7000米载人潜水器推进器故障容错控制分配研究

介绍了7000米载人潜水器推进系统的组成和推进器布置,描述了潜水器控制分配问题,对推进器推力和期望控制量进行了归一化处理.根据载人潜水器的推进器布置,建立了系统的控制分配模型,设计了推进器故障容错处理策略,研究了基于推力最小二范数的载人潜水器控制分配求解方法.采用基于伪逆矩阵与定点分配的混合控制分配求解算法,在半物理仿真平台上实验验证了控制分配求解算法的正确性和有效性.

普及型水下机器人模块连接结构综合分析研究

针对普及型模块化自治水下机器人的成本、强度、模块化程度、长度及拆装方便程度五个影响因素,运用层次分析的方法进行分析比较,从而在普及型模块化自治水下机器人的三个模块连接结构中的选出最优的拉杆连接结构。

水下滑翔机器人载体外形设计与优化

借助流体动力计算软件CFX和Matlab,对水下滑翔机器人载体外形进行设计和优化.通过对 4种载体方案的分析计算和运动仿真,最终得到了一种比较合理的外形方案.研究结果表明,采用CFX流体动力计算软件对于研究水下机器人载体的外形结构,尤其是在方案设计阶段在外形流体动力设计中具有重要的作用,可缩短研制周期、降低设计成本.

基于局域网的多水下机器人仿真系统设计与实现

多水下机器人仿真系统是一个能够对多水下机器人系统的体系结构、协调控制、路径规划、学习算法等进行演示验证的分布式实时数字仿真系统,是开展多水下机器人技术研究的基础和有效手段.讨论了应用基于局域网的分布式仿真技术来解决多水下机器人系统仿真的问题,并详细说明了仿真系统的硬件组成和软件总体设计.

CFX与USAERO的水下机器人操纵性仿真计算研究

研究了借助计算流体力学软件CFX与USAERO对水下机器人的操纵性进行仿真计算的方法,并将仿真计算结果与模型试验结果对比,验证仿真计算的可行性,指出仿真计算的适用范围.该方法可以对某些现实中难以进行的操纵性试验进行仿真计算,对于研究水下机器人的操纵性尤其是在方案设计阶段的操纵性设计和降低试验成本有一定的现实意义.

水下机器人耐压舱弹塑性稳定性的一种简易计算方法

耐压舱的稳定性设计是水下机器人设计中的重要问题之一 .本文针对耐压舱的设计问题提出了一种简便的计算方法 ,并与不同计算方法的结果进行了对比

基于超短基线/多普勒的水下机器人位置估计

为解决深海复杂环境下采用水声定位系统实现水下机器人位置控制所带来的反馈信号延迟问题 ,提出了基于 USBL/Doppler的水下机器人位置估计算法 .文中首先根据导航系统确定卡尔曼滤波器结构并建立了系统的状态方程和观测方程 ,同时 ,为了提高估计精度 ,引入自适应卡尔曼滤波理论 ,以降低系统对环境和初始噪声估计精度的敏感性 .最后通过数字仿真验证了算法的有效性 ,并给出了结论

自治水下机器人的一种鲁棒自适应控制方法研究

本文针对自治水下机器人AUVs(Autonomous Underwater Vehicles)水下工作环境、动力学建模和运动控制的特点。采用了一种基于Backstepping的鲁棒自适应控制方法，实现AUV水平侧移和航向控制，并利用AUV-CR02模型进行了仿真实验。仿真实验结果表明该控制方法的控制效果明显优于PID控制。特别是在有模型不确定和不确定环绕干扰时，表现出良好的鲁律性和自适应性。

自治式水下机器人回收系统的研究与设计

本文介绍了我们承担研制的国家“８６３”计划１０００ｍ及６０００ｍ无缆水下机器人的回收系统．回收系统在４级海况下不用专用母船能够成功地回收水下机器人，依据母船、海况、水下机器人及其他具体情况，介绍了两种不同的回收方案和回收器，经海上试验证明是有效和可行的。

滑动控制理论在海洋机器人动态定位系统中的应用

本文论述了一种新的鲁棒性控制方法——滑动控制理论.并将该方法应用于海洋机器人的动态定位系统设计.仿真结果表明该方法是相当成功和有效的,对系统的参数变化有强鲁棒性.

Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps

Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the directions of only dominant surfaces of the vehicle’s environment and can be created with negligible effort. Given an environment with reoccurring surface directions (e.g., walls, buildings, parked cars), lines extracted from laser scans can be matched with a DM to provide an extremely lightweight heading estimate that is shown, through experimentation, to drastically reduce the growth of heading errors. The algorithm was tested using a Husky A200 mobile robot in a warehouse environment over traverses hundreds of metres in length. When a simple a priori DM was provided, the resulting heading estimation showed virtually no error growth.

A New ROV Design: Issues on Low Drag and Mechanical Symmetry

This paper reports the design of a new remotely operated underwater vehicle (ROV), which has been developed at the Underwater Systems and Technology Laboratory (USTL) - University of Porto. This design is contextualized on the KOS project (Kits for underwater operations). The main issues addressed here concern directional drag minimization, symmetry, optimized thruster positioning, stability and layout of ROV components. This design is aimed at optimizing ROV performance for a set of different operational scenarios. This is achieved through modular configurations which are optimized for each different scenario.

Thermographic and visible spectrum camera calibration for marine robotic target detection

Oceans - San Diego, 2013

TEC4SEA - A Modular Platform for Research, Test and Validation of Technologies Supporting a Sustainable Blue Economy

This paper presents the TEC4SEA research infrastructure created in Portugal to support research, development, and validation of marine technologies. It is a multidisciplinary open platform, capable of supporting research, development, and test of marine robotics, telecommunications, and sensing technologies for monitoring and operating in the ocean environment. Due to the installed research facilities and its privileged geographic location, it allows fast access to deep sea, and can support multidisciplinary research, enabling full validation and evaluation of technological solutions designed for the ocean environment. It is a vertically integrated infrastructure, in the sense that it possesses a set of skills and resources which range from pure conceptual research to field deployment missions, with strong industrial and logistic capacities in the middle tier of prototype production. TEC4SEA is open to the entire scientific and enterprise community, with a free access policy for researchers affiliated with the research units that ensure its maintenance and sustainability. The paper describes the infrastructure in detail, and discusses associated research programs, providing a strategic vision for deep sea research initiatives, within the context of both the Portuguese National Ocean Strategy and European Strategy frameworks.

An hybrid methodology for RL-based behavior coordination in a target following mission with an AUV

Proposes a behavior-based scheme for high-level control of autonomous underwater vehicles (AUVs). Two main characteristics can be highlighted in the control scheme. Behavior coordination is done through a hybrid methodology, which takes in advantages of the robustness and modularity in competitive approaches, as well as optimized trajectories