Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method
水下无人系统学报, 2022 In this study, the model-free adaptive control(MFAC) method was applied to a waypoint-tracking control system to solve the problems of high uncertainty in the marine environment and difficulty in accurately determining the benthic autonomous undersea ...
Peng GAO +4 more
doaj +1 more source
Optimal design of power generation equipment for autonomous underwater vehicle
Advances in Mechanical Engineering, 2018 Autonomous underwater vehicle with the ability to generate electricity is an effective solution for detecting the ocean. In this article, a vertical-axis current generator for underwater vehicle is designed.
Fen Guo +3 more
doaj +1 more source
Design and Experiment of a Plateau Data-Gathering AUV
Journal of Marine Science and Engineering, 2019 The design, control, and implementation of an autonomous underwater vehicle (AUV) for collecting hydrological information from plateau rivers and lakes are presented in this paper.
Hao Xu +5 more
doaj +1 more source
Research on AUV Energy Saving 3D Path Planning with Mobility Constraints
Journal of Marine Science and Engineering, 2022 This paper aims to focus on the path planning problem of AUV in the marine environment. As well as considering the path length and safe obstacle avoidance, ocean currents should not be ignored as the main factor affecting the navigation energy ...
Guocheng Zhang +4 more
doaj +1 more source
The use of computational fluid dynamics to assess the hull resistance of concept autonomous underwater vehicles [PDF]
, 2007 Autonomous Underwater Vehicles (AUV’s) provide an important tool for collecting detailed scientific information from the oceans depths. The hull resistance of an AUV is an important factor in determining the powering requirements and range of the vehicle.
Phillips, Alexander B. +6 more
core +1 more source
Sliding Mode Motion Control for AUV with Dual-Observer Considering Thruster Uncertainty
Journal of Marine Science and Engineering, 2022 In the motion control of AUVs, especially those driven by multiple thrusters, the thruster misalignment and thrust loss cause the actual force and moment applied to the AUV to deviate from that desired, making accurate and fast motion control difficult ...
Yushan Sun +4 more
doaj +1 more source
Risk Analysis for Autonomous Underwater Vehicle Operations in Extreme Environments [PDF]
, 2010 Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics.
Brito, M. +5 more
core +1 more source
Frontiers in Neurorobotics, 2023 IntroductionThe flexible joint is a crucial component for the inspection robot to flexible interaction with nuclear power facilities. This paper proposed a neural network aided flexible joint structure optimization method with the Design of Experiment ...
Gang Wang +8 more
doaj +1 more source
A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle [PDF]
, 2009 Positively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that ismaintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract theexcess buoyancy. To facilitate
A R Palmer +5 more
core +1 more source
A Lightweight Detection Algorithm for Unmanned Surface Vehicles Based on Multi-Scale Feature Fusion
Journal of Marine Science and Engineering, 2023 Lightweight detection methods are frequently utilized for unmanned system sensing; however, when put in complicated water surface environments, they suffer from insufficient feature fusion and decreased accuracy. This paper proposes a lightweight surface
Lei Zhang +3 more
doaj +1 more source