This paper presents the development of low cost integrated Smart Sensor for Unmanned Underwater Vehicle (UUV) namely as underwater Remotely Operated Vehicle (ROV). In the underwater industries, the most crucial issues...
This paper presents the development of low cost integrated Smart Sensor for Unmanned Underwater Vehicle (UUV) namely as underwater Remotely Operated Vehicle (ROV). In the underwater industries, the most crucial issues are the sensors that are needed for the underwater task. The sensors that are utilized in this area are quite expensive and sensitive. Every sensors used in the underwater vehicle are not in the form of integrated sensors and most of them based on case to case basis. However, nowadays, a lot of industries are involved in the development of the integrated sensor in order to reduce the production cost as well as to increase accuracies, efficiencies and productivities. Therefore, this research proposes an integrated sensor to be applied in the underwater operations. The integrated sensor is designed based on three goal performances which are; the accuracies; the sensitivities and the cost efficiencies. This integrated sensor is the combination of pressure sensor, inertial measurement unit (IMU), digital compass and temperature sensor that are placed in a waterproof casing. This integrated sensor is targeted to be used to control the movement of ROV to maintain its position called station keeping. The purpose of the station keeping is to ensure the ROV to remain stationary at the desired depth by utilizing the pressure sensor. The experimental studies have been carried out in order to see the responses of each sensor.
This paper presents a new procedure to design a gain scheduling structured controller for continuous and discrete-time systems. The designed controller ensures parameter dependent stability and guaranteed cost for all...
详细信息
This paper proposes a procedure for a robust decentralized controller design based on solving robust control design problems of subsystems' size. To consider the interactions in subsystem controller design, the ap...
详细信息
In this article, we are introducing the method of the localization of the deep-ocean pipe end-point. The set of various sensors located along the pipe are used for measuring the data describing the shape of the pipe. ...
详细信息
The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be ...
详细信息
The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.
This paper proposes an approach to a robust state feedback controller design for real uncertain DC-motor system in time domain. Because only output vector of this real system is measurable, it is necessary to observe ...
详细信息
This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global posit...
详细信息
This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.
The paper presents a unified frequency-domain methodology for designing robust continuousand discrete-time controllers for both MIMO and SISO uncertain systems. The generalized design procedure is based on the Equival...
详细信息
暂无评论