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1.
UML在深海集矿机远程监控系统中应用研究 总被引：3，自引：1，他引：2
分析了UML（unified modeling language）建模方法在信息建模中的优点,具体研究了UML建模方法在深海集矿机远程监控系统建模中的应用;针对深海集矿机远程监控系统的工艺流程,采用UML中的用例图、活动图和序列图等描述远程监控系统的需求、分析和设计阶段的信息系统模型;并对深海集矿机远程监控系统进行建模,使系统模型更通用、更易理解,增强了系统模型的重用性和互操作性。以Rational Rose 2002为工具来描述UML方法的建模过程,开发了深海集矿机远程监控系统,在海洋采矿系统的模型机上试验运行情况良好。 相似文献
2.
GDROV是用于堤坝探测的水下机器人,设计上属于开架式机器人,其精确的数学模型很难获得.采用基于模糊逻辑的直接自适应控制方法,利用模糊基函数网络逼近理想控制输出,通过模糊逻辑动态调整控制器的参数自适应律,可有效解决水下机器人控制问题.建立GDROV的水动力模型,给出基于模糊逻辑的直接自适应控制算法,最后通过仿真试验和外场试验验证了该控制器对模型的不确定性具有较强的鲁棒性,且具有良好的跟踪性能. 相似文献
3.
Fuzzy logic is a viable control strategy for depth control of undersea vehicles. It has been applied to the low speed ballast control problem for ARPA's Unmanned Undersea Vehicle (UUV), designed and built by Draper Laboratory. A fuzzy logic controller has been designed and tested in simulation that issues pump commands to effect changes in the UUV depth, while also regulating the pitch angle of the vehicle. The fuzzy logic controller performs comparably to the current ballast control design. The controller is also less sensitive to variations in the vehicle configuration and dynamics. The benefits of the fuzzy logic approach for this problem are: 1) simplicity, by not requiring a dynamic model, thus allowing for rapid development of a working design and less sensitivity to plant variations; 2) better matching of the control strategy and complexity with performance objectives and limitations; 3) the insight provided and easy modification of the controller, through the use of linguistic rules 相似文献
4.
Bourgeois B.S. Martinez A.B. Alleman P.J. Cheramie J.J. Gravley J.M. 《Oceanic Engineering, IEEE Journal of》1999,24(4):414-423
This paper describes the Autonomous Bathymetry Survey System (AutoSurvey), a system that provides automation of swath sonar bathymetric surveys. This system enables faster surveying of an area through environmentally adaptive techniques while ensuring adequate coverage and data quality. AutoSurvey assesses data quality and coverage in real time and generates next-trackline waypoints based on actual system performance. The need for real-time performance assessment is discussed. A primary factor considered is the effect of the environment on swath bathymetry system performance, which is difficult to predict a priori. The system's features, design, and implementation are discussed in this paper. Simulation and sea trial results are presented, as well as an analysis of the system's ability to reduce survey time 相似文献
5.
Robust diving control of an AUV 总被引：1，自引：0，他引：1
Lionel Lapierre 《Ocean Engineering》2009,36(1):92-104
Mobile systems traveling through a complex environment present major difficulties in determining accurate dynamic models. Autonomous underwater vehicle motion in ocean conditions requires investigation of new control solutions that guarantee robustness against external parameter uncertainty. A diving-control design, based on Lyapunov theory and back-stepping techniques, is proposed and verified. Using adaptive and switching schemes, the control system is able to meet the required robustness. The results of the control system are theoretically proven and simulations are developed to demonstrate the performance of the solutions proposed. 相似文献
6.
The problem of controlling an autonomous underwater vehicle (AUV) in a diving maneuver is addressed. Having a simple controller which performs satisfactorily in the presence of dynamical uncertainties calls for a design using the sliding mode approach, based on a dominant linear model and bounds on the nonlinear perturbations of the dynamics. Nonadaptive and adaptive techniques are considered, leading to the design of robust controllers that can adjust to changing dynamics and operating conditions. The problem of using the observed state in the control design is addressed, leading to a sliding mode control system based on input-output signals in terms of drive-phase command and depth measurement. Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques 相似文献
7.
A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. 相似文献
8.
《Ocean Engineering》2006,33(11-12):1413-1430
This paper presents the design of an adaptive input–output feedback linearizing dorsal fin control system for the yaw plane control of low-speed bio-robotic autonomous underwater vehicles (BAUVs). The control forces are generated by cambering two dorsal fins mounted in the vertical plane on either side of the vehicle. The BAUV model includes nonlinear hydrodynamics, and it is assumed that its hydrodynamic coefficients as well as the physical parameters are not known. For the purpose of design, a linear combination of the yaw angle tracking error and its derivative and integral is chosen as the controlled output variable. An adaptive input–output feedback linearizing control law is derived for the trajectory control of the yaw angle. Unlike indirect adaptive control, here the controller gains are directly tuned. The stability of the zero dynamics is examined. Simulation results are presented for tracking exponential and sinusoidal yaw angle trajectories and for turning maneuvers, and it is shown that the adaptive control system accomplishes precise yaw angle control of the BAUV using dorsal fins in spite of the nonlinearity and large uncertainties in the system parameters. 相似文献
9.
Pradeep R. Nambisan 《Ocean Engineering》2009,36(2):158-167
A multi-variable adaptive autopilot for the dive-plane control of submarines is designed. The vehicle is equipped with bow and stern hydroplanes for maneuvering. It is assumed that the system parameters are not known, and the disturbance force is acting on the vehicle. Based on a back-stepping design approach, an adaptive control law is derived for the trajectory control of the depth and the pitch angle. To prevent singularity in the control law, the SDU decomposition of the high-frequency gain matrix is used for the design. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories is accomplished. Simulation results are presented which show that the submarine performs dive-plane maneuvers in spite of the uncertainties in the system parameters and disturbance forces. 相似文献
10.
A prototype supervisory control system for a remotely operated vehicle (ROV) is described and several key elements demonstrated in simulation and in-water tests. This system is specifically designed to fill the needs of JASON, a new ROV under development that will perform scientific tasks on the seafloor to depths of 6000 m. JASON will operate from the ARGO towed imaging platform, which is currently operational. Supervisory control is a paradigm for combined human and computer control. Several key elements of the supervisory control system are presented. These include the closed-loop positioning system based on a high-resolution acoustic navigation system, a monitoring capability for assessing performance and detecting undesirable changes, and an interface that allows the human operator and the computer system to specify the desired vehicle trajectory jointly. 相似文献
11.
The effects of both small perturbations and large deformations to the array's shape on both conventional and adaptive beamformers are shown for two frequencies: the spatial Nyquist frequency (or design frequency) of the array and a frequency about three times greater. Large shape deformations lead to a decrease in the conventional beamformer's output power for a beam steered in the direction of the signal source, together with an increase in the sidelobe levels (or secondary maxima), while small perturbations in the array shape have little effect. Signal suppression is observed to be far greater for the adaptive beamformer because it is very sensitive to system errors. The imposition of a weight norm constraint on the adaptive beamformer reduces the signal suppression only for small shape perturbations array shape estimation techniques are needed to reduce signal suppression for large shape deformations. The adverse effects of a nonlinear array shape on both conventional and adaptive beamforming are shown to be substantially reduced by applying techniques that estimate the coordinates of the hydrophones prior to beamforming 相似文献
12.
For the past several years the Marine Systems Engineering Laboratory (MSEL) has directed its efforts towards the development of the technologies required for unmanned untethered submersible vehicles. The current focus of those efforts is to develop a system architecture that will allow the implementation of a knowledge-based guidance and control system. The goal of this effort is to implement a simple system which has addressed the basic problems and will allow for expansion as insight is gained from field testing the concepts using the Experimental Autonomous Vehicle (EAVE) system at MSEL. This paper considers those factors that have driven the development of an architecture which is being implemented in the EAVE vehicle system. Its intent is to focus on those issues that have guided the application of artificial intelligence (AI) techniques to meet the requirements of the system and its mission. The architecture being implemented is outlined and some of its features detailed. 相似文献
13.
Eduardo Licaga-Castro Jesús Licaga-Castro Carlos E. Ugalde-Loo Eva M. Navarro-Lpez 《Ocean Engineering》2008,35(17-18):1747-1758
An efficient solution for the multivariable submarine control design at low-depth conditions under the influence of wave disturbances is presented. The analysis and control design process is carried out under the framework of individual channel analysis and design (ICAD), which is based on the multivariable structure function (MSF). Classical frequency-domain control techniques based on Bode and Nyquist plots are used. Robustness is stated in terms of gain and phase margins. The closed-loop system includes low-order diagonal controllers facilitating its implementation, assessment, and tuning. ICAD discloses new physical insights of the submarine dynamical behaviour. Previous designs based on diagonal controllers consider the input–output channels defined by pairing the bow hydroplane angle with the depth and the stern hydroplane angle with the pitch angle. The alternative input–output pairing leads to unstable closed-loop systems. This phenomenon is associated with hydroplane reverse control. Here it is shown that MSF-based diagonal controllers can be applied effectively for both sets of channel configurations. Emphasis is placed on satisfying design specifications aiming at maintaining the depth low. The solution presented is more feasible and clearer to apply in practice than those so far reported in the literature. 相似文献
14.
LabVIEW设计中压力传感器的RBF神经网络温度补偿 总被引：5，自引：0，他引：5
在石油平台注水压力监测系统设计中 ,采用LabVIEW虚拟仪器平台 ,嵌入逼近能力强和收敛速度快的RBF神经网络 ,以人工环境实验数据为样本进行训练 ,实现了压力传感器的智能网络温度补偿。结果显示 ,此方法能够在压力、温度变化较大的恶劣环境下 ,获得很高的补偿精度。 相似文献
15.
Design and Implementation of the Hydrographic Production and Management Information System (HYPAMIS)
With the development of hydrographic work and information techniques, the traditional work mode is not suitable for the Chinese Marine Safety Administration Bureau (CMSAB). Aiming at the separation of charts production and management, a new idea that is the integration of production, management, and quality control is presented. Geographic Information System (GIS), Management Information System (MIS), Office Automation (OA) and Spatial Database Management (SDM) advanced techniques are introduced into the workflows in CMSAB. To realize information sharing, a mixed mode with Browser/Server (B/S) mode and Client/Serve (C/S) mode are adopted. Based on the above ideas and strategies, an integrated system named Hydrographic Production And Management Information System (HYPAMIS) was developed. The whole workflow and three subworkflows including survey management workflow, production workflow, and quality control workflow of are outlined after re-engineering the CMSAB organization. Some design principles and key techniques of the HYPAMIS including the cooperation of GIS and MIS, object-oriented spatial data model and management, data management based on database, and security control are illustrated in detail. Then the implementation of the system is introduced briefly. Finally, performance evaluation of the system and future work is given. 相似文献
16.
The practical implementation of an ecosystem approach to fisheries (EAF) management has proved difficult to achieve. Without simple and structured guidelines for implementing an EAF, managers are grappling with the complexity of implementation and the need to prioritise resources and management actions. Ecological risk assessment has been put forward as a structured procedure. There is a need to review regularly whether progress is being made in addressing the issues and priorities identified through ecological risk assessment. Such reviews require a framework providing clear objectives for the respective fishery and delineating the steps required towards their achievement. This paper proposes a generic framework for reviewing ecological risk assessments through stakeholder workshops. This framework is aided by a fuzzy logic tool to track EAF implementation and informs the development of proactive work plans which incorporate EAF objectives. The advantages and disadvantages of a generic and participatory approach are discussed and compared with other related methods for evaluating progress in implementing an EAF. 相似文献
17.
Design and Implementation of the Hydrographic Production and Management Information System (HYPAMIS)
With the development of hydrographic work and information techniques, the traditional work mode is not suitable for the Chinese Marine Safety Administration Bureau (CMSAB). Aiming at the separation of charts production and management, a new idea that is the integration of production, management, and quality control is presented. Geographic Information System (GIS), Management Information System (MIS), Office Automation (OA) and Spatial Database Management (SDM) advanced techniques are introduced into the workflows in CMSAB. To realize information sharing, a mixed mode with Browser/Server (B/S) mode and Client/Serve (C/S) mode are adopted. Based on the above ideas and strategies, an integrated system named Hydrographic Production And Management Information System (HYPAMIS) was developed. The whole workflow and three subworkflows including survey management workflow, production workflow, and quality control workflow of are outlined after re-engineering the CMSAB organization. Some design principles and key techniques of the HYPAMIS including the cooperation of GIS and MIS, object-oriented spatial data model and management, data management based on database, and security control are illustrated in detail. Then the implementation of the system is introduced briefly. Finally, performance evaluation of the system and future work is given. 相似文献
18.
Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC. 相似文献
19.
Underwater acoustic digital communication is difficult because of the nature of the fading multipath channels. Digital signal processing, such as adaptive equalization, is known to greatly improve the communication data rate by limiting intersymbol interference (ISI). However, existing underwater acoustic equalization studies are limited to single-channel techniques, and spatial diversity processing is limited to selection or combining. In this paper, we design minimum mean-square error (MMSE) equalizers jointly among all spatial diversity channels. We call this spatial diversity equalization (SDE). Results are based on a very sparse vertical array in a midrange underwater acoustic channel. We study the effect of element number and placement, the length of the equalization filters, and linear feedforward versus nonlinear decision feedback algorithms. A suboptimum equalizer combiner (EC) is studied to alleviate the computational intensity of JCE. We first design the system for a known acoustic channel; later, some results are verified using adaptive algorithms. Results are presented both in terms of the mean-square error (MSE) and the probability of a symbol error. The latter is important as it is the ultimate interest for a digital communication system. We found that system performance improves rapidly with an increase in the number of spatial channels 相似文献
