Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

Love, L.J.

doi:10.2172/885873

Cited by 10 publications

(7 citation statements)

References 14 publications

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“…While there has been much work performed with respect to ship motion due to wave loading, the majority of this research has focused on ship design; there is very little literature available on the impact of ship motion on the performance of robotic devices. Love et al [26] recently presented a general model providing a formulation for the design of forcecontrolled robotic devices on board a ship at sea. While much of that work focused on human amplification (robotic motion augmented by a human operator), a major purpose of the work was to provide a framework upon which to base motion analysis for autonomous robots on board naval vessels.…”

Section: Resultsmentioning

confidence: 99%

“…Ideally, automation systems should be capable of functioning in sea states where waves may be higher than 14 ft with winds in excess of 25 knots [25]. Current automation systems designed for controlled environs are not suited to address these challenges [25,26].…”

Section: Discussionmentioning

confidence: 99%

“…Current control algorithms do not adequately meet the demands for shipboard robotic systems [25]. Such an algorithm must be robust, reliable, and diverse enough so that it can be applied to a large number of different payload handling robots with minimal modification to increase commonality of ship systems [26]. Furthermore, it must be implementable on simple embedded processors with limited computational resources.…”

Section: Application: Automated Magazinementioning

confidence: 99%

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Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains

Vaidyanathan

Prince²,

Modarreszadeh

et al. 2008

Proceedings of the Institution of Mechanical Engineers, Part B:

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This paper presents a new adaptive predictive control algorithm and its refinement for robotic utility. The controller addresses the need for practical, computationally efficient, robust real-time adaptive control for multivariable robotic systems working in challenging industrial environments. It exploits a special matrix representation to obtain substantial reductions in the computational expense relative to standard methods. Controller performance is established for a simple robotic manipulator directing motion through sharply changing loading conditions and on an industrial robot loading heavy shells within the weapons magazine of a naval vessel. The new controller demonstrates the ability to adapt to varying actuator performance and rapidly changing sea states for which a classic proportional—integral—derivative controller cannot adjust. Control commands and parameter adjustments are executed in time frames suitable for real-time use, even on platforms and in environments with limited computational resources. Future work involves the implementation and testing of the controller on a prototype robot during facsimile naval operations. This work may serve as a foundation to address control issues for robots working in uncertain dynamic environments with varying task domains through the implementation of computationally efficient predictive adaptive control.

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Section: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Application: Automated Magazinementioning

confidence: 99%

See 1 more Smart Citation

Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains

Vaidyanathan

Prince²,

Modarreszadeh

et al. 2008

Proceedings of the Institution of Mechanical Engineers, Part B:

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show abstract

“…A number of control strategies have been proposed for such structures. [28][29][30][31][32][33][34][35] A variation of these methods is applied here with good results, as shown by laboratory experiments. Figure 2 shows the joint configuration and coordinate systems of the manipulator.…”

Section: Approachmentioning

confidence: 99%

A control architecture for a mobile heavy-lift precision manipulator with limited sensory information

et al. 2007

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SUMMARYMobile robotic manipulators can augment the strength and dexterity of human operators in unstructured environments. Here, the control system for a six degree-of-freedom heavy-lift mobile manipulator for lifting and inserting payloads on the deck of a ship is described. The robotic hardware and the application present several control challenges, including structural resonances, high joint friction that varies with time, limited sensors for measuring the joint friction, complex interaction with the environment, tight tolerances for the insertion tasks, lack of bilateral force feedback of the contact forces, and ship motions. The control system enables an operator to perform insertion tasks using feedback of tactile clues of the manipulator position, and reduces the effects of friction with a combination of sensor-based, adaptive, and model-based methods of friction compensation. The control architecture is validated in simulation and on a laboratory manipulator.

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“…The motion compensation method based on coordinate conversion has been described in [2,3], which requires the measurement of a device's coordinates, the ship's coordinates, and the earth's coordinates systems to compensate the device errors due to motion disturbances. In [1], Kalman filtering along with coordinates conversion is applied to reduce the beam pointing error and to stabilize a tracking beam.…”

Section: Introductionmentioning

confidence: 99%

Ship-Borne Phased Array Radar Using GA Based Adaptiveα-β-γFilter for Beamforming Compensation and Air Target Tracking

Mar

Liu²,

Basnet³

2015

International Journal of Antennas and Propagation

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Beam pointing error caused by ship motion over the ocean affects the tracking performance of the ship-borne phased array radar. Due to the dynamic nature of the sea environments, the ship-borne phased array radar must be able to compensate for the ship’s motion adaptively. In this paper, the adaptiveα-β-γfilter is proposed for the ship-borne phased array radar to compensate for the beam pointing error and to track the air target. The genetic algorithm (GA) and the particle swarm optimization (PSO) methods are applied to estimate the gain parameters of adaptiveα-β-γfilters, while achieving the optimum objective of minimum root mean square error (RMSE). The roll and pitch data measured from a gyroscope of the sea vehicle and generated from ship motion mathematical model are used in the experiments. The tracking accuracy of adaptiveα-β-γfilter using the GA method is compared with PSO method under different ship motion conditions. The convergent time and tracking accuracy of ship-borne phased array radar using the proposed GA based adaptiveα-β-γfilter are also compared with the adaptive extended Kalman filter (AEKF). Finally, it is proved that the proposed GA based adaptiveα-β-γfilter is a real time applicable algorithm for ship-borne phased array radar.

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Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

Cited by 10 publications

References 14 publications

Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains

Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains

A control architecture for a mobile heavy-lift precision manipulator with limited sensory information

Ship-Borne Phased Array Radar Using GA Based Adaptiveα-β-γFilter for Beamforming Compensation and Air Target Tracking

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