Dissertations / Theses on the topic 'Underwater manipulator control systems'
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Andresen, Simen. "Underwater Robotics : control of marine manipulator-vehicle systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25875.
Full textKorkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.
Full textEuler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.
Barbalata, Corina. "Modelling and control of lightweight underwater vehicle-manipulator systems." Thesis, Heriot-Watt University, 2017. http://hdl.handle.net/10399/3279.
Full textElghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
Full textThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
Koch, Christian Ernst Siegfried. "Model Predictive Control for Six Degrees-of-Freedom Station-Keeping of an Underwater Vehicle-Manipulator System." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220907.
Full textUndervattensrobotik medför ett pålitligt och effektivt sätt att utforska submarinamiljöer. Lätta obemannade undervattensfarkoster, utrustade med verktyg,har även föreslagits som ett alternativ till professionella dykare för installationoch underhåll under ytan. Styrning av verktygsutrustade farkoster är en utmaningdå de medför högdimensionell olinjär dynamik och korseffekter. Det centralaproblemet som behandlas i det här arbetet är reglering av en undervattensfarkostutrustad med en robotarm, vars rörelser stör farkosten. Robotarmen representerasav störande krafter och moment som går att förutsäga i modellramverket. Denföreslagna styrlagen är modell-prediktiv reglering (MPC) med störningsprediktion.Styrlagen utvärderas i simulering under olika vetskapsnivåer av störsignalen.Resultaten jämförs även med simuleringar där klassisk återkoppling används.
Lo, Ka Meng. "A novel design of underwater vehicle-manipulator systems for cleaning water pool." Thesis, University of Macau, 2010. http://umaclib3.umac.mo/record=b2494142.
Full textBraganza, David. "Control techniques for robot manipulator systems with modeling uncertainties." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1193079734/.
Full textMohamed, Zaharuddin. "Dynamic modelling and control of a flexible manipulator." Thesis, University of Sheffield, 2003. http://etheses.whiterose.ac.uk/15085/.
Full textVerginis, Christos. "Planning and Control of Cooperative Multi-Agent Manipulator-Endowed Systems." Licentiate thesis, KTH, Reglerteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223243.
Full textQC 20180219
Azad, A. K. M. "Analysis and design of control mechanisms for flexible manipulator systems." Thesis, University of Sheffield, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312307.
Full textChin, Pei-Chieh. "Simulation of manipulator control under combined motor and wrench systems /." The Ohio State University, 1993. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487844948074923.
Full textSmith, Anthony Lawrence. "Adaptive control of a three link in-parallel manipulator." Thesis, Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/17957.
Full textMadani, Abdelmalek. "Modelling and control of a two-link flexible manipulator." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.319485.
Full textDavidson, Ian Joseph. "Tele-operation of a manipulator using the Internet." Thesis, Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/17623.
Full textMarr, William J. "Acoustic based tactical control of underwater vehicles." Diss., Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Jun%5FMarr%5FPhD.pdf.
Full textDissertation supervisor: Anthony J. Healey. Includes bibliographical references (p. 169-173). Also available online.
Clegg, Andrew C. "Self-tuning position and force control of a hydraulic manipulator." Thesis, Heriot-Watt University, 2000. http://hdl.handle.net/10399/512.
Full text勞偉籌 and Wai-chau Edward Lo. "Servo control of robotic manipulator with artificial neural network." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1996. http://hub.hku.hk/bib/B31235128.
Full textFraser, Robert James C. "Embedded command and control infrastructures for intelligent autonomous systems." Thesis, University of Southampton, 1994. https://eprints.soton.ac.uk/250158/.
Full textManeewarn, Thavida. "Haptic feedback of manipulator kinematic conditioning for teleoperation /." Thesis, Connect to this title online; UW restricted, 2000. http://hdl.handle.net/1773/6107.
Full textGueaieb, Wail. "Soft computing based approaches for the robust control of cooperative manipulator systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/NQ65242.pdf.
Full textChan, Ting. "Analytical methods for power monitoring and control in an underwater observatory /." Thesis, Connect to this title online; UW restricted, 2007. http://hdl.handle.net/1773/6053.
Full textYien, Christopher Edward. "Control of a three-link in-parallel manipulator for manufacturing applications." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/17519.
Full textGlover, James Patrick Neil. "Real time simulation and parallel processing in the control of co-operating manipulator systems." Thesis, Queen's University Belfast, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359066.
Full textSwain, Anjan Kumar. "Dynamic modelling and control of robotic manipulators with an investigation of evolutionary computation methods." Thesis, University of Sheffield, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341801.
Full textRokui, Mohammad Reza. "Adaptive control of nonlinear discrete-time systems and its application to control of a flexible-link manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0003/NQ39786.pdf.
Full textSmith, Ryan N. "Geometric Control Theory and its Application to Underwater Vehicles." Thesis, University of Hawaii at Manoa, 2008. https://eprints.qut.edu.au/40141/1/40141.pdf.
Full textThome, De Faria Cassio. "Robust Model-Based Control of Nonlinear Systems for Bio-Inspired Autonomous Underwater Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/23792.
Full textPh. D.
Kucuk, Koray. "Modeling And Motion Simulation Of An Underwater Vehicle." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608918/index.pdf.
Full textGibson, Scott Brian. "Improved Dynamic Modeling and Robust Control of Autonomous Underwater Vehicles." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/84468.
Full textPh. D.
Wang, Jihong. "Practical stabilization of uncertain dynamical systems with application to feedback control of a robotic manipulator." Thesis, Coventry University, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387521.
Full textSupriyono, Heru. "Novel bacterial foraging optimisation algorithms with application to modelling and control of flexible manipulator systems." Thesis, University of Sheffield, 2012. http://etheses.whiterose.ac.uk/2122/.
Full textPauck, Simon James. "Movement control and guidance of an automated underwater vehicle." Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/4244.
Full textENGLISH ABSTRACT: This thesis presents the design process of the movement control and guidance systems for an automated underwater vehicle (AUV) constructed by the Institute of Maritime Technology in Simon’s Town. The full non-linear mathematical model and simulation environment for the AUV were previously developed in [1]. The design process in this thesis covers an analysis of existing test data and the performance of the current systems in place on the AUV, derivation and analysis of the linear model for the AUV, design of upgraded control and guidance systems, analysis of the new designs including simulation results, practical implementation of the new designs and the results thereof. Over the course of this project a number of flaws were identified in the original control designs and other aspects of the AUV. Most notably, the capability of the AUV is limited owing to its construction, and the current control and guidance methods result in poor movement characteristics. The new control designs are executed through multiple SISO feedback loops, with the most complicated controllers consisting of proportional and integral control. A completely new guidance method was designed which grants theAUVthe ability to track both straight line and circular path segments with no steady state error. These designs were tested in simulation, with results showing good tracking performance, even in the presence of output disturbances. The new designs were implemented on the physical AUV, but testing was limited, with poor results being obtained. The poor test results were caused primarily by the construction of the AUV.
AFRIKAANSE OPSOMMING: Hierdie tesis stel die ontwerpsproses voor vir die bewegingsbeheer- en navigasiestelsels vir ’n outonome duikboot wat gebou is deur die Instituut vir Maritieme Tegnologie in Simonstad. Die volle nie-lineˆere wiskundige model en simulasieomgewing vir die duikboot is voorheen ontwikkel in [1]. Die ontwerpsproses in hierdie tesis behels ’n analise van bestaande toetsdata en van die werksverrigting van die stelsels wat tans op die duikboot ge¨ınstalleer is, die afleiding en analise van ’n lineˆere model vir die duikboot, die ontwerp van verbeterde beheer- en navigasiestelsels, die analise van die nuwe ontwerpe, wat simulasieresultate insluit, die praktiese implementering van die nuwe ontwerpe, en die resultate daarvan. Deur die loop van die projek is ’n aantal tekortkominge ge¨ıdentifiseer in die oorspronklike beheerstelselontwerpe en ander aspekte van die duikboot. Die mees beduidende tekortkominge is dat die vermo¨e van die duikboot beperk word deur die konstruksie daarvan, en dat die huidige beheer- en navigasietegnieke swak bewegingseienskappe lewer. Die nuwe beheerstelselontwerpe is uitgevoer deur ’n aantal enkelintree, enkeluittree terugvoerlusse, waar die mees komplekse beheerders bestaan uit proporsionele en integraalbeheer. ’n Heeltemal nuwe navigasiemetode is ontwerp, wat die duikboot in staat stel om beide reguit lyne en sirkulˆere padsegmente te volg sonder ’n stasionˆere volgfout. Hierdie ontwerpe is getoets in simulasie, waar die resultate goeie volging getoon het, selfs in die teenwoordigheid van uittreeversteurings. Die nuwe ontwerpe is ge¨ımplementeer op die fisiese duikboot, maar beperkte toetse is gedoen, en het swak resultate gelewer. Die swak toetsresultate was hoofsaaklik as gevolg van die konstruksie van die duikboot.
Watson, Simon Andrew. "Mobile platforms for underwater sensor networks." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/mobile-platforms-for-underwater-sensor-networks(00f93130-f9d6-4479-80ab-58a0c60327c0).html.
Full textMaalouf, Divine. "Contribution to nonlinear adaptive control of low inertia underwater robots." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20196/document.
Full textUnderwater vehicles have gained an increased interest in the last decades given the multiple tasks they can accomplish in various fields, ranging from scientific to industrial and military applications. In this thesis, we are particularly interested in the category of vehicles having a high power to weight ratio. Different challenges in autonomous control of such highly unstable systems arise from the inherent nonlinearities and the time varyingbehavior of their dynamics. These challenges can be increased by the low inertia of this class of vehicles combined with their powerful actuation. A self tuning controller is therefore required in order to avoid any performance degradation during a specific mission. The closed-loop system is expected to compensate for different kinds of disturbances or changes in the model parameters. To solve this problem, we propose in this work the design,analysis and experimental validation of different control schemes on an underwater vehicle. Classical methods are initially proposed, namely the PID controller and the nonlinear adaptive state feedback (NASF) one, followed by two more advanced schemes based on the recently developed L1 adaptive controller. This last method stands out among the other developed ones in its particular architecture where robustness and adaptation are decoupled. In this thesis, the original L1 adaptive controller has been designed and successfullyvalidated then an extended version of it is proposed in order to deal with the observed time lags occurring in presence of a varying reference trajectory. The stability of this latter controller is then analysed and real-time experimental results for different operating conditions are presented and discussed for each proposed controller, assessing their performance and robustness
Bhattacharyya, Siddhartha. "HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES." UKnowledge, 2005. http://uknowledge.uky.edu/gradschool_diss/344.
Full textLozano, Martin Jr. "Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/74449.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 59-60).
While it is critical that nuclear plants frequently inspect their facilities for cracking, corrosion or other failure modes, humans cannot safely perform these tasks due to the hazardous conditions within the tanks and piping systems. In response, the d'Arbeloff Laboratory in the Mechanical Engineering department is designing a compact submersible robot that is capable of precise navigation and maneuvering in order to detect defects within water filled piping systems. The robot is spheroidal with a smooth surface and no external appendages. It propels itself with centrifugal pumps which suck in water from the environment, and pump it out in various directions. This thesis covers the design and implementation of the software, electrical, and a few mechanical systems of the robot. Specifically, it details the programming techniques for the microcontroller and graphical user interface code, circuit board design, wiring, and waterproofing. A robot prototype was built, and experiments have given useful data to construct a model to supplement the field of underwater robotic design.
by Martin Lozano, Jr..
S.B.
Ellery, Alexander. "Systems design and control of a freeflying space robotic manipulator system (ATLAS) for in-orbit satellite servicing operations." Thesis, Cranfield University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359995.
Full textRoberson, David Gray. "Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26175.
Full textPh. D.
Davis, Duane T. "Precision control and maneuvering of the Phoenix autonomous underwater vehicle for entering a recovery tube." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1996. http://handle.dtic.mil/100.2/ADA325015.
Full textThesis advisor(s): Robert McGhee and Don Brutzman. "September 1996." Appendix videotape located at Circulation Desk, call number VHS 5000067. Includes bibliographical references (p. 179-184). Also available online.
NIGRI, ILANA. "COMPARISON BETWEEN LOOK-AND-MOVE AND VISUAL SERVO CONTROL USING SIFT TRANSFORMS IN EYE-IN-HAND MANIPULATOR SYSTEMS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2009. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=15390@1.
Full textVisão Computacional pode ser utilizada para calibrar e auto-localizar robôs. Existem diversas aplicações de auto-localização e controle aplicadas a manipuladores industriais e robôs móveis. Em particular, o controle visual pode ser útil em intervenções submarinas, nas quais um manipulador robótico é acoplado a um ROV (Veículo de Operação Remota) para execução de tarefas em grandes profundidades, como o manuseio de válvulas de equipamentos como manifolds. Este trabalho tem como objetivo desenvolver e implementar técnicas de controle visual para auto-localização e posicionamento de manipuladores robóticos. Assume-se que o manipulador possui uma câmera presa em sua extremidade (configuração eye-in-hand). Duas técnicas de controle visual são estudadas: look-and-move e servo-visual, que diferem entre si pela realimentação do controle. A primeira utiliza sensores de posição, a partir de uma única imagem capturada no início da movimentação. A segunda utiliza diversas imagens capturadas durante o processo. A principal contribuição deste trabalho está no uso da transformada SIFT, robusta a rotações, translações, mudança de escala e iluminação, para obter e correlacionar pontos-chave entre as imagens de referência e capturadas em tempo real. A metodologia é validada experimentalmente através de um manipulador robótico baseado na estrutura mecânica de uma mesa x-y-0. Um sistema eletrônico é utilizado como interface entre o robô e o software de controle, onde estão implementadas todas as técnicas propostas. Testes iniciais são realizados com imagens de objetos circulares, sem o uso de transformações como o SIFT. Em seguida, são feitos testes com a imagem de um painel real de um manifold, utilizando transformadas SIFT para determinar a localização do manipulador em relação ao painel e controlá-lo até uma pose desejada. Os resultados mostram que o desempenho do controle servo-visual depende muito do tempo de processamento de cada imagem, ao contrário do look-and-move. No entanto, o controle servo-visual apresenta erros finais de posicionamento muito menores. O método SIFT é apropriado para uso em ambos os controles, desde que a resolução das imagens seja alta o suficiente para evitar correlações falsas.
Computer vision can be used to calibrate and self-localize robots. There are many applications in self-localization and control applied to industrial manipulators and mobile robots. In particular, visual control can be useful in submarine interventions, where a robotic manipulator is mounted on a Remote Operated Vehicle (ROV) to execute tasks at high depths, such as handling manifold valves. This work has the objective to develop and implement visual control techniques to self-localize and position robotic manipulators. It is assumed that a monocular camera is attached to the robot end-effector (eye-in-hand configuration). Two visual control techniques are studied: look-and-move and visual servo control. Their main difference is related to the adopted feedback sensors. The first technique uses position sensors with the aid of a single image captured at the beginning of the robot movement. The second technique relies on several images captured in real time during the robot movement. The main contribution of this work is the use of the SIFT transform, robust to rotation, translation, changes in scale and illumination, to obtain and correlate key-points between reference images and images captured in real time. The methodology is experimentally validated using a manipulator based on the mechanical structure of an x-y-0 coordinate table. An electronic system was developed to control the robot through a software in a computer, where were implemented all the techniques proposed. Preliminary tests are performed on simple circular-shaped objects, without the need for SIFT transforms. Next, tests are performed with a photo of an actual manifold panel typically used in submarine interventions, using SIFT transform to find the localization of the manipulator with respect to the panel. The results show that the performance of the visual servo control depends on the image processing time, unlike the look-and-move. However, the visual-servo control presents smaller positioning errors. The SIFT method is appropriate for both controls, since image resolution be high enough to avoid false matching.
Bilale, Abudureheman. "State relativity and speed-allocated line-of-sight course control for path-following of underwater vehicles." Thesis, Cranfield University, 2018. http://dspace.lib.cranfield.ac.uk/handle/1826/13963.
Full textYang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.
Full textDoctor of Philosophy
Gul, Ugur Dogan. "Navigation And Path Planning Of An Unmanned Underwater Vehicle." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614706/index.pdf.
Full textLinear Quadratic Regulator (LQR)&rdquo
control method is implemented to govern the surge, heave, pitch and yaw motions of the underwater vehicle. Path planning algorithm of the vehicle is based on tracking the waypoints. Permutation of the waypoints is obtained by solving the &ldquo
Travelling Salesman Problem (TSP)&rdquo
via genetic algorithm. Linked with that, &ldquo
Rapidly-Exploring Random Trees (RRT)&rdquo
algorithm is introduced into the path planning algorithm to avoid collisions in environments with obstacles. Underwater navigation solution is based on the &ldquo
Inertial Navigation System (INS)&rdquo
outputs, located on the vehicle. To correct the long-term drift of the inertial solution, &ldquo
Kalman Filter&rdquo
based integration algorithm is used and external aids such as &ldquo
Global Navigation Satellite System (GNSS)&rdquo
, &ldquo
Ultra-Short Baseline (USBL)&rdquo
acoustic navigation system and attitude sensors have been utilized. The control method, path planning and navigation algorithms used in this study are verified by simulation results.
Geridonmez, Fatih. "Simulation Of Motion Of An Underwater Vehicle." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608765/index.pdf.
Full textSolowjow, Eugen [Verfasser], and Edwin [Akademischer Betreuer] Kreuzer. "Design, dynamics, and control of micro underwater vehicle systems for autonomous environmental exploration / Eugen Solowjow ; Betreuer: Edwin Kreuzer." Hamburg : Universitätsbibliothek der Technischen Universität Hamburg-Harburg, 2019. http://d-nb.info/1175660779/34.
Full textBhat, Sriharsha. "Hydrobatics: Efficient and Agile Underwater Robots." Licentiate thesis, KTH, Farkostteknik och Solidmekanik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286062.
Full textTermen hydrobatik avser förmåga att utföra avancerade manövrer med undervattensfarkoster. Syftet är att, med bibehållen fart och räckvidd, utvigda den operationella förmågan i manövrering, vilket möjliggör helt nya användningsområden för maximering av kostnadseffektivitet. I denna avhandling undersöks fördelar och tekniska utmaningar relaterade till hydrobatik som tillämpas på undervattensrobotar, vanligen kallade autonoma undervattensfarkoster (AUV). Avhandlingen bidrar till ny kunskap i simulering, reglering samt tillämpning i experiment av dessa robotar genom en strukturerad metod för att realisera hydrobatisk förmåga i realistiska scenarier. Tre nyttoområden beaktas - miljöövervakning, havsproduktion och säkerhet. Inom dessa nyttoområden har ett antal scenarios identifierats där en kombination av smidighet i manövrerbarhet samt effektivitet i prestanda är avgörande för robotens förmåga att utföra sin uppgift. För att åstadkomma detta måste två viktiga tekniska utmaningar lösas. För det första har dessa AUVer färre styrytor/trustrar än frihetsgrader, vilket leder till utmaningen med underaktuering. Utmaningen beskrivs i detalj och lösningsstrategier som använder optimal kontroll och modellprediktiv kontroll belyses. För det andra är flödet runt en AUV som genomför hydrobatiska manövrar komplext med övergång från laminär till stark turbulent flöde vid höga anfallsvinklar. Detta gör flygdynamikmodellering svår. En full 0-360 graders flygdynamikmodell härleds därför, vilken kombinerar en multi-tillförlitlighets hydrodynamisk databas med en generaliserad strategi för komponentvis-superpositionering av laster. Detta möjliggör prediktering av hydrobatiska manövrar som t.ex. utförande av looping, roll, spiraler och väldigt snäva svängradier i realtids- eller nära realtids-simuleringar. I nästa steg presenteras ett cyber-fysikaliskt system (CPS) – där funktionalitet som härrör från simuleringar kan överföras till de verkliga användningsområdena på ett effektivt och säkert sätt. Simulatormiljön är nära integrerad i robot-miljön, vilket möjliggör förvalidering av reglerstrategier och mjukvara innan hårdvaruimplementering. En egenutvecklad hydrobatisk AUV (SAM) används som testplattform. CPS-konceptet valideras med hjälp av SAM i ett realistiskt sceanrio genom att utföra ett sökuppdrag av ett nedsänkt föremål under fältförhållanden. Resultaten av arbetet i denna licentiatavhandling kommer att användas i den fortsatta forskningen som fokuserar på att ytterligare undersöka och utveckla ny metodik för reglering av underaktuerade AUVer. Detta inkluderar utveckling av realtidskapabla ickelinjära MPC-implementeringar som körs ombord, samt AI-baserade reglerstrategier genom ruttplaneringsåterkoppling, autonom systemidentifiering och förstärkningsinlärning. Sådan utveckling kommer att tillämpas för att visa nya möjligheter inom de tre nyttoområdena.
SMaRC
KHALAF, POYA. "Design, Control, and Optimization of Robots with Advanced Energy Regenerative Drive Systems." Cleveland State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=csu1552923998768344.
Full textDang, Anh X. H. "Theoretical and experimental development of an active acceleration compensation platform manipulator for transport of delicate objects." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/17277.
Full textTeoh, Pek Loo. "A study of single laser interferometry-based sensing and measuring technique in robot manipulator control and guidance. Volume 1." Monash University, Dept. of Mechanical Engineering, 2003. http://arrow.monash.edu.au/hdl/1959.1/9565.
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