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2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)最新文献

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Feature-based UKF-SLAM Using Imaging Sonar in Underwater Structured Environment 水下结构环境下基于成像声纳特征的UKF-SLAM
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778989
Qiang Zhang, Bocheng Niu, Wen Zhang, Ye Li
{"title":"Feature-based UKF-SLAM Using Imaging Sonar in Underwater Structured Environment","authors":"Qiang Zhang, Bocheng Niu, Wen Zhang, Ye Li","doi":"10.1109/USYS.2018.8778989","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778989","url":null,"abstract":"This paper presents a simultaneous localization and mapping(SLAM) algorithm towards underwater structured environment using Mechanical Scanning Imaging Sonar(MSIS). An adaptive Hough transform integrating with the method of Random Sampling Consensus(RANSAC) is used to extract the line feature form sonar scanning data and build the geometric feature map in this paper. The UKF-SLAM algorithm estimates the state of underwater vehicle’s pose by fusion of multi-sensor data and the extracted line feature. To validate the algorithm, a simulation on MATLAB using Spanish abandoned marina dataset is tested, which shows this algorithm can suppress the divergence effectively and locate the vehicle accurately.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128150501","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
Dynamic Measurement of Underwater Rotating Compartment Rolling Angle Based on Modified Kalman Filter 基于改进卡尔曼滤波的水下旋转舱滚转角动态测量
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779086
Ying-jie Shi, Yingkai Xia, Cheng Song, Jun-hui Wu, Fanjun Kong
{"title":"Dynamic Measurement of Underwater Rotating Compartment Rolling Angle Based on Modified Kalman Filter","authors":"Ying-jie Shi, Yingkai Xia, Cheng Song, Jun-hui Wu, Fanjun Kong","doi":"10.1109/USYS.2018.8779086","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779086","url":null,"abstract":"The dynamic measurement of the rolling angle is crucial for the control of the underwater rotating compartment. The rolling angle dynamic measuring device is designed for this purpose, the core of which is MEMS gyroscope. In the dynamic measurement, the measuring device produces errors due to noise and other disturbances. A filtering algorithm is needed to suppress the interference. The Kalman filter is easy to program but subject to nonlinear factors, which affects the filtering effect. Therefore, the Savitzky-Golay filter is introduced to modify the filter with the purpose of improving the measurement performance and the control effect of the compartment. Simulation studies are conducted to demonstrate the satisfying performance of the modified Kalman filter.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128460017","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
Numerical Simulation of the Launch Stage in Vertical Plane of Underwater Glider in Ocean Current 海流条件下水下滑翔机垂直面上发射段的数值模拟
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779110
Xiaozou Chen, Yuxiang Wan, Jinfu Liu
{"title":"Numerical Simulation of the Launch Stage in Vertical Plane of Underwater Glider in Ocean Current","authors":"Xiaozou Chen, Yuxiang Wan, Jinfu Liu","doi":"10.1109/USYS.2018.8779110","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779110","url":null,"abstract":"The movement during the launch stage of the underwater glider is unsteady, and the unsteady movement is very easy to lose stability in current. CFD method which is based on the fully structured overlapping grid technology is adopted to study the movement of the underwater glider during the launch stage. The finite difference method is used to discretize SST k-ω turbulence model. The spatial position and attitude of underwater glider is updated by solving 3DOF equations of vertical plane in time domain. The velocity, displacement and attitude of the underwater glider at different ocean currents are given in time domain at 1% difference of gravity and buoyancy. The results show that the ocean current has a great influence on the motion of the glider","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134316212","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
The enemy air-threat prediction based aircraft real-time path planning for offshore combat 基于敌方空中威胁预测的近海作战飞机实时航迹规划
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778975
Yao Zhenxing, Yao Ziyu, W. Wenhao, Cao Yichen, Chang Huiyuan
{"title":"The enemy air-threat prediction based aircraft real-time path planning for offshore combat","authors":"Yao Zhenxing, Yao Ziyu, W. Wenhao, Cao Yichen, Chang Huiyuan","doi":"10.1109/USYS.2018.8778975","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778975","url":null,"abstract":"In order to satisfy the high dynamic, hard real-time requirement of future battlefield, an artificial intelligence frame work was discussed in this paper. An enemy aircraft threat prediction method using the deep learning network CNN (Convolutional Neural Network) based on the CATIA 3D model and its 2D screenshots is introduced. A real time path planning method using PNN (Probabilistic Neural Network) based on genetic algorithm and the threat prediction would provide flight path online. The simulation results showed that the offshore mission planning problems could be effectively solved by the frame work. More probable study directions were discussed.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133856852","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
Sliding mode variable structure control for servo system of valve controlled hydraulic actuator 阀控液压执行器伺服系统的滑模变结构控制
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779232
Xiaolong Ma, Xin Zhang, Wenjin Wang, Zhen Su, Wei Zhang
{"title":"Sliding mode variable structure control for servo system of valve controlled hydraulic actuator","authors":"Xiaolong Ma, Xin Zhang, Wenjin Wang, Zhen Su, Wei Zhang","doi":"10.1109/USYS.2018.8779232","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779232","url":null,"abstract":"Position servo system of valve-controlled hydraulic steering gear is an important branch of hydraulic field. Because of the internal leakage of the valve and the uncertainties in the working environment, it is a typical nonlinear control system. Therefore,it is one of the typical objects of control technology. The traditional PID controller can’t meet the requirements of control accuracy and speed. In view of this, this paper will carry out the algorithm research of Sliding mode variable structure control, apply it to the valve-controlled hydraulic servo system, and use the simulation results to analyze the feasibility and effectiveness of the control strategy.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122387389","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
Cooperative control system of multi-ASV: design and implementation 多asv协同控制系统的设计与实现
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778995
Shaoze Zhang, Xianbo Xiang, Shaolong Yang
{"title":"Cooperative control system of multi-ASV: design and implementation","authors":"Shaoze Zhang, Xianbo Xiang, Shaolong Yang","doi":"10.1109/USYS.2018.8778995","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778995","url":null,"abstract":"Aiming at designing cooperative autonomous surface vehicle (ASV), this paper proposed a cooperative control system mainly based on embedded controllers onboard. First, the composition of the system is introduced, including the monitoring terminal and the onboard ASV system. After that, the working principle of the whole system is introduced in details, including the networking communication of multiple ASV, the communication with the monitoring terminal, and the implementation of the independent navigation and formation algorithm based on embedded controllers of ASV. Finally, the effectiveness of cooperative control of multi-ASV system is verified by experiments in open water.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123977806","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
A finite state machine based diagnostic expert system of large-scale autonomous unmanned submarine 基于有限状态机的大型自主无人潜艇诊断专家系统
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779066
Yuanyuan Zheng, Guanxue Wang, Zhongxiang Chen, Yan Liu, Xiong Shen
{"title":"A finite state machine based diagnostic expert system of large-scale autonomous unmanned submarine","authors":"Yuanyuan Zheng, Guanxue Wang, Zhongxiang Chen, Yan Liu, Xiong Shen","doi":"10.1109/USYS.2018.8779066","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779066","url":null,"abstract":"Fault diagnosis and decision have received a lot of theoretical and practical attention over the last years. This paper aims at the design of efficient and reliable security assurance of Large-scale autonomous unmanned submarine (L-AUS). Firstly, this paper analyzes the control objective, then models an on-line diagnostic expert system with an inference engine based on a finite state machine. Finally, this paper verifies the effectiveness of this expert system and reasoning machine by physical simulation. This paper proposes a high-efficiency reasoning machine which can cope with the complex fault diagnostic logic of L-AUS. The finite state machine also offers the possibility to model emergency system of L-AUS and to test a reaction system by tracking the logic flow during simulations.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121222867","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: 3
Design of a Pressure-Holding Sampling Device for Macro Organisms in Hadal Trenches 海沟大型生物保压取样装置的设计
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778858
Hao Wang, Jia-wang Chen, Ziqiang Ren, Jing Xiao, Yue Huang, Weitao He
{"title":"Design of a Pressure-Holding Sampling Device for Macro Organisms in Hadal Trenches","authors":"Hao Wang, Jia-wang Chen, Ziqiang Ren, Jing Xiao, Yue Huang, Weitao He","doi":"10.1109/USYS.2018.8778858","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778858","url":null,"abstract":"Developing deep-sea biological resources is of great significance to human development. So far, the inspection and researches of organisms in the deep sea and especially of the hadal trenches are far from sufficient, especially for hadal trenches. Macro organisms sampling technique of hadal trenches is limited by many factors, such as ultra-high hydrostatic pressure at the depth of 11000m, remote control problems, and high cost of investigation and so on. In past researches, abyssal organisms were sampled using non-pressure-holding techniques. It is almost impossible to obtain living organisms by non-pressure-holding sampling. Therefore, it is difficult to conduct researches on living organisms which are sampled in hadal trenches. In this study, a macro organisms pressure-holding sampling device is designed to sample the macro organisms in hadal trenches. The metabolism and physiological characteristics of organisms in normal pressure are obviously different from them in situ. That will make it difficult for biologists to conduct studies on the in situ states of hadal trenches macro organisms. This paper presents a pressure-holding sampling device for macro organisms in hadal trenches. And presents its trapping system in this paper. The mechanical structure was showed in detail in this paper. And the workflow of the sampler was described. Then we calculated the volume of the accumulator. The finite element simulation analysis for the sampling cylinder was performed. This device can be used for in situ sampling of hadal trenches macro organisms. And this device is suitable for whole sea depth sampling.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121292062","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
Experimental study on the effect of landing gear fairing on amphibious aircraft 水陆两栖飞机起落架整流罩影响的实验研究
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779217
Rong Jiang, Bin Wu, Ke Zhang, Chenghua Li
{"title":"Experimental study on the effect of landing gear fairing on amphibious aircraft","authors":"Rong Jiang, Bin Wu, Ke Zhang, Chenghua Li","doi":"10.1109/USYS.2018.8779217","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779217","url":null,"abstract":"Towing tank model test is conducted to investigation of effect of landing gear fairing on hydrodynamic performance for amphibious. Test result shows that the bigger landing gear fairing is, the striking is stronger, the power of adsorption will be stronger too, this would increase water resistance, and adverse to hydrodynamic performance for amphibious taxiing on water. This investigation results would offer some instruction to amphibious design.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116656983","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
Motion Control of an One-meter Class Autonomous Sailboat 一米级自主帆船的运动控制
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779206
Chuan Liu, Shaolong Yang, Tanglei Duan, Jianghao Huang, Zhuo Wang
{"title":"Motion Control of an One-meter Class Autonomous Sailboat","authors":"Chuan Liu, Shaolong Yang, Tanglei Duan, Jianghao Huang, Zhuo Wang","doi":"10.1109/USYS.2018.8779206","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779206","url":null,"abstract":"In order to compensate for the limitation of the endurance of electrically powered autonomous ships, a sailboat prototype was built to use natural wind power efficiently. Two actuators of the sailboat were controlled separately. The fuzzy control algorithm is used for rudder, and table look-up control method is used for the wing sail based on velocity polar prediction diagram. The specifications of the hardware system and detailed information on motion control strategy are illustrated. Subsequently, ship trial conditions and experimental results were presented. The prototype performance showed that the control strategy was feasible for such a boat. This laid the foundation for the follow-up study of the autonomous sailboat.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114346221","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
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