost, and extremely accurate control of frequency. To address these RF design requirements, a comprehensive survey of existing frequency-control methods is presented, followed by a novel design which accomplishes a high degree of...
Show morePortable, wireless devices have become ubiquitous, and ever-increasing requirements of functionality and reliability are being placed upon these devices. There is a need to accommodate the oft-conflicting requirements of small size, low power consumption, low cost, and extremely accurate control of frequency. To address these RF design requirements, a comprehensive survey of existing frequency-control methods is presented, followed by a novel design which accomplishes a high degree of frequency accuracy through the use of direct digital synthesis and a software seeking algorithm. The proposed design can be implemented pursuant to the requirements of current and future portable wireless devices.
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Date Issued
2001
PURL
http://purl.flvc.org/fcla/dt/12819
Subject Headings
Frequency synthesizers, Automatic frequency control, Oscillators, Crystal
Format
Document (PDF)
Control design for highly maneuverable autonomous underwater vehicles
Title
Control design for highly maneuverable autonomous underwater vehicles.
Creator
Poirrier, Ronald., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Accurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based...
Show moreAccurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based approach, characterized by robustness properties with respect to parametric uncertainties and linearly bounded control output, will be proposed for the outer-loop and simulation results will be discussed. Regarding the low-level control framework, the performance of nine different controllers including conventional PI, sliding mode fuzzy controllers, and adaptive schemes such as model reference and sliding mode adaptive controllers, will be compared through theoretical derivations and experimental results. Such a comparison will show the advantages of the adaptive schemes in terms of tuning, robustness, and tracking performances.
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Date Issued
2001
PURL
http://purl.flvc.org/fau/fd/FADT12777
Subject Headings
Submersibles--Automatic control, Oceanographic submersibles
Format
Document (PDF)
Development and analysis of real time software for autonomous underwater vehicles
Title
Development and analysis of real time software for autonomous underwater vehicles.
Creator
Flanigan, Thomas Christopher., Florida Atlantic University, Smith, Samuel M.
Abstract/Description
Any Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a...
Show moreAny Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a half years to achieve a flexible software system. This flexible architecture should also help in performing diverse kinds of AUV missions with minimal reconfiguration. The focus of this thesis work is to perform m evaluation of the past and present software systems used in our AUVs, and to describe the implementation details that were necessary for the migration of the past software system to a newer, more flexible and powerful software architecture. Another purpose of the thesis is also to describe the design philosophy behind the new architecture and its impact on the AUV program.
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Date Issued
2002
PURL
http://purl.flvc.org/fcla/dt/12947
Subject Headings
Oceanographic submersibles--Automatic control, Real-time control
Format
Document (PDF)
transputer-based fault-tolerant robot controller
Title
A transputer-based fault-tolerant robot controller.
Creator
Kulkarni, Shubhada R., Florida Atlantic University, Fernandez, Eduardo B., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description
In recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use...
Show moreIn recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use of a concurrent structure composed of Transputers. Reliability is provided by a self-testing mechanism and a multiprocessor system architecture. The Occam implementation of the robot processes is described. We have evaluated the reliability of this controller. The reliability study shows that there is a significant increase in the reliability of this controller due to the new architecture and proposed fault detection mechanism. While we have not been able to actually control this robot, we have shown that some scheduling heuristics can be effectively used to provide a higher level of performance.
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Date Issued
1990
PURL
http://purl.flvc.org/fcla/dt/14616
Subject Headings
Robots--Control systems, Automatic control--Computer programs
Format
Document (PDF)
High performance and robust control
Title
High performance and robust control.
Creator
Xu, Min., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
It is desirable to have robust high performance nonlinear control with a model-free design approach for the real time automatic control of practical industrial processes. The field has seen the application of Sliding Mode Controllers (SMCs). SMCs are nonlinear robust controllers, however most design approaches related to SMCs are model-based approaches. PID controllers and some Fuzzy Logic Controllers (FLCs) are model-free controllers, however their robustness is not integrated into their...
Show moreIt is desirable to have robust high performance nonlinear control with a model-free design approach for the real time automatic control of practical industrial processes. The field has seen the application of Sliding Mode Controllers (SMCs). SMCs are nonlinear robust controllers, however most design approaches related to SMCs are model-based approaches. PID controllers and some Fuzzy Logic Controllers (FLCs) are model-free controllers, however their robustness is not integrated into their design parameters directly. This dissertation presents two new types of robust high performance nonlinear controllers with model-free design approaches. One introduces fuzzy logic to a model-free SMC which is a simple saturation function incorporating three design parameters. Due to the interpolative nature of fuzzy control, a TSK type FLC with the model-free SMCs as its rule's consequents will produce a controller with a nonlinear sliding curve and a nonlinear boundary layer. We call this controller a Fuzzy Sliding Controller (FSC). The other uses a new type of Variable Structure Controller (VSC), which intentionally switches from one controller to another controller during a step response. In conventional approaches to VSC, the control surface does not change its shape during a step response. The new type of VSC intentionally changes the shape of the control surface during the step response. This technique is analogous to that technique employed in image processing called "morphing" where a given image gradually changes over time to the image of a different entity. In order to avoid confusion with the conventional approach to a VSC, we use the term "Morphological" Controller (MC) for the VSC of the new type. The performance and robustness with respect to parameter variations, disturbances and slow sample rates of the proposed controllers are studied in detail with a DC motor and an Inverted Pendulum System. As a means to verify the proposed controllers in practical cases, we design the model-free SMC, the FSC and the MC for the highly nonlinear and uncertain dynamics of an Autonomous Underwater Vehicle, Ocean Voyager II. It is shown that the proposed controllers are high performance and high robustness controllers.
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Date Issued
1996
PURL
http://purl.flvc.org/fcla/dt/12446
Subject Headings
Nonlinear control theory, Automatic control, Feedback control systems, Feedforward control systems
Format
Document (PDF)
An advanced submersible handling system
Title
An advanced submersible handling system.
Creator
Clark, A. M., McCallum, R., Harbor Branch Oceanographic Institute
Date Issued
1985
PURL
http://purl.flvc.org/FCLA/DT/3183671
Subject Headings
Automatic control, Resonance, Oceanographic submersibles, Remote submersibles, Winches
Format
Document (PDF)
DSP hardware implementation of transform-based compression algorithm for AUV telemetry
Title
DSP hardware implementation of transform-based compression algorithm for AUV telemetry.
Creator
Kocak, D. M., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued
1998
PURL
http://purl.flvc.org/FCLA/DT/3183703
Subject Headings
Image compression, Submersibles--Automatic control, Telemetry, Data Compression
Format
Document (PDF)
Literature Survey and the Conceptual Design of an Unmanned Arctic Ocean Scientific Vessel
Title
Literature Survey and the Conceptual Design of an Unmanned Arctic Ocean Scientific Vessel.
Creator
Xu, Wenqiang, Su, Tsung-Chow, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
In this paper, the possibility of using a Small Water-plane Area Twin Hull (SWATH) as an unmanned Arctic scientific research vessel is analyzed. Before carrying out the stability analysis of the SWATH ship, this paper briefly outlines the importance of the Arctic survey, which guides the importance of the new research ship for Arctic scientific exploration. In addition to being used as a long-tern monitoring and data collection platform, it is also used as a recovery mothership for autonomous...
Show moreIn this paper, the possibility of using a Small Water-plane Area Twin Hull (SWATH) as an unmanned Arctic scientific research vessel is analyzed. Before carrying out the stability analysis of the SWATH ship, this paper briefly outlines the importance of the Arctic survey, which guides the importance of the new research ship for Arctic scientific exploration. In addition to being used as a long-tern monitoring and data collection platform, it is also used as a recovery mothership for autonomous equipment such as an AUV. After briefly introducing the basic background of a SWATH, it’s advantages and disadvantages are enumerated and analyzed, and a combination of theoretical and practical tests are used to conduct a brief analysis and summary of the reasons for the appearance of trim by head arising from SWATH navigation. Trim by head occurs when a vessel incline such that its plane of flotation is not coincident with its mean waterline plane. In terms of theory, hydrodynamic equations are used to theoretically deduce the SWATH state of navigation and get the corresponding characteristic equation. Finally, a new type USV be designed conceptionally and be created as a model by Solid-work software. Conceptual design combines the advantages of SWATH and remedy deficiency of its longitudinal stability. The theoretical calculation and analysis of the struts of the conceptual model proves that the oblique struts structure can effectively improves the transverse stability of the model, and with the help of the special slender ellipse structure which is installed on the model’s struts, the righting moment of the model is increased when it’s heeling during a large angle. The hydrodynamic analysis of the conceptual model is carried out by Star- CCM software. The simulation results also prove the effectiveness of stabilizer fins to the longitudinal stability of the conceptual design and reflects the data information of the model in terms of resistance and motion state. At last, we have a general understanding of the performance characteristics of the conceptual model by analysis the feedback data, which provides reliable support for future improvement and optimization.
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Date Issued
2018
PURL
http://purl.flvc.org/fau/fd/FA00013155
Subject Headings
Research vessels, Oceanographic research vessels, Automatic control, Design
Format
Document (PDF)
Obstacle avoidance for AUVs
Title
Obstacle avoidance for AUVs.
Creator
Gan, (Linda) Huilin., Florida Atlantic University, Ganesan, Krishnamurthy
Abstract/Description
This thesis describes a general three-dimensional Obstacle Avoidance approach for the Autonomous Underwater Vehicle (AUV) using a forward-looking high-frequency active sonar system. This approach takes into account obstacle distance and AUV speed to determine the vehicle's heading, depth and speed. Fuzzy logic has been used to avoid the abrupt turn of the AUV in the presence of obstacles so that the vehicle can maneuver smoothly in the underwater environment. This approach has been...
Show moreThis thesis describes a general three-dimensional Obstacle Avoidance approach for the Autonomous Underwater Vehicle (AUV) using a forward-looking high-frequency active sonar system. This approach takes into account obstacle distance and AUV speed to determine the vehicle's heading, depth and speed. Fuzzy logic has been used to avoid the abrupt turn of the AUV in the presence of obstacles so that the vehicle can maneuver smoothly in the underwater environment. This approach has been implemented as an important part of the overall AUV software system. Using this approach, multiple objects could be differentiated automatically by the program through analyzing the sonar returns. The current vehicle state and the path of navigation of the AUV are self-adjusted depending on the location of the obstacles that are detected. A minimum safety distance is always maintained between the AUV and any object. Extensive testing of the program has been performed using several simulated AUV on-board systems undergoing different types of missions.
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Date Issued
1997
PURL
http://purl.flvc.org/fcla/dt/15451
Subject Headings
Submersibles--Automatic control, Fuzzy logic, Neural networks (Computer science)
Format
Document (PDF)
passive platform for tracking underwater vehicles
Title
A passive platform for tracking underwater vehicles.
Creator
Dufour, Emmanuel R., Florida Atlantic University, Glegg, Stewart A. L.
Abstract/Description
Over recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The...
Show moreOver recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The utility modem integrated on the AUV can be operated in a PSK and a MFSK mode. It was demonstrated that the ANS successfully tracks AUVs in both cases. First, the thesis presents the sonar beamformer and shows its potential for tracking by using the AUV communication signals. It describes a scheme developed to enhance the processor performance in a multi-target configuration and clutter. Then, it discusses promising tracking results from experiments conducted in summer and fall 1998, off the coast of South Florida.
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Date Issued
1999
PURL
http://purl.flvc.org/fcla/dt/15671
Subject Headings
Oceanographic submersibles--Automatic control, Underwater acoustics, Acoustical engineering
Format
Document (PDF)
Using a cerebellar model arithmetic computer (CMAC) neural network to control an autonomous underwater vehicle
Title
Using a cerebellar model arithmetic computer (CMAC) neural network to control an autonomous underwater vehicle.
Creator
Comoglio, Rick F., Florida Atlantic University, Pandya, Abhijit S.
Abstract/Description
The design of an Autonomous Undersea Vehicle (AUV) control system is a significant challenge in-light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This thesis describes a Neural Network architecture called Cerebellar Model Arithmetic Computer (CMAC). CMAC is used to control a model of an Autonomous Underwater Vehicle. The AUV model consists of two input parameters, the rudder and stern plane deflections, controlling six...
Show moreThe design of an Autonomous Undersea Vehicle (AUV) control system is a significant challenge in-light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This thesis describes a Neural Network architecture called Cerebellar Model Arithmetic Computer (CMAC). CMAC is used to control a model of an Autonomous Underwater Vehicle. The AUV model consists of two input parameters, the rudder and stern plane deflections, controlling six output parameters; forward velocity, vertical velocity, pitch angle, side velocity, roll angle, and yaw angle. Properties of CMAC and results of computer simulations for identification and control of the AUV model are presented.
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Date Issued
1991
PURL
http://purl.flvc.org/fcla/dt/14762
Subject Headings
Neural networks (Computer science), Artificial intelligence, Submersibles--Automatic control
Format
Document (PDF)
fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle
Title
A fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle.
Creator
Anderson, Donald Taylor., Florida Atlantic University, Smith, Samuel M.
Abstract/Description
The development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed....
Show moreThe development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed. System stability is evaluated using cell-to-cell mapping. A variable structure fuzzy heading controller is designed for an unstable non-linear model of an Unmanned Underwater Vehicle. Scheduling of scaling parameters accommodates changes in forward speed as predicted by thruster RPM and angular distance turned. This FLC combines bang-bang and linear type control to respond more rapidly and robustly than a gain scheduled linear PID controller.
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Date Issued
1993
PURL
http://purl.flvc.org/fcla/dt/14899
Subject Headings
Fuzzy sets, Submersibles--Control systems, Oceanographic submersibles--Automatic control
Format
Document (PDF)
DESIGN & DEVELOPMENT OF A SECURE SELF-LEVELING WIRELESS RECHARGING PLATFORM FOR AN AERIAL DRONE ON AN UNMANNED SURFACE VESSEL
Title
DESIGN & DEVELOPMENT OF A SECURE SELF-LEVELING WIRELESS RECHARGING PLATFORM FOR AN AERIAL DRONE ON AN UNMANNED SURFACE VESSEL.
Creator
McKinney, Adriana, Dhanak, Manhar, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description
The Design and Development of an automated recharging station for an aerial drone, onboard a small, unmanned surface vessel, is described. Drones require a landing surface that is level within five degrees of the surrounding terrain for repeated reliable landing and takeoff. System constraints and at-sea application necessitate a compact, lightweight, and secure solution. A passive self-leveling platform and an accompanying automated parallel-pusher drone restraint mechanism have been...
Show moreThe Design and Development of an automated recharging station for an aerial drone, onboard a small, unmanned surface vessel, is described. Drones require a landing surface that is level within five degrees of the surrounding terrain for repeated reliable landing and takeoff. System constraints and at-sea application necessitate a compact, lightweight, and secure solution. A passive self-leveling platform and an accompanying automated parallel-pusher drone restraint mechanism have been designed and fabricated to aid in achieving a level landing surface and holding the drone in place while it charges. The self-leveling mechanism has been analyzed and subjected to initial laboratory tests. The testing of the drone restraint mechanism to verify its weight capacity and closing time, and the integration of the platform with a custom conductive contact wireless charging pad are identified as future work. The resulting cohesive unit will be tested for performance optimization and implementation onboard the unmanned surface vehicle.
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Date Issued
2021
PURL
http://purl.flvc.org/fau/fd/FA00013869
Subject Headings
Drone aircraft, Drone aircraft--Control systems--Design and construction, Drone aircraft--Automatic control
Format
Document (PDF)
Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel
Title
Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel.
Creator
Sarda, Edoardo I, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this...
Show moreResearch on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document.
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Date Issued
2016
PURL
http://purl.flvc.org/fau/fd/FA00004631, http://purl.flvc.org/fau/fd/FA00004631
Subject Headings
Underwater acoustic telemetry., Fuzzy systems., Nonlinear control theory., Adaptive signal processing., Oceanographic submersibles--Automatic control., Submersibles--Control systems.
Format
Document (PDF)
A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV)
Title
A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV).
Creator
Pearson, David, An, Pak-Cheung, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high...
Show moreThere have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004315, http://purl.flvc.org/fau/fd/FA00004315
Subject Headings
Adaptive signal processing, Fuzzy sets, Fuzzy systems, Nonlinear control theory, Oceanographic submersibles -- Automatic control, Submersibles -- Control systems, Underwater acoustic telemetry
Format
Document (PDF)

Pages