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Velocity Estimation of Underwater Vehicle Based on Abnormal Magnetic Field Waveform
Weidong Liu;Linfeng Li;Le Li;Huifeng Jiao;Junqi Qu;Gongwu Sun
It is of great significance to measure real-time surface vessel magnetic field characteristics based on underwater vehicle equipped with magnetometers. In order to obtain the position information of the vehicle at the bottom of the vessel, it is crucial to estimate its speed and apply it to the auxiliary navigation of acoustic positioning systems. In this article, we proposed a novel method for es...Show More
A Mechanical Leg Compliant Control Scheme for Underwater Crawling-Swimming Robot
2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)
Year: 2023 | Conference Paper |
In this paper, the mechanical leg compliant control of a new type of the underwater crawling-swimming robot is studied. According to the strong coupling and uncertainty of the mechanical leg and the uneven seabed, a compliant control scheme consisting of linear active disturbance rejection control based on the nominal model and impedance control based on the position is designed. The uneven seabed...Show More
Vision-Based Target Detection and Positioning Approach for Underwater Robots
Yanli Li;Weidong Liu;Le Li;Wenbo Zhang;Jingming Xu;Huifeng Jiao
The accurate target detection under different environmental conditions and the real-time target positioning are vital for the successful accomplishment of underwater missions of Remotely operated vehicles (ROVs). In this paper, we propose a vision-based underwater target detection and positioning approach to detect and estimate the position and attitude of artificial underwater targets. The propos...Show More
In order to perform underwater operations in complex ocean environment, it is of great significance to develop underwater manipulators with flexible motion ability, accurate operation ability and strong environmental adaptability. This paper mainly studies the inverse kinematics solution of an underwater manipulator. Firstly, the forward kinematics model of a six-degree-of-freedom manipulator is e...Show More
Modelling of a cable-drogue docking system for AUV
Global Oceans 2020: Singapore – U.S. Gulf Coast
Year: 2020 | Conference Paper |
In this paper, a novel cable-drogue docking system is proposed between AUV and mobile underwater platform. First, the cable-drogue docking system is graphically exhibited and introduced. The docking procedure is finished behind platform. Next, the coordinate systems are built. The cable-drogue's mathematical model is established as a link-joint-connected system, in which the mass and loads associa...Show More
At present, it is widely applied to measure the magnetic physics field of a surface ship in a fixed magnetometer array. This measurement method has high accuracy. However, this requires the surface hull to sail to the periphery of the fixed magnetometer array, which increases the time and cost of ship's magnetic physics field measurement and reduces the flexibility of ship's magnetic physics field...Show More
An adaptive sliding mode control strategy based on radial basis function (RBF) neural network was proposed to solve the heading control problem of autonomous underwater vehicle (AUV) under unknown parameters and external environment disturbance. Firstly, a nonlinear robust controller is designed by using the sliding mode control method, and the RBF neural network control technology is used to comp...Show More
Underwater target feature extraction and posture estimation based on deep learning
2020 3rd International Conference on Unmanned Systems (ICUS)
Year: 2020 | Conference Paper |
With the development of the deep learning theory, the rapid and accurate target recognition can be achieved through the training of deep convolutional neural networks. In this paper, a deep learning-based underwater target feature extraction and posture estimation approach for estimating the posture information of the target using only visual images. The proposed approach improves the network stru...Show More
Target Detection and Parameter Recognition for The Crawling Submersible Based on Forward-looking Sonar
2020 3rd International Conference on Unmanned Systems (ICUS)
Year: 2020 | Conference Paper |
The crawling submersible is a new type of deep-sea unmanned submersible that can both cruise in the deep sea and crawl on the seabed. The forward-looking sonar is used by the submersible for obstacle avoidance in the crawling process. This paper proposes a new target detection and parameter recognition method using multi-frame acoustic images from the single-beam and mechanical scanning sonar. The...Show More
A time-optimal path planning method for AUV docking under geometrical constraints
OCEANS 2019 - Marseille
Year: 2019 | Conference Paper |
Challenges in ocean environment bring complexities for AUV docking, including ocean currents, obstacles and geometrical constraints. This paper proposed an evolutionary- based method, to optimize the docking path. First, the ocean environment and constraints are analysed and modelled. Next, the control points are designed to satisfy the model constraints. Then, the adaptive law and mutation operat...Show More
A time-optimal path planning method for AUV docking under geometrical constraints
Year: 2019 | Conference Paper |
Energy-awared Diving Control for A Deep-sea Hexapod Robot
OCEANS 2019 - Marseille
Year: 2019 | Conference Paper |
Among various underwater robots, a deep-sea hexapod robot is able to both sail in the water and crawl on the seafloor at a large water depth. In the underwater operation process of the hexapod robot, the diving process is crucial for achieving a safe and energy efficient operation. Therefore, this paper proposes an energy-awared diving control approach for an underwater hexapod robot. This paper f...Show More
A Novel Network Scheduling Approach Based on Genetic Algorithm for Autonomous Underwater Vehicle Control
Le Li;Weidong Liu;Li-E Gao;Yangyang Zhang;Zeyu Li;Zhuo Zhang
Autonomous Underwater Vehicle (AUV) is one type of important equipments for conducting ocean exploration missions. The AUV control system typically employs a common communication network to connect various function nodes such as Doppler meter, compass/inertial navigation unit, sonar, water depth sensor, main propulsion, and rudder motor. Each of these function nodes has its own information transmi...Show More
AUV docking requires the platform to have both wide range cruising and accurate operating abilities, to against challenges of ocean currents, obstacles, and constraints. This paper proposed an evolutionary-based method, for the purpose of docking path optimization. First, the ocean environment and constraints are analyzed and modeled. Next, the control points are designed to satisfy the model cons...Show More
Underwater vehicle is an important equipment for ocean monitoring and exploitation, and has been attracting more and more attentions from academic researchers and practitioners. Deep-sea unmanned submersible is a special type of underwater vehicle. This paper designs the monitoring and communication system for a deep-sea unmanned submersible using LABVIEW. The monitoring system includes initializa...Show More
This paper considers an underwater hexapod robot that can not only cruise in the sea, but also crawl on the seafloor. In the development process of the robot, it is impossible to debug and validate the gait planning algorithms in the field test before the completion of the design, manufacture, and assembly of robot entity. Meanwhile, the seafloor environment contains many uncertainties. Therefore,...Show More
In this paper, inner tension distribution of fiber optic cable spool for underwater communication in winding process is studied which adopts the structure design of end plates on both sides. We consider the axial compression force of the cable caused by the structure limitation of the end plates on both sides, analyze the force of the cable and the end plate, study on the relationship between radi...Show More
A force feedback instrument of stepper motor driver in teleoperation system is proposed for the poor sence of force telepresence in underwater robot teleoperation, and the reproduction of standard force signal is achieved on the instrument by force-displacement hybrid control. The single-degree-of-freedom teleoperation system is constructed according to the force feedback instrument, and the force...Show More
The networked underwater vehicle's yaw control system based on sliding mode controller
2016 International Conference on Advanced Robotics and Mechatronics (ICARM)
Year: 2016 | Conference Paper |
Cited by: Papers (3)
The underwater vehicle' yaw control system is a distributed networked control system containing sensors, controller and actuators. Networked control system (NCS) can be disturbed by time delay of data packages and transmission interference. The stability of controller in the system can weaken these disadvantages. This paper investigates sliding mode control (SMC) for the networked underwater vehic...Show More
This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment. The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot. The master and slave robot state observers are designed for the unknown interference. The ratio tracking in force and position from the master rob...Show More
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