2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)最新文献

A Simulation Study of Wave Disturbance Model for Underwater Vehicle 水下航行器波浪扰动模型的仿真研究

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072423

M. N. Elya, A.B Azrena, Nur Suraya Yasmin, N. S. Suhaimi

{"title":"A Simulation Study of Wave Disturbance Model for Underwater Vehicle","authors":"M. N. Elya, A.B Azrena, Nur Suraya Yasmin, N. S. Suhaimi","doi":"10.1109/USYS56283.2022.10072423","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072423","url":null,"abstract":"This study focuses on challenges that occurred on underwater vehicles (UV) that is wave disturbance. There have been many studies and research to develop underwater vehicles that can overcome challenges during the exploration due to variation of water composition and underwater condition that can perform tasks well to achieve goals. However, the presence of wave disturbance that comes in many types and different forces somehow can affect the movement of the vehicle during its dive and could risk the vehicle to component damage. There are several research regarding methods that can be used to show UV performance under disturbance. By choosing the most relevant model design from literature review, a model of wave disturbance for underwater vehicle based on mathematical model was analyzed. The chosen wave disturbance model design combined with existing UV model in Simulink was analyzed at three different frequencies in open-loop configuration. A linearized model comprise of second-order transfer function was obtained. A linear controller was then designed using MATLAB Control System Designer to obtain the PID gain parameters. The performance of nonlinear UV with Wave Disturbance was successfully analyzed in open-loop configuration (without controller) and in closed-loop configuration using linear PID controller. Two different sets of controller gain settings, represented as Case A and Case B, tested on the closed-loop model gives the same performance. However, controller setting Case B outperform case A as it consumes smaller control torque to achieve the same performance.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115222807","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

Wireless Water Quality Monitoring System 无线水质监测系统

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072669

Muhammad Ilyas Asha’ari, A. I. Ibrahim

{"title":"Wireless Water Quality Monitoring System","authors":"Muhammad Ilyas Asha’ari, A. I. Ibrahim","doi":"10.1109/USYS56283.2022.10072669","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072669","url":null,"abstract":"The condition and environment of a river ecosystem could be easily altered from the outside factors such as the changing of ground structure, climate change and presence of undesired substances. Thus, a constant analysis and evaluation on the water system and its quality parameter is required to preserve the river nature. The implementation of wireless water quality monitoring system is rarely used for the river water study. Hence, a suitable design of the system with compatible mechanism needs to be developed. In this study, an untethered buoy will be constructed with the used of motor, Global Positioning System (GPS) as a mechanism to maintain its location. The idea of this mechanism is to replace the common tethered buoy design developed in most research such as the mooring buoy. Besides, design of the buoy will be able to create a low cost and power efficiency device with high reliability for a wireless water quality monitoring system. Furthermore, the parameter used for the water quality monitoring is the dissolved oxygen in the water and the power system selected is using the solar energy with a circuit design that capable to do charging and discharging process. The 3D model of the design will be developed and some virtual simulation will be done on the model using Solidwork as the CAD software. The buoy performance to operate on a water surface and the capability to transmit the data for water quality monitoring will be tested at the pool in Kulliyyah of Engineering, IIUM.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129647890","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

Open Loop Speed Response for UCRG Micro Autonomous Underwater Vehicle UCRG微型自主水下航行器的开环速度响应

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072708

Muhammad Azri Bin Abdul Wahed, M. Arshad

引用次数: 0

Reinforcement Learning based Underwater Structural Pole Inspection 基于强化学习的水下结构极点检测

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072827

Chee Sheng Tan, R. Mohd-Mokhtar, M. Arshad

{"title":"Reinforcement Learning based Underwater Structural Pole Inspection","authors":"Chee Sheng Tan, R. Mohd-Mokhtar, M. Arshad","doi":"10.1109/USYS56283.2022.10072827","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072827","url":null,"abstract":"The most challenging problem in inspection planning is the structural coverage in an environment with obstacles. This paper presents a coverage path planning framework based on reinforcement learning using an autonomous underwater vehicle (AUV). This approach exploits the knowledge from the model and generates an optimal path to move from the initial position to the nearest area of interest (AOI). Then, it starts to perform a sweep of the exterior boundary of a three-dimensional (3D) structure in the workspace, including concerning the complete coverage of the given AOI and avoiding obstacles. In this model, a non-linear action selection strategy is used to provide a meaningful exploration, contributing to more stability in the learning process. A reward function is designed by taking into consideration multiple objectives to satisfy the sub-goal requirements. The simulation result indicates the effectiveness of the approach in planning the inspection path. The AUV behaves as a boustrophedon motion when covering the AOI and can achieve maximum cumulative reward while reaching the learning goal.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134440682","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

Performance analysis of Lambda Tuning Single Input Fuzzy Logic Controller for Remotely Operated Vehicle depth control Lambda整定单输入模糊控制器用于遥控车辆深度控制的性能分析

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10073238

Fauzal Naim Zohedi, M. Aras, H. Kasdirin, Mohd Bazli Bahar, M. K. Aripin, F. A. Azis

引用次数: 0

USYS 2022 Cover Page USYS 2022封面页

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/usys56283.2022.10072557

引用次数: 0

A Spherical Amphibian Underwater Robot: Preliminary Mechanical Design 球形两栖水下机器人:初步机械设计

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10073225

Mohd Bazli Bahar, S. Abdullah, M. Aras, Nurul Farina Ibrahimjee, Fauzal Naim Zohedi, M. H. Harun, A. A. Yusof, M. K. Aripin

{"title":"A Spherical Amphibian Underwater Robot: Preliminary Mechanical Design","authors":"Mohd Bazli Bahar, S. Abdullah, M. Aras, Nurul Farina Ibrahimjee, Fauzal Naim Zohedi, M. H. Harun, A. A. Yusof, M. K. Aripin","doi":"10.1109/USYS56283.2022.10073225","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10073225","url":null,"abstract":"Recently, researchers from throughout the world have concentrated their efforts on amphibious robots inspired by amphibians. Because of their exceptional adaptability, amphibian robots may be used in a wide range of applications, including scientific, commercial, and military ventures. With such advantages, the design of a spherical amphibian underwater robot should consider the constraint that all components must be kept within the sphere, and that reducing the size would lessen the buoyancy force resting on it. The purpose of this dissertation is to propose a novel structural design for a spherical amphibian underwater robot with aim to secure all of the components by placing them within the sphere and to ensure that the proposed design can travel on land and underwater without changing its structure while consume less energy. The prototyping process was done using rapid prototyping machine (RPM) after digital design created in Fusion 360 is finalize. The proposed prototype weighs 4.728 kg with a diameter of 35 cm. The prototype is appropriate for system identification and modelling, as well as control system testing platform.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114246066","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 Planning for Image-based Visual Servoing of an Underwater Vehicle-Manipulator System in Task-Priority Frameworks 任务优先框架下基于图像的水下机器人视觉伺服系统运动规划

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072926

Yingqian Wen, Jian Gao, Yunxuan Song, Yimin Chen

引用次数: 0

A Brief Review of Unmanned Underwater Vehicle Human-Machine Interaction 无人潜航器人机交互研究综述

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072428

A. F. Ayob, M. R. Arshad, S. Jamaludin, Sayyid Zainal Abidin Syed Ahmad

引用次数: 0

Sensor Fusion Technology for Unmanned Autonomous Vehicles (UAV): A Review of Methods and Applications 无人驾驶汽车传感器融合技术:方法与应用综述

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI: 10.1109/USYS56283.2022.10072667

M. H. Harun, S. Abdullah, M. Aras, Mohd Bazli Bahar

{"title":"Sensor Fusion Technology for Unmanned Autonomous Vehicles (UAV): A Review of Methods and Applications","authors":"M. H. Harun, S. Abdullah, M. Aras, Mohd Bazli Bahar","doi":"10.1109/USYS56283.2022.10072667","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072667","url":null,"abstract":"Obstacle detection is one of the most important parts of vehicle driving in Unmanned Autonomous Vehicles (UAV), which has been the subject of extensive research with the advancement of sensor fusion technology. Obstacle detection is a challenging process that considers the variety of obstacles, sensor properties, and ambient factors. Although research into driver assistance or autonomous driving systems for any environments has been thorough. Due to the sensing constraints in range, signal characteristics, and operating circumstances of detection, a single type of sensor finds it challenging to satisfy the objectives of obstacle detection. This drives researchers and engineers to develop multi-sensor fusion and system integration methodologies. This survey intends to provide users with a framework for selecting sensors based on their performance needs and application scenarios by outlining the key factors for onboard multi-sensor configuration of autonomous vehicles in the any environment conditions. Modern multi-sensor fusion techniques are discussed, along with system prototypes, and the relevant heterogeneous sensor configurations are linked. Finally, difficulties and new technologies are discussed for further research.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192066","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