scholarly journals Experimental Analysis of a Visual-Recognition Control for an Autonomous Underwater Vehicle in a Towing Tank

2020 ◽  
Vol 10 (7) ◽  
pp. 2480
Author(s):  
Chao-Ming Yu ◽  
Yu-Hsien Lin
Keyword(s):  
Visual Recognition ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Target Object ◽  
Circle Fitting ◽  
Towing Tank ◽  
Revolution Speed ◽  
Fitting Algorithm ◽  
Image Center ◽  
The Relationship

In this study, underwater recognition technology and a fuzzy control system were adopted to adjust the attitude and revolution speed of a self-developed autonomous underwater vehicle (AUV). To validate the functionality of visual-recognition control, an experiment was conducted in the towing tank at the Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University. An underwater lighting box was towed by a towing carriage at low speed. By adding real-time contour approximation and a circle-fitting algorithm to the image-processing procedure, the relationship between the AUV and the underwater lighting box was calculated. Both rudder plane angles and propeller revolution speeds were determined after the size and location of the lighting box was measured in the image. Finally, AUV performance with visual-recognition control was verified by controlling the target object in the image center during passage.

scholarly journals Nomoto Indices for Constant-Depth Zigzag Manoeuvres of an Autonomous Underwater Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Farhood Azarsina ◽  
Christopher D. Williams
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Test Results ◽  
Constant Depth ◽  
Simulation Code ◽  
Towing Tank ◽  
The Past ◽  
Towing Tank Test ◽  
Tank Test ◽  
Dimensional Simulation

A two-dimensional simulation code is used to study the characteristics of constant-depth zigzag manoeuvres of the axisymmetric autonomous underwater vehicle (AUV) MUN Explorer. Sea trials data for several manoeuvres with the AUV have been reported during the past four years; however, to obtain a more complete understanding of the vehicle's hydrodynamics, additional towing tank tests and computer simulation were performed. The present work, based on the towing tank test results and sea-trials data, utilizes computer simulations to predict the performance of the MUN Explorer AUV during horizontal zigzag manoeuvres. Next, the Nomoto indices for this AUV during constant-depth zigzag manoeuvres are estimated using the simulation results, and, then, Nomoto's first-order model for the rate of turn of the vehicle during horizontal zigzag manoeuvres in response to a square-wave input for the rudder deflection angle is analytically solved. The paper investigates the validity of the simplified yaw equation to predict a zigzag manoeuvre. Results of this research are a first step to understand the details of zigzag manoeuvres of an AUV such as duration of the first execute, yaw-checking ability, and duration of the overshoot.

Visual Servoing for Underwater Vehicle Using Dual-Eyes Evolutionary Real-Time Pose Tracking

2016 ◽  
Vol 28 (4) ◽  
pp. 543-558 ◽  
Author(s):  
Myo Myint ◽  
◽  
Kenta Yonemori ◽  
Akira Yanou ◽  
Khin Nwe Lwin ◽  
...  
Keyword(s):  
Real Time ◽  
Visual Servoing ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Target Object ◽  
Test Bed ◽  
Remotely Operated Vehicle ◽  
Pose Tracking ◽  
Partially Occluded ◽  
Recursive Evaluation

[abstFig src='/00280004/12.jpg' width='300' text='ROV with dual-eyes cameras and 3D marker' ] Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

SYNCHRONIZATION OF COMPASS MODULE WITH PRESSURE AND TEMPERATURE SENSOR SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE (AUV)

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Mohamad Haniff Harun ◽  
Mohd Shahrieel Mohd Aras ◽  
Mohd Farriz Md. Basar ◽  
Shahrum Shah Abdullah ◽  
Khalil Azha Mohd Annuar
Keyword(s):  
High Pressure ◽  
Temperature Sensor ◽  
Autonomous Underwater Vehicle ◽  
Complete System ◽  
Underwater Vehicle ◽  
Degree Of Freedom ◽  
Sensor System ◽  
Fixed Angle ◽  
The Relationship

This paper describes the synchronization of compass module with pressure and temperature sensor system for an Autonomous Underwater Vehicle (AUV). In general this project is the result of a combination of existing technology for underwater sensory to produce a complete system that aims to identify the position of the AUVs based on AUV degree of freedom. This can be done with the help of compass module that can find and order the AUV is moving at a fixed angle. This created a system that aims to obtain data on pressure and temperature in the AUV. Not only that, the project also aims to prove that the relationship between pressure and depth of the water and the relationship between pressure and temperature. All data gathered is capable of helping in the preparation of an AUV that can accommodate high pressure according to the depth to destination.  

Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM Phase III-B)

2009 ◽  
Author(s):  
Giacomo Marani ◽  
Junku Yuh ◽  
Song K. Choi ◽  
Son-Cheol Yu ◽  
Luca Gambella ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Phase Iii
Sign in / Sign up

Export Citation Format

Share Document