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Reduced-Order Underwater Vehicle Dynamics Model Determination Considering Navigation Performance

Transactions of the Korean Institute of Electrical Engineers 2024年第6期73卷 1012-1022页

作者： Kim, Jin-Kwan Whang, Ick-Ho Ra, Won-Sang Park, Seung-Hyo School of Mechanical and Control Engineering Handong Global University Korea Republic of Department of Mechanical and Control Engineering Handong Global University Korea Republic of Naval Combat Systems PMO Marine Technology Research Institution Agency for Defense Development Korea Republic of

This paper proposes a novel approach to VDM(vehicle dynamics model) determination problem for model-aided navigation of an AUV(autonomous underwater vehicle) when the DVL(doppler velocity log) is unavailable. The conventional algorithms have been developed based on the well-known GHM(Gertler-Hagen hydrodynamics model). Unfortunately, the GHM is generally high-ordered so that it is hard to design GHM based applications working stable in actual situations with high uncertainties. To improve this problem, idea to use the transfer function for ground-heading control loop instead of GHM was proposed but it is still high-ordered to retain the stability problems. In this paper, we suggest a revolutionary reduced order VDM for AUV model-aided navigation. The order of our model is drastically reduced enough to show stable and consistent performances in real applications, while the errors due to the model reduction are mitigated under the newly introduced concept of zero model-output error integral to produce small dead-reckoning navigation errors. Simulation results show that our method demonstrates critically improved performances, compared to conventional EKF(extended Kalman filter) methods using the closed-loop heading control transfer function, in stability and consistency. Copyright © The Korean Institute of Electrical Engineers.

关键词： Transfer functions

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Realizing On-Chip Digital Twin for Event Tracking in Squirrel Cage Induction Motors and Drives 11

Realizing On-Chip Digital Twin for Event Tracking in Squirre...

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11th National Power Electronics Conference, NPEC 2023

作者： Badajena, Haraprasad Dutta, Ronit Chakraborty, Bivash Routray, Aurobinda Jenamani, Mamata Indian Institute of Technology Advanced Technology Development Centre Kharagpur India Indian Institute of Technology Dept. of Electrical Engineering Kharagpur India Indian Institute of Technology Industrial and Systems Engineering Kharagpur India

ISBN: (纸本)9798350311648

In this paper, we present a comprehensive real-time simulator for a squirrel cage induction motor drive on a 32-bit processor, specifically utilizing the Raspberry Pi 4 Model B. Our approach involves coding a coupled circuit model that can handle a variety of faults, including both healthy and faulty conditions. The input to the system is provided from a three-phase voltage source, along with a load torque, while the output includes stator current, speed, and electromagnetic torque. By employing this model, we capture the dynamic behavior of the motor during starting transients and various fault scenarios, such as broken rotor bar fault, broken end ring fault, ball bearing fault, and eccentricity fault. The analysis focuses on monitoring and analyzing the current signatures, which serve as prime indicators for detecting faults and anomalies. The proposed real-time simulator seamlessly integrates into standard drive circuits, allowing for simultaneous fault diagnosis and prognosis during motor operation. Moreover, the module can be connected to the internet, enabling event tracking capabilities. Our work demonstrates the practicality and usefulness of real-time fault diagnosis and prognosis in squirrel cage induction motors, offering an effective approach for enhancing motor reliability and performance. © 2023 IEEE.

关键词： Failure analysis

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Design of Compact Ultra-Wideband Horn Antenna for Onboard Short Range Radar 9

Design of Compact Ultra-Wideband Horn Antenna for Onboard Sh...

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9th IEEE All-Russian Microwave Conference, RMC 2024

作者： Likhoedenko, Konstantin P. Karakulin, Yury V. Tyotushkin, Dmitriy A. Suchkov, Victor B. Perov, Alexey Y. Seregin, Grigory M. Bauman Moscow State Technical University Department of Autonomous Information and Control Systems Moscow Russia Moscow Intsitute of Physics and Technology Research and Development Center for Mobile Communication Components and Manufacturing Technology Moscow Russia

ISBN: (纸本)9798331540944

The paper presents a methodology for designing a compact ultra-wideband antenna for an airborne radar. The features of the ultra-wideband horn antenna are substantiated, such as small weight and dimensions, which allow to place antenna on a quadcopter-type unmanned aerial vehicle. A methodology for synthesizing the antenna design in FEKO CAD is presented. The results of numerical modeling and experimental studies of the standing wave ratio of the developed ultra-wideband horn antenna in the frequency band from 1.6 to 4 GHz are presented. © 2024 IEEE.

关键词： Horn antennas

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Adaptive Integral Sliding Mode Control With Gaussian Processes for AUVs

Adaptive Integral Sliding Mode Control With Gaussian Process...

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2024 China Automation Congress, CAC 2024

作者： He, Yongxu Zhao, Yuxin Xu, Geng College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China School of Automation Harbin University of Science and Technology Harbin China Qitong Technology Development Co. LTD Weihai China

ISBN: (纸本)9798350368604

This paper proposes a novel adaptive integral sliding mode control (ISMC) scheme for robust trajectory tracking of autonomous underwater vehicles (AUVs) utilizing Gaussian process (GP) regression. By incorporating GPs into the ISMC framework, the proposed control strategy exhibits robustness against significant system uncertainties and aggressive desired trajectories. The GP posterior means offer high-probability uncertainty compensation, while the posterior variances enable adaptive tuning of controller gains and learning rates. A novel adaptive gain law is introduced to prevent excessive gain growth and nonsmooth control actions near the sliding manifold. Lyapunov stability analysis guarantees that the tracking errors of the proposed scheme converge to an arbitrarily small bound within a specific probability. Simulation results demonstrate the superior transient tracking performance of the proposed method compared to both the standard GP-ISMC without gain adaptation and the adaptive GP-ISMC using standard monotonically increasing adaptive laws. © 2024 IEEE.

关键词： Sliding mode control

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Open Innovation Model in Military Environments: A Preliminary Case of Aerospace Challenges

Open Innovation Model in Military Environments: A Preliminar...

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2024 IEEE International Workshop on Technologies for Defense and Security, TechDefense 2024

作者： Zabala-Lopez, Alexandra Linares-Vasquez, Mario Donoso, Yezid Aerospace Technology Development Centre The Defense CETAD Colombian Air Force Bogotá Colombia Universidad de los Andes Systems and Computing Engineering Department Bogotá Colombia

ISBN: (纸本)9798331505585

Open Innovation (OI), primarily explored in the private sector, has been rooted in theory and practice for many years, demonstrating significant benefits in enhancing competitiveness, creating knowledge, and facilitating the rapid adoption of technologies in real-world settings. OI emphasizes the value of external collaborations, recognizing that diverse industries can converge on strategic points of mutual interest. However, OI has not been widely used in military environments, where protecting classified or confidential information is essential. Therefore in this paper, we present an OI model for military institutions to handle economic constraints and promote the generation of knowledge with technologies applied in defense. The model enables the integration of mission-critical knowledge through rapid prototyping exercises by creating OI ecosystems primarily composed of young researchers that include practices such as crowdsourcing, hackathons, and technological challenges. The model has been built based on three OI events already conducted by the Colombian Air Force (COLAF) and Universidad de los Andes (UNIANDES). Our findings pinpoint crucial factors that accelerate the generation of knowledge, reaching a large number of young researchers who do not typically focus their investigations on defense technology, facilitating successful investments to meet critical military requirements. © 2024 IEEE.

关键词： Military Environments Open Innovation Young researchers

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Research on extremely weak remanence measurement system 3

Research on extremely weak remanence measurement system

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2023 3rd International Conference on Measurement Control and Instrumentation, MCAI 2023

作者： Xu, Chaoqun Sun, Tian Huang, Kui Xiao, Qi Laboratory of Space Magnetism and Applications Beijing Institute of Spacecraft Environment Engineering Beijing China Department of Science and Technology Development Systems Engineering Research Institute Beijing China

To accurately obtain the extremely weak magnetic field information of the test piece, this article first introduces the basic principles of the extremely weak residual magnetic field measurement technology. Then, an ultra-high precision magnetic shielding system has been developed, which is made of high permeability materials and equipped with a demagnetization coil system, and it can regularly eliminate the inductance of the entire shielding system. The effective shielding inner diameter of the magnetic shielding system is 0.8 m, the length is 1.6 m, and the magnetic field resolution is 0.0015 nT. This system can provide strong support for the measurement of extremely weak magnetic fields in materials and biomedical magnetic research. © Published under licence by IOP Publishing Ltd.

关键词： Magnetic shielding

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Sensitivity Analysis of Diffuse Reflectance for NIR-SWIR Absorbing Dyes on Substrates with respect to Surface Topology

Sensitivity Analysis of Diffuse Reflectance for NIR-SWIR Abs...

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Enhanced Spectroscopies and Nanoimaging 2024

作者： Duncan, J. Mayo, T. Ramsey, S. Lambrakos, S.G. Signature Technology Office Naval Research Laboratory WashingtonDC United States Space Systems Development Division Naval Research Laboratory WashingtonDC United States

ISBN: (纸本)9781510678941

This study continues examining the topological dependence of diffuse reflectance for NIR-SWIR absorbing dyes on substrates. The dependence is examined by case studies using composite-material layers that include IR absorbing dyes on fabric substrates. Understanding the topological dependence of diffuse reflectance can assist in determining optimal composite-material configurations for specific reflectance specifications, which can include UV protecting materials. © 2024 SPIE.

关键词： Dyes

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Reconfigurable Soliton Crystals in Integrated Microresonators 16

Reconfigurable Soliton Crystals in Integrated Microresonator...

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16th Pacific Rim Conference on Lasers and Electro-Optics, CLEO-PR 2024

作者： Chia, X.X. Ong, K.Y.K. Rahim, A.A. Chen, G.F.R. Xing, P. Tan, D.T.H. Photonics Devices and Systems Group Engineering Product Development The Singapore University of Technology and Design 8 Somapah Road 487372 Singapore 2 Fusionopolis Way 138634 Singapore

Configurable and adiabatic generation of soliton crystals (SC) is achieved in an Si3N4 microring-resonator. 2-SC to 7-SCs are attained, achieving up to 21 dB increase in line power and 92 Gb/s PAM4 transmission per li... 详细信息

ISBN: (纸本)9798350372076

关键词： Microresonators

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Evaluation of Overall Comfort of Railways Based on Customer Experience

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Quarterly Report of RTRI (Railway Technical Research Institute) 2022年第4期63卷 289-294页

作者： Kikuchi, Fumitoshi Nakagawa, Chizuru Saito, Ayano Tatsui, Daisuke Ishizuki, Mitsutaka Suzuki, Hiroaki Ergonomics Laboratory Human Science Division Japan Human Science Division Japan Transport Operation Systems Laboratory Signalling and Operation Systems Technology Division Japan Architecture Laboratory Structures Technology Division Japan Research and Development Promotion Division Japan

To increase overall passenger satisfaction, the comfort of railways was reconsidered from a passenger perspective. We twice conducted a web-based survey (February and November 2020) on passenger comfort during several representative travel phases (from planning to destination) and developed a draft evaluation index to estimate the overall comfort from the comfort of each travel phase. We confirm that this draft evaluation index created in the first survey shows 70 to 80% estimation accuracy against the second survey data affected by COVID-19, and that the overall comfort can be stably estimated from the comfort of each travel phase. © 2022 Ken-yusha Inc.. All rights reserved.

关键词： COVID-19

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Distinct gut microbiomes in Thai patients with colorectal polyps

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World Journal of Gastroenterology 2024年第27期30卷 3336-3355页

作者： Thoranin Intarajak Ahmad Nuruddin Khoiri Kanthida Kusonmano Weerayuth Kittichotirat Sawannee Sutheeworapong Supapon Cheevadhanarak Wandee Udomchaiprasertkul Chinae Thammarongtham Bioinformatics Unit Chulabhorn Royal AcademyLak Si 10210BangkokThailand Bioinformatics and Systems Biology Program School of Bioresources and Technologyand School of Information TechnologyKing Mongkut’s University of Technology ThonburiBang Khun Thian 10150BangkokThailand Bioinformatics and Systems Biology ProgramSchool of Bioresources and Technologyand School of Information TechnologyKing Mongkut’s University of Technology ThonburiBang Khun Thian 10150BangkokThailand Systems Biology and Bioinformatics Unit Pilot Plant Development and Training InstituteKing Mongkut’s University of Technology ThonburiBang Khun Thian 10150BangkokThailand Molecular Genomic Research Laboratory Chulabhorn Royal AcademyLak Si 10210BangkokThailand National Center for Genetic Engineering and Biotechnology King Mongkut's University of Technology ThonburiBang Khun Thian 10150BangkokThailand School of Bioresources and Technology King Mongkut’s University of Technology ThonburiBank Khun Thian 10150BangkokThailand Fungal Biotechnology Unit Pilot Plant Development and Training InstituteKing Mongkut’s University of Technology ThonburiBang Khun Thian 10150BangkokThailand

BACKGROUND Colorectal polyps that develop via the conventional adenoma-carcinoma sequence[e.g.,tubular adenoma(TA)]often progress to malignancy and are closely associated with changes in the composition of the gut *** is limited research concerning the microbial functions and gut microbiomes associated with colorectal polyps that arise through the serrated polyp pathway,such as hyperplastic polyps(HP).Exploration of microbiome alterations asso-ciated with HP and TA would improve the understanding of mechanisms by which specific microbes and their metabolic pathways contribute to colorectal *** To investigate gut microbiome signatures,microbial associations,and microbial functions in HP and TA *** Full-length 16S rRNA sequencing was used to characterize the gut microbiome in stool samples from control participants without polyps[control group(CT),n=40],patients with HP(n=52),and patients with TA(n=60).Significant differences in gut microbiome composition and functional mechanisms were identified between the CT group and patients with HP or *** techniques in this study included differential abundance analysis,co-occurrence network analysis,and differential pathway *** Colorectal cancer(CRC)-associated bacteria,including Streptococcus gallolyticus(***),Bacteroides fragilis,and Clostridium symbiosum,were identified as characteristic microbial species in TA *** gnavus,associated with dysbiosis and gastrointestinal diseases,was significantly differentially abundant in the HP and TA *** pathway analysis revealed that HP patients exhibited enrichment in the sulfur oxidation pathway exclusively,whereas TA patients showed dominance in pathways related to secondary metabolite biosynthesis(e.g.,mevalonate);*** was a major ***-occurrence network and dynamic network analyses revealed co-occurrence of dysbiosis-associated bacteria in HP patients,wh

关键词： Gut microbiome Colorectal adenoma Hyperplastic polyp Full-length 16s rRNA Microbial correlation networks Predicted functional mechanisms

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