Performance of the portable autonomous observation system

Zeng, Jian; Li, Shuo; Li, Yiping; Wang, Xiaohui; Yan, Shuxue

doi:10.1109/oceans-taipei.2014.6964292

Cited by 7 publications

(3 citation statements)

References 2 publications

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“…The AUV we test our method on was named Explorer-100, was built by the Shenyang Institute of Automation, Chinese Academy of Sciences, to meet the requirements of fast, flexible, and low cost [10]. It has one propeller at end with four fins to control the attitude.…”

Section: Hydrodynamic Model and Simplificationmentioning

confidence: 99%

Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling

Liu

Yan

et al. 2017

2017 IEEE Underwater Technology (UT)

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This paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose of this design is to adapt to the error caused by coupling between different controls channels as time-varying errors. In this paper, system identification method is not used to get the dynamic model directly, but to simplify the hydrodynamic model and quantize the effect caused by coupling as error of parameters. Computational-fluid-dynamics (CFD) method is used to build a hydrodynamic model to increase the experiment data and simulate the effect of coupling. And on this basis, An ℒ1 adaptive controller can get enough resources to be build. In the final simulation, the acquired controller reveals better performance than an elaborately tuned PID controller. The ℒ1 adaptive controller can handle the coupling better. The output of the controlled system can follow a response of a given transfer function, which benefits the controller design in outer loop.

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Section: Hydrodynamic Model and Simplificationmentioning

confidence: 99%

Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling

Liu

Yan

et al. 2017

2017 IEEE Underwater Technology (UT)

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“…This paper mainly presents what we have achieved and what we will conduct in the development, testing, and applications of SIA AUVs and underwater gliders in ocean observations and vehicle based mobile marine sensor networks. Firstly, the paper describes the development of portable AUVs [1] and underwater gliders [2] in recent years in SIA (as shown in Figure 1 and Figure 3, respectively). Secondly, the researches and experiments with the two types of vehicles and some of the results are presented, including research on underwater chemical plume tracing and source localization with an AUV, research on methods for autonomous observation of ocean features and some observation tests with underwater gliders, and lake tests of multiple-AUVs (as shown in Figure 2 and Figure 4), etc.…”

Section: Introductionmentioning

confidence: 99%

Marine Observation Network based on Underwater Vehicles

et al. 2014

Proceedings of the International Conference on Underwater Networks %Systems - WUWNET '14

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Recently, ocean observation is developing from using a single underwater sensor node to employing underwater sensor networks consisting of multiple sensor platforms. Underwater vehicles including underwater gilders and autonomous underwater vehicles (AUVs) are important underwater mobile sensor platforms in ocean observation networks. For ocean observation and networking applications, Shenyang Institute of Automaton (SIA), Chinese Academy of Sciences, has developed a number of underwater vehicles including AUVs and underwater gliders. This paper presents existing and future research efforts in SIA centered around the development, testing, and applications of SIA's underwater vehicles in ocean observations and mobile marine sensor networks.

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“…Second, two AUV-based plume tracers developed by the Yiping Li's group at SIA will conduct further CPT missions in near-shore ocean environments (Zeng et al, 2014), as shown in Figure 30. The mechanical structure of the AUV differs from the structure of the DaNI robots as the DaNI robots are able to drive their wheels differentially to change their orientation with a near zero turning radius.…”

Section: Future Research Directionsmentioning

confidence: 99%

Chemical Plume Tracing and Mapping via Swarm Robots

Tian

Handbook of Research on Design, Control, and Modeling of Swarm Robotics

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Performance of the portable autonomous observation system

Cited by 7 publications

References 2 publications

Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling

Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling

Marine Observation Network based on Underwater Vehicles

Chemical Plume Tracing and Mapping via Swarm Robots

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