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2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)最新文献

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Small scale underwater drone based on a twin-rotor system 基于双旋翼系统的小型水下无人机
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309439
M. Kasno, M. Aras, M. Sulaiman, Ahmad Faiez Husni-Rusli, M. Saealal, M. Tumari, Ahmad Muzaffar Abdul Kadir, A. Subki
{"title":"Small scale underwater drone based on a twin-rotor system","authors":"M. Kasno, M. Aras, M. Sulaiman, Ahmad Faiez Husni-Rusli, M. Saealal, M. Tumari, Ahmad Muzaffar Abdul Kadir, A. Subki","doi":"10.1109/USYS.2017.8309439","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309439","url":null,"abstract":"This paper presents the development of small-scale unmanned underwater drone. The underwater drone model was selected based on a twin-rotor-like aerial platform, adapted to dive and move underwater. It designed to be performed underwater capabilities and few aerial tasks which are can slightly hover on water surface. The design of underwater drone model by using 3D drawing (Solidworks software). The propulsion mechanism of this underwater drone is based on thruster which consists of motor and propeller and for the controller part used manually by using joystick controller and the body of underwater drone using light weight material (PVC foam). The testing and experimental for underwater drone focused on vertically trajectory. In this paper also investigate propeller design by the thrust measurement so that the performances of underwater drone can be observed.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123560131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Underwater acoustic distance measurement using fast fourier transform overlap 基于快速傅立叶变换的水声距离测量
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309450
Chee Sheng Tan, R. Mohd-Mokhtar, M. Arshad
{"title":"Underwater acoustic distance measurement using fast fourier transform overlap","authors":"Chee Sheng Tan, R. Mohd-Mokhtar, M. Arshad","doi":"10.1109/USYS.2017.8309450","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309450","url":null,"abstract":"Most of the underwater applications such as underwater acoustic communication require usage of high cost hardware devices. This constraint limits the research activities within this field. In due to cost limitation, there is a need to develop a low cost underwater communication device but still able to provide good performance to achieve the objectives. In this paper, underwater acoustic distance measurement system based on fast Fourier transform (FFT) overlap using low cost hardware platform is presented. Time-of-arrival (TOA) estimation is derived based on the intensity of the received signal with frequency of interest after computing forward FFT. The extraction of the signal from the receiver is performed by using digital signal processing algorithms. Strength of the received signal and its distance from the receiver are measured during the experiments. The experimental results are presented to demonstrate its capabilities.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114260781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Distributed observer for a team of autonomous underwater vehicles utilizing a beacon unit on the surface 分布式观测器，用于使用水面信标单元的自主水下航行器团队
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309459
A. Safaei, M. Mahyuddin
{"title":"Distributed observer for a team of autonomous underwater vehicles utilizing a beacon unit on the surface","authors":"A. Safaei, M. Mahyuddin","doi":"10.1109/USYS.2017.8309459","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309459","url":null,"abstract":"In this paper, a distributed observer is designed for estimating the system states of autonomous underwater vehicles using the measured states at a beacon surface vehicle. Here, the past data of control signals is not included in the observer policy. Thus the coupling between observer and controller policies are removed completely. Only the inter-agent relative differences between the agents alongside with the relative difference of the beacon's states with one of the agents in the network are required for reaching convergence in both observer and controller consensus errors. A simulation study for a network of four singleintegrator dynamic agents is provided for performance evaluation of the proposed algorithm.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129842068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Development of drifting buoy inspired by water strider for shallow water environment 受水黾启发的浅水环境漂流浮标的研制
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309452
H. A. Kadir, Nurul Hasniza Darus, Isa. K. Admire, M. Arshad
{"title":"Development of drifting buoy inspired by water strider for shallow water environment","authors":"H. A. Kadir, Nurul Hasniza Darus, Isa. K. Admire, M. Arshad","doi":"10.1109/USYS.2017.8309452","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309452","url":null,"abstract":"Ecosystem of a freshwater from river or lake can be extremely fragile. Assessment on flows and quality in water system is critical as fresh water mostly come from rivers and lakes. The used of river drifting buoy is new to estuarial and riverine studies compared to the oceanography. The collected river parameters from the drifters benefits the community in term assessment of water quality, usage and storm water control planning. In this work, the river drifting buoy developed were inspired by water-walking arthropods which is water strider. The design drifting buoy were able to control their heading and have the ability to withstand the impact from a deployment at the river banks under several obstacles. The design introduce power efficiency and agile movements on the water surface for deep or very shallow water surfaces. The performance of the buoy were recorded with real data collected at several local area near Batu Pahat.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"352 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133182791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Image-based visual servoing for docking of an autonomous underwater vehicle 基于图像的自主水下航行器对接视觉伺服
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309453
M. F. Yahya, M. Arshad
{"title":"Image-based visual servoing for docking of an autonomous underwater vehicle","authors":"M. F. Yahya, M. Arshad","doi":"10.1109/USYS.2017.8309453","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309453","url":null,"abstract":"An autonomous underwater vehicle (AUV) depends on the embedded battery inside its system as a sole source of energy. It cannot prolong its operation due to the limited capacity of the battery. To overcome this limitation, a docking station may be utilized so that the AUV can dock inside the station and recharges its battery. There are few researches conducted on the docking of AUV using vision. Research which relies on the pose of the docking station to guide the AUV during docking operation may experience difficulties if the target is lost from the camera view. The AUV cannot determine the docking station pose if there are missing features. In this paper, an image based visual servoing method is proposed for the AUV to dock inside a docking station by relying on 5 target features. Simulation result shows that the AUV is capable to dock successfully inside the station by employing the proposed method.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114331799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
A study of tuning process of fuzzy logic controller output membership function for AUV-pitch control 水下机器人俯仰控制模糊控制器输出隶属度函数整定过程研究
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309434
M. Aras, Muhammad Wahyuddin Nor Azmi, Muhammad Nizam Kamaruddin, M. H. Harun, M. Kasno
{"title":"A study of tuning process of fuzzy logic controller output membership function for AUV-pitch control","authors":"M. Aras, Muhammad Wahyuddin Nor Azmi, Muhammad Nizam Kamaruddin, M. H. Harun, M. Kasno","doi":"10.1109/USYS.2017.8309434","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309434","url":null,"abstract":"This paper explains the study of the tuning process for fuzzy logic controller (FLC) design of an Autonomous Underwater Vehicle (AUV) for pitch-axis control. There is no systematic technique to tune the FLC to achieve a desired set point. The trial and error method is the common approach used in the tuning process of fuzzy logic controller until a satisfactory result is obtained and the performance of the system can be analyzed. The tuning process is made either to the number of fuzzy partitions or the mapping of the membership function so that the results can follow the desired set point and for this case in AUV-pitch control. This paper presents a faster tuning process by altering the mapping of the membership function to get satisfactory output. The algorithm was verified in MATLAB® Simulink platform and compare with the conventional PID controller. The FLC controller is more accurate and better than the PID controller.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124802220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
A comparison between underwater global data gathering with actual measurement for simulation of underwater channel 水下航道模拟中水下全球数据采集与实际测量的比较
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309446
N. Bahrami, N. H. Khamis, A. Yahya
{"title":"A comparison between underwater global data gathering with actual measurement for simulation of underwater channel","authors":"N. Bahrami, N. H. Khamis, A. Yahya","doi":"10.1109/USYS.2017.8309446","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309446","url":null,"abstract":"This paper focused on underwater physical and environmental data collection such as temperature, salinity, depth, surface agitation and seabed topography based on online global databases. These data are essential due to more realistic simulation of underwater communication channel. Physical data values are different based on locations and weather patterns. A network designer has to collect by measurements for several times. The measuring procedure is often very cumbersome, time consuming and expensive. Moreover, critical problem arises when the data is not general and the data may change for next year as well. This research introduces a method for collecting underwater physical data based on weather satellites, geology software and global online resources such as NOAA. This study evaluates difference between measured data with the collected data from online databases. The result indicates that the collected salinity data from proposed method is acceptable with 0.3 Psu tolerance and is 0.5 °C for temperature.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128398877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simultaneous perturbation stochastic algorithm parameters effect towards multi agent robot broadcast controller 同步摄动随机算法参数对多智能体机器人广播控制器的影响
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309456
N. Sariff, Z. Ismail
{"title":"Simultaneous perturbation stochastic algorithm parameters effect towards multi agent robot broadcast controller","authors":"N. Sariff, Z. Ismail","doi":"10.1109/USYS.2017.8309456","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309456","url":null,"abstract":"This paper investigates the effect of Simultaneous Perturbation Stochastic Algorithm towards multi agent motion coordination performances. Parameters of a, A, a, c and y were applied based on the guidelines given and based on the optimal value found from investigation. Each parameter will be varied and the results will be observed to determine the optimal parameters for this case study. The results show that with optimal parameters of ak and ck gain of SPSA which are a=0.21, A=30, a=0.602, c=1, y=0.101 and with a quadratic loss function, the optimal result was proven achieved. The results of convergence time, percentage of agent movement and the number of iteration were recorded to verify that the agent capable to reach its desired target successfully. The reading shows that in average, the agent will reach its target in 14.53 sec with 138 number of iterations in a 5 times run.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134411153","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Low-cost remotely operated underwater vehicle for underwater observation purposes 用于水下观测目的的低成本遥控水下航行器
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309444
Wan Muhd Arif Bin Wan Sabri, Irfan Rahim Zabidi, Mohd Aliff Mohd Abd Musthalib, Zimam Amer Muhamad, Muhammad Irfan Mohd Hazman, Muhammad Syafiq Mohd Yusof, L. Naing, Z. Z. Abidin
{"title":"Low-cost remotely operated underwater vehicle for underwater observation purposes","authors":"Wan Muhd Arif Bin Wan Sabri, Irfan Rahim Zabidi, Mohd Aliff Mohd Abd Musthalib, Zimam Amer Muhamad, Muhammad Irfan Mohd Hazman, Muhammad Syafiq Mohd Yusof, L. Naing, Z. Z. Abidin","doi":"10.1109/USYS.2017.8309444","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309444","url":null,"abstract":"This paper is about the development of a low-cost remotely operated underwater vehicle (ROV) for the observation of underwater environments without risking human life. The overall safety feature focuses on protecting internal circuits from being overloaded by any unexpected high current as well as protecting battery from being over-discharged to prolong the battery's life. The robot has internal sensor to measure the battery voltage level along with its movement speed for safety precautions. It has a camera that sent underwater visuals to the users at the base station for underwater monitoring, observation, and exploration purposes. Floatable ballasts that hold adjustable volume of air are attached to the vehicle. The ROV has been tested on several locations for performance analysis, data collection, and navigation control; moreover, it has also won the first prize in T-Robotics Underwater Challenge organized by T-System Malaysia.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117332296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Sensing mechanism of water turbidity using LED for in situ monitoring system 利用LED进行水浊度现场监测的传感机理
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2017-12-01 DOI: 10.1109/USYS.2017.8309443
Abdul Hafiz Abu Samah, Mohamad Faizal Abd Rahman, A. Omar, K. A. Ahmad, S. Z. Yahaya
{"title":"Sensing mechanism of water turbidity using LED for in situ monitoring system","authors":"Abdul Hafiz Abu Samah, Mohamad Faizal Abd Rahman, A. Omar, K. A. Ahmad, S. Z. Yahaya","doi":"10.1109/USYS.2017.8309443","DOIUrl":"https://doi.org/10.1109/USYS.2017.8309443","url":null,"abstract":"This paper investigates on the efficiency and suitability of an optical sensing mechanism for water quality monitoring. By using three types of optical sensors as detector and various colour of Light Emitting Diode (LED) as light transmitter, a real-time monitoring system is developed. The sensing mechanism works based on different absorbance properties of light as given by Beer-Lambert Law. A measurement and monitoring system is developed by using LABVIEW to measure the turbidity of the samples which are calibrated using a commercial turbidimeter. The use of different light sources; ultraviolet, white, red, green and blue LED paired with different photodetectors; phototransistor, photodiode and photoresistor are tested and analysed. White LED paired with phototransistor is found to have the best performance with sensitivity of 8 mV/NTU, shows the best linearity performance at 10% of error tolerance as well as having the least fluctuation reading during measurement.","PeriodicalId":137478,"journal":{"name":"2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126203157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
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