Underwater Vehicle
Mostrando 1-7 de 7 artigos, teses e dissertações.
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1. Path Planning for Unmanned Underwater Vehicle in 3D Space with Obstacles Using Spline-Imperialist Competitive Algorithm and Optimal Interval Type-2 Fuzzy Logic Controller
Abstract In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV) without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA) in three-dimensional s
Lat. Am. j. solids struct.. Publicado em: 2016-06
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2. µ-synthesis for unmanned underwater vehicles current disturbance rejection
This note focuses attention on a novel approach to disturbance rejection when the µ-synthesis control procedure is applied to Unmanned Underwater Vehicles (UUVs). Environmental external disturbances simplify to ocean current for a totally submerged vehicle and greatly contributes for hydrodynamical loads and the tether cable disturbance. Our case scenario d
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2011-09
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3. Experimental methodology for the obtaining of the hydrodynamic parameters of VSNT JAHU II, based in digital image processing. / Metodologia experimental para obtenção dos parâmetros hidrodinâmicos do VSNT JAHU II, baseado em processamento digital de imagens.
Unmanned underwater vehicles they have been used continually by the planet in spite of the difficulties of your operation, both for scientific observation, but also for monitoring of engineering works. The positions of these vehicles are controlled, in general, which makes manually they work long and tiring to their pilots. An alternative that simplifies thi
Publicado em: 2009
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4. Modelagem e identificação de parâmetros hidrodinâmicos de um veículo robótico submarino. / Modelling and Identification of hydrodynamic parameters of an underwater robotic vehicle.
In this work, a procedure for experimental identification of hydrodynamic coefficients of unmanned underwater vehicles is presented. At first, the development of a testbed for research on dynamics, control, and navigation of underwater vehicles is presented. This experimental platform includes: 1) a open-frame semi-autonomous unmanned underwater vehicle name
Publicado em: 2008
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5. Hardware in the loop simulation applied to semi-autonomous underwater vehicles. / Simulação com hardware in the loop aplicada a veículos submarinos semi-autônomos.
Unmanned Underwater Vehicles (UUVs) have many commercial, military, and scientific applications because of their potential capabilities and significant costperformance improvements over traditional means of obtaining valuable underwater information The development of a reliable sampling and testing platform for these vehicles requires a thorough system desig
Publicado em: 2008
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6. Controle robusto multivariável para um veículo submersível autônomo. / Multivariable robust control for an autonomous underwater vehicle.
Este trabalho trata do controle dos movimentos de um Veículo Submersível Autônomo (VSA). Veículos submersíveis são difíceis de controlar devido à alta não linearidade de seus modelos, ao forte acoplamento de movimentos, ao desconhecimento de certas dinâmicas, às incertezas do próprio modelo, devido a distúrbios externos impostos pelo ambiente e
Publicado em: 2007
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7. Virtual kinematic chains to solve the underwater vehicle-manipulator systems redundancy
This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2006-09