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A quadrotor-like unmanned underwater vehicle
2016 Chinese Control and Decision Conference (CCDC), 2016A quadrotor-like unmanned underwater vehicle, named QUUV, is presented in this paper. It has four thrusters, which can be inclined configuration. It is designed and implemented based on hydrodynamic optimization. The mathematical model is built and the difference with ordinary underwater vehicles is discussed.
Jingwei Bian, Ji Xiang, Huilin Liang
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Piezocomposites for unmanned underwater vehicle applications
SPIE Proceedings, 2015This paper reviews feasibility of piezoceramic-polymer composite, so called piezocomposite, materials for UUV sonar application. Focus is not only placed on high electro-acoustic transformation performance, also on mass productivity, which is achieved by introducing Powder Injection Molding(PIM) process.
Hoseop Shin +4 more
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Bottom Following for Unmanned Underwater Vehicles
IFAC Proceedings Volumes, 1998Abstract The problem of high precision bottom-following in the proximity of the seabed for open-frame Unmanned Underwater Vehicles (UUVs) is addressed in this paper. The suggested approach consists of the integration of a two-layered guidance and control system with an active multi-hypothesis extended Kalman filter able to estimate the motion of the ...
M. Caccia +3 more
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Control Strategies for Unmanned Underwater Vehicles
Journal of Navigation, 1998In recent years, both the offshore industry and the navies of the world have become increasingly interested in the potential operational usage of unmanned underwater vehicles. This paper provides a comprehensive review of a number of modern control approaches and artificial intelligence techniques which have been applied to the autopilot design ...
Paul J. Craven +2 more
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Coordinated Navigation of Unmanned Underwater Vehicles
2019 Chinese Control Conference (CCC), 2019The map of the navigation is building over the tactical tasks for coordinated navigation of the UUVs. A controller is presented, which contains the dynamics information of vehicles. Simultaneously, the feasible navigation is proved not only theoretical stability of controllers, but also numerical simulation results of differential equation toolbox with
Huai-long Wang +3 more
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Obstacle Avoidance by Unmanned Underwater Vehicle
Applied Mechanics and Materials, 2016Paper presents method of obstacle avoidance used in the example of unmanned underwater vehicle. The solution of this problem is divided into stage of: obstacle detecting and shape determination, decision making and control signal generation. The process to avoid an obstacle is presented as iterative model of behavior of dynamic system based on an array
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Tethered Antennas for Unmanned Underwater Vehicles
2009Abstract : The Small Business Innovation Research (SBIR) Program has funded the development of a system that will allow UUVs to communicate through RF communication and collect GPS location while below the surface and travelling at speed. Under this effort, Brooke Ocean Technology USA, Inc.
Jacob C. Piskura, Roger E. Race
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Model-Based Fault Detection for Unmanned Underwater Vehicles
IFAC Proceedings Volumes, 1997Abstract A simple fault detection scheme for an open-frame underwater vehicle has been designed and tested in real operating conditions. Actuator faults have been considered by using an approximate model of the vehicles's dynamics. Fault detection and diagnosis are accomplished by evaluating any significant change in the dynamic behavior of the ...
ALESSANDRI, ANGELO +2 more
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A simulation environment for unmanned underwater vehicles development
MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295), 2002Logistics problems and high costs necessary to carry out experiments with robots in hazardous environments such as the open sea led to the development of simulation environments (SE) where the physical robot and the operating environment can be substituted by real-time simulators in a way that is completely transparent to the robot's control and ...
M Caccia, R Bono, G Bruzzone, G Veruggio
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Neuro-control of unmanned underwater vehicles
International Journal of Systems Science, 2006Unmanned underwater vehicles (UUVs) typically operate in uncertain and changing environments. Since the dynamics of UUVs are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high-performance control system of a UUV is needed to have the capacities of learning and adaptation to the variations in the UUV's ...
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