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Improved line-of-sight guidance for cruising underwater vehicles

IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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Panel on future challenges in modeling methodology 04

Panel on future challenges in modeling methodology

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Simulation Winter Conference

作者： S.J.E. Taylor P. Lendermann R.J. Paul S.W. Reichenthal S. Strassburger S.J. Turner Centre for Applied Simulation Modeling Department of Information Systems and Computing Brunei University Uxbridge Middlesex UK Production and Logistics Planning Group Singapore Institute of Manufacturing Technology Singapore Boeing Anaheim CA USA Department Virtual Development Fraunhofer Institute of Factory Operation and Automation Magdeburg Germany Parallel & Distributed Computin Centre School of Computer Engineering Nanyang Technological University Singapore

ISBN: (纸本)9780780387867

This panel paper presents the views of six researchers and practitioners of simulation modeling. Collectively we attempt to address a range of key future challenges to modeling methodology. It is hoped that the views of this paper, and the presentations made by the panelists at the 2004 Winter Simulation Conference will raise awareness and stimulate further discussion on the future of modeling methodology in areas such as modeling problems in business applications, human factors and geographically dispersed networks; rapid model development and maintenance; legacy modeling approaches; markup languages; virtual interactive process design and simulation; standards; and Grid computing.

关键词： Computational modeling Virtual manufacturing Logistics Human factors Computer aided manufacturing Markup languages Process design Standards development Grid computing Discrete event simulation

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Tool for remote control of mobile robots with visualization by means of virtual reality 7

Tool for remote control of mobile robots with visualization ...

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7th International Conference on Telecommunications, ConTEL 2003

作者： Brščić, Dražen University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia

ISBN: (纸本)9531840520

This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control that connects with the robot through the network. The user interface is implemented as an HTML page with a Java applet for remote control and communication and a virtual environment written in VRML for visualization. This way users have the ability to connect to a dedicated WWW server and download the user interface. This paper describes the concept of the tool design and the developed user interface. © 2003, Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Visualization

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Computer role in electrical machines courses - Synchronous Generator's power chart web application 2

Computer role in electrical machines courses - Synchronous G...

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2nd IEEE Region 8 EUROCON 2003

作者： Pavlica, M. Maljković, Z. Šteković, Z. University of Zagreb Faculty of Electrical Engineering and Computing Department of Electrical Machines Drives and Automation Unska 3 ZagrebHR-10000 Croatia

ISBN: (纸本)078037763X

This paper presents a specific use of a computer in electrical machines courses. Computer simulations over Internet have proven themselves useful because of their flexibility and availability. Such simulation of synchronous generator's power chart has been custom made to help the electrical engineering students acquire better understanding of the subject. © 2003 IEEE.

关键词： Synchronous generators

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Reconfigurable control for ship steering

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Proceedings of the Institution of Mechanical Engineers Part M: Journal of engineering for the Maritime Environment 2003年第1期217卷 25-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Allt-yr-yn Campus PO Box 180 New-portNP20 5XR United States Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

This paper is concerned with the application of a heuristic approach in the design of a fault-tolerant control system for ship steering. It proposes an advanced reconfigurable control system (RCS) for ship course changing/keeping and track keeping, robust to faults in actuator, gyrocompass and global positioning system (GPS) in the presence of disturbances (waves and currents). The proposed control scheme uses a reference model for compensation of signals from fault sensors and a compensator for reducing the loss of the control performance produced by a fault in the steering machine. In the case of the occurrence of the fault in one or more components, this control system minimizes loss in the control performance and gives enough time for operators to take appropriate action in order to reduce the risk of safety hazards and avoid severe consequences of the fault. The unavoidable penalty of degradation in control performance was found to be acceptable. © 2003 Institution of Mechanical Engineers.

关键词： Linear control systems

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Tool for remote control of mobile robots with visualization by means of virtual reality

Tool for remote control of mobile robots with visualization ...

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International Conference on Telecommunications (ConTEL)

作者： D. Brscic Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

关键词： Robot control Mobile robots Visualization Virtual reality Communication system control User interfaces HTML Java Mobile communication Virtual environment

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Optimization of PM brushless DC motor drive

Optimization of PM brushless DC motor drive

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IEEE International Conference on Industrial Technology (ICIT)

作者： P. Crnosija T. Bjazic R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

Traditional approaches to controller designs that guarantee fast compensation of load torque and reference variations result in design iterations and most of the time in poorer response for load torque variations. In this paper a reference model for desired drive behavior generation and optimization methods has been applied to achieve controller integral time constant lower than the maximum time constant of the PM brushless DC motor drive. Presented simulation results show that using reference model for desired drive behavior generation, it is possible to determine optimal controller parameters for faster (10 time) and better (2 time) load torque compensation than in the case of traditional design of speed controller parameters. Response due to reference input with constrained overshoot has been achieved using a filter in the servosystem input. Thereby, the proposed method demonstrates the design of a speed controller that is optimal for both load torque and reference variations and its verification with simulation are accomplished for a permanent magnet brushless dc motor drive.

关键词： Brushless DC motors Torque control Optimal control Time factors DC generators Optimization methods Magnetic separation Filters Servosystems Design methodology

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Towards the parallel computing based on quality of service

Towards the parallel computing based on quality of service

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International Symposium on Parallel and Distributed computing

作者： R.Y.S. Kawasaki L.A.H.G. Oliveira C.R.L. Frances D.L. Cardoso M.M. Coutinho A. Santana Department of Computer Science UFPA Belem Para Brazil Department of Computer Engineering and Automation UFRN Natal Rio Grande do Norte Brazil Laboratory of Applied Computing UFPA Belem Para Brazil

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A fuzzy track-keeping autopilot for ship steering

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Proceedings of the Institute of Marine engineering, Science and Technology Part A: Journal of Marine engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

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Work distribution for parallel ZSweep algorithm

Work distribution for parallel ZSweep algorithm

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Brazilian Symposium on Computer Graphics and Image Processing (SIBGRAPI)

作者： R. Farias C. Bentes A. Coelho S. Guedes L. Goncalves National Laboratory for Scientific Computing LNCC Petropolis Rio de Janeiro Brazil Department of Systems Engineering State University of Rio de Janeiro Brazil Electronic Computing Center NCE Federal University of Rio de Janeiro Brazil Department of Computer Enginnering and Automation Federal University of Rio Grande do Norte Brazil

Distributed systems such as clusters of PCs are low-cost alternatives for running parallel rendering systems, but they have high communication overhead, and limited memory capacity on each processing node. We focus on the strategy for distributing the parallel rendering work among the PCs. A good distribution strategy provides better load balance, and avoids the need for replicating data on the relatively small memory of each PC. Our goal is to study different distribution strategies on the scope of the Parallel ZSweep algorithm, introducing in PZSweep another work distribution strategy: work stealing. This strategy allows a decentralized control of the work to be done, and provides a dynamic load redistribution. We propose two different algorithms to select the processor that will be "stolen" and show that the simplest one, nearest neighbor, was the most efficient. We also showed that the load redistribution schemes strongly depended on the initial load distribution, with an interleaved assignment, our systems could outperform the original parallel ZSweep algorithm. We conclude that for running large datasets on a cluster of PCs, parallel ZSweep requires dynamic load distribution strategy.

关键词： Personal communication networks Distribution strategy Clustering algorithms Costs Laboratories Scientific computing Systems engineering and theory automation Distributed control Nearest neighbor searches

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