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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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Underwater Dynamic Target Tracking of Autonomous Underwater Vehicle Based on MPC Algorithm 基于MPC算法的自主水下航行器水下动态目标跟踪
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779215
Yali Wei, Daqi Zhu, Zhenzhong Chu
{"title":"Underwater Dynamic Target Tracking of Autonomous Underwater Vehicle Based on MPC Algorithm","authors":"Yali Wei, Daqi Zhu, Zhenzhong Chu","doi":"10.1109/USYS.2018.8779215","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779215","url":null,"abstract":"In this paper, a dynamic target tracking method based on model predictive control (MPC) algorithm was proposed for autonomous underwater vehicle (AUV). Through the processing of AUV sonar images, the dynamic target can be identified and located in real time. Then the Kalman filter was used to reasonably predict the position of the dynamic target at the next moment. Finally, MPC algorithm is applied to track the dynamic target online and follow it. Through experiments, the actual position of the target was obtained. And by simulation, MPC can accurately track dynamic targets, which has also been proved. This algorithm can not only track the trajectory, but also track the dynamic target, which meets the practical requirements","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"210 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":"133419192","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: 11
USYS 2018 Welcome Address 2018年USYS欢迎辞
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/usys.2018.8779173
{"title":"USYS 2018 Welcome Address","authors":"","doi":"10.1109/usys.2018.8779173","DOIUrl":"https://doi.org/10.1109/usys.2018.8779173","url":null,"abstract":"","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"16 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":"117298505","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
Recovery Path Planning Algorithm Based on Dubins Curve for Autonomous Underwater Vehicle 基于Dubins曲线的自主水下航行器恢复路径规划算法
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778859
Binghua Shi, Yixin Su, Chen Wang, Lili Wan, Yue Qi
{"title":"Recovery Path Planning Algorithm Based on Dubins Curve for Autonomous Underwater Vehicle","authors":"Binghua Shi, Yixin Su, Chen Wang, Lili Wan, Yue Qi","doi":"10.1109/USYS.2018.8778859","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778859","url":null,"abstract":"The marine 3D environment for AUV work is quite complicated, and it is difficult to solve the recovery path directly. This paper adopts the recovery path planning algorithm based on Dubins Curve. When AUV enters the recovery area, the 3D planning is first reduced to the 2D xoy-plane planning and z-plane height planning. According to the current attitude of AUV and the final attitude required by the recovery platform, calculate all possible Dubins paths by a certain degree of repetition and relative positional relationship, and choose a collision-free shortest path in the xoy-plane. Then, the height planning of the obstacle avoidance is performed in the z-plane, and synthesize them to get a 3D recovery path. The simulation results show that the recovery path given by the proposed algorithm can make the AUV navigate underwater along the smooth trajectory of curvature, and safely enter the recovery platform from the designated position in the desired attitude.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"25 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":"123119498","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
Numerical research on hydrodynamic characteristics of fish-like flexible oscillating hydrofoil 鱼状柔性振荡水翼水动力特性数值研究
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778872
Zhitong Li, Gang Xue, Yanjun Liu, Fengxiang Guo, Shizhen Li
{"title":"Numerical research on hydrodynamic characteristics of fish-like flexible oscillating hydrofoil","authors":"Zhitong Li, Gang Xue, Yanjun Liu, Fengxiang Guo, Shizhen Li","doi":"10.1109/USYS.2018.8778872","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778872","url":null,"abstract":"Hydrofoil is a common structure of underwater machinery and has good hydrodynamic performance. At present, most of the studies on oscillating hydrofoils are on rigid hydrofoils, but few on hydrodynamics of flexible oscillating hydrofoils. In this paper, the kinetic model of flexible hydrofoil is established by imitating tuna swimming. Then the relationship between the hydrodynamic coefficients and the flexibility of hydrofoil was analyzed. At last, the effects of the pressure distribution and the vortex distribution on the thrust of the flexible hydrofoil were analyzed. The research will do favor in the fish-like propulsor design.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"110 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":"131337515","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
Trajectory tracking for the CMG-actuated underwater vehicle with dynamic uncertainties 具有动态不确定性的cmg驱动水下航行器轨迹跟踪
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779162
Ruikun Xu, Guo-yuan Tang, L. Han, De Xie
{"title":"Trajectory tracking for the CMG-actuated underwater vehicle with dynamic uncertainties","authors":"Ruikun Xu, Guo-yuan Tang, L. Han, De Xie","doi":"10.1109/USYS.2018.8779162","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779162","url":null,"abstract":"In this paper, trajectory tracking control of the underwater vehicle with control moment gyros (CMGs) is addressed under the presence of model perturbation and time-varying environmental disturbances. Motivated by a global homeomorphism transformation, the adaptive dynamical sliding mode controller is developed for the decoupled dynamical model in the horizontal plane. Based on the analysis of error dynamical equations and backstepping design techniques, the adaptive law is utilized to estimate the uncertain states caused by the systematical model and external disturbances. Simulation results show its feasibility and robust stability of the proposed controller to validate the theoretical derivation.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"1 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":"115699810","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
Analysis of Sound Transmission Loss on Infinite Double-panel Partition 无限大双层隔板的传声损失分析
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8778864
Mengqing Huang, Meixia Chen
{"title":"Analysis of Sound Transmission Loss on Infinite Double-panel Partition","authors":"Mengqing Huang, Meixia Chen","doi":"10.1109/USYS.2018.8778864","DOIUrl":"https://doi.org/10.1109/USYS.2018.8778864","url":null,"abstract":"Based on two panels structure model, the theoretical processes of calculating the sound transmission loss (STL) are detailed by wave transfer method (WTM) and structural bending wave method (BWM), respectively. When the acoustic wave is vertically incident and obliquely incident, the sound transmission loss of infinite two-plate structure can be calculated by WTM and BWM, respectively. The calculation formulas and physical meanings of resonance frequency points are given, including the frequencies of “mass-air-mass”, standing wave, and panel coincidence. Through some comparisons of STL curves and analysis about the trends of two curves, the advantages and disadvantages of WTM and BWM are pointed out. The equivalent conditions of WTM and BWM are derived, in the case that the acoustic wave is vertically incident on the thin plate structure. When the structure and acoustic wave satisfy the equivalent condition, the STL curves provided by WTM and BWM are consistent with each other under vertically incident wave; when plane acoustic wave is obliquely incident on whole structure, it becomes inaccurate for the calculated result by WTM, while it is still reliable for the results by BWM. By changing the plate thickness, air layer thickness and elevation angle of incident acoustic wave, some influences created by these factors on STL of infinite two-plate structure are analyzed.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"1 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":"122949520","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 and Numerical Study of Bioluminescence Induced by Hydrodynamic Stimulation 水动力刺激下生物发光的实验与数值研究
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779059
Wei Chen, Hao Zhang, Guangqiang Wang, Zhijian Cai
{"title":"Experimental and Numerical Study of Bioluminescence Induced by Hydrodynamic Stimulation","authors":"Wei Chen, Hao Zhang, Guangqiang Wang, Zhijian Cai","doi":"10.1109/USYS.2018.8779059","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779059","url":null,"abstract":"A numerical model to predict quantitative images of bioluminescence under flow disturbance is formulated. The technique is based on two parts: a quantitative relationship between dinoflagellate bioluminescence and fluid shear, and a calibration methodology for analyzing images. The former part is obtained by a Couette flow experiment. Bioluminescence under different shear stresses and cell concentrations are analyzed. The latter part is obtained by numerical simulation of the flow field associated with optical characteristics of the camera. To validate the model, an experiment is performed to study bioluminescence stimulated by the wake of a propeller. Images of luminescence are compared with those obtained by numerical simulation. The length and distribution of the luminescence region are in qualitative agreement with those obtained by the numerical model.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"21 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":"124982891","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
Design of Pressure Retention and Transfer System for Abyssal Sediments 深海沉积物保压传递系统设计
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779083
Jing Xiao, Jia-wang Chen, Hao Wang, Ziqiang Ren, Peihao Zhang, Weitao He, Yue Huang
{"title":"Design of Pressure Retention and Transfer System for Abyssal Sediments","authors":"Jing Xiao, Jia-wang Chen, Hao Wang, Ziqiang Ren, Peihao Zhang, Weitao He, Yue Huang","doi":"10.1109/USYS.2018.8779083","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779083","url":null,"abstract":"Sediment pressure transfer device, which is used to transfer the samples from the pressurized sampler to an experimental culture vessel for in situ culture of submarine microbes. The device matches the lead screw piston sampler developed by Zhejiang University. The hydraulic pump uses sediment culture fluid as a transport medium to increase the pressure to the required pressure for the system and scour the sediment from the sampling barrel into the water storage unit. The magnetic agitator in the water storage tank mixed the sediment and culture liquid evenly, and the micro-flow pump at the outlet of the water storage tank efficiently transported the sediment culture medium mixture to the culture kettle. This paper mainly introduces the system design, work flow and pressure load denaturation analysis of important parts, and introduces the working environment and experimental scheme of the device.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"21 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":"123273663","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
Fast Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles 欠驱动自主水下航行器快速轨迹跟踪控制
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779000
Lei Qiao, W. Zhang
{"title":"Fast Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles","authors":"Lei Qiao, W. Zhang","doi":"10.1109/USYS.2018.8779000","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779000","url":null,"abstract":"The paper proposes a fast trajectory tracking control strategy for underactuated autonomous underwater vehicles (AUVs) moving in horizontal plane. By expanding the existing nonsingular terminal sliding mode control (NTSMC) approach, a fast NTSMC approach is developed to achieve precise and fast tracking, and meanwhile to afford a faster convergence rate for underactuated AUVs compared with the existing NTSMC approach. Simulations show the superiority of the presented control approach over the existing NTSMC approach in terms of convergence rate.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"27 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":"116976124","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
Adaptive fault-tolerant control for a class of remotely operated vehicles under thruster redundancy 一类具有推进器冗余的遥控车辆的自适应容错控制
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2018-12-01 DOI: 10.1109/USYS.2018.8779058
Zhenzhong Chu, C. Luo, Daqi Zhu
{"title":"Adaptive fault-tolerant control for a class of remotely operated vehicles under thruster redundancy","authors":"Zhenzhong Chu, C. Luo, Daqi Zhu","doi":"10.1109/USYS.2018.8779058","DOIUrl":"https://doi.org/10.1109/USYS.2018.8779058","url":null,"abstract":"For a class of remotely operated vehicles (ROVs) with redundant thrusters, an adaptive fault-tolerant controller was addressed in this paper. Considering three categories of thruster faults, a fault model was established, and an adaptive controller based on radial basis function (RBF) neural networks sliding mode method was designed. Due to the ROVs are thruster redundancy, a thrust allocation method with the principle of yaw moment priority was proposed. It was proved that the trajectory tracking errors of in the inertial coordinate were uniformly ultimately bounded based on Lyapunov stability theory. Finally, based on a ROV mathematical model, the simulations were carried out in Matlab environment to show the effectiveness of the proposed controller.","PeriodicalId":299885,"journal":{"name":"2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"1 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":"126271376","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
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