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Hybrid telemanipulation simulation for mission rehearsal and intervention
Title
Hybrid telemanipulation simulation for mission rehearsal and intervention.
Creator
Agba, Emmanuel I., Florida Atlantic University, Wong, Tin-Lup, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
A "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real...
Show moreA "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real time teleoperation. For high-level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. The simulator was developed using a three dimensional graphic model of an increasingly popular manipulator, TITAN 7F. A closed-form solution for inverse kinematics of the manipulator was found. Degeneracies from inverse kinematics solutions were observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. An approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics was used to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy were demonstrated to be related to singularity conditions. A novel object interaction detection strategy was implemented for more realistic telemanipulation. The object detection technique was developed based on the use of superellipsoid, which has a convenient inside-outside function for interference testing. The manipulator, with its end-effector and payloads, if any, were modeled as superquadric ellipsoids. A systematic way of determining transformation matrices between the superquadric manipulator links was developed. The interaction detection technique treats both moving and stationary objects in a consistent manner and has proved to be easy to implement and optimize for real-time applications. The feature has been applied for the simulation of pick-and-place operations and collision detection. It is also used to provide visual feedback as a low-cost force reflection and can be interfaced with a bilateral controller for force reflection simulation.
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Date Issued
1991
PURL
http://purl.flvc.org/fcla/dt/12278
Subject Headings
Manipulators (Mechanism), Remote control, Vehicles, Remotely piloted, Remote submersibles
Format
Document (PDF)
Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment
Title
Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment.
Creator
Potesta, Joshua J., An, Edgar, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still...
Show moreAutonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 𝑟𝑎𝑑⁄𝑠𝑒𝑐, and the wave prediction improves the depth control on the order of 0.03 meters.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004149, http://purl.flvc.org/fau/fd/FA00004149
Subject Headings
Feedback control systems, Nonlinear control theory, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Mathematical models
Format
Document (PDF)
Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag
Title
Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag.
Creator
Klinger, Wilhelm B., von Ellenrieder, Karl, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping...
Show moreThe design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004130, http://purl.flvc.org/fau/fd/FA00004130
Subject Headings
Adaptive control systems, Drag (Aerodynamics), Intelligent control systems, Intelligent control systems, Vehicles, Remotely piloted
Format
Document (PDF)
Simulation, control and optimization of underwater vehicle performance
Title
Simulation, control and optimization of underwater vehicle performance.
Creator
Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued
1989
PURL
http://purl.flvc.org/fcla/dt/14534
Subject Headings
Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
Format
Document (PDF)
Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments
Title
Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments.
Creator
Meneses, Andrea M., Su, Tsung-Chow, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
This thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and...
Show moreThis thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and station keeping of an AUV under the influence of unsteady current force. A constant ocean current superimposed with a sinusoidal component is considered. The vehicle's response is analyzed for a range of current frequencies.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004137, http://purl.flvc.org/fau/fd/FA00004137
Subject Headings
Autonomous robots -- Design and construction, Fracture mechanics, Manipulation (Mechanism) -- Control, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Design and construction
Format
Document (PDF)