Annotation. In general, almost all fields of activities in the High North and the Arctic Region can be classified as either of high or extreme risks, as any kind of emergency at industrial site/object facility is very likely to lead to a large number of casualties. Rescuing people in distress is a complicated and challenging task. Having experience of numerous rescuing activities, it has shown that application of conventional rescue equipment in northern environments is not so effective: part of rescue facilities (such as medical aircrafts and ships) are based far from location of emergency, whereas the other part (floats, boats) have very limited capabilities. However, if arrived 48 hours after the catastrophe, there is almost zero possibility to find anyone alive, and the situation often becomes even worse because of the fact that rescuers have absolutely no idea about the actual situation and conditions within the emergency area or zone. Use of robotic groups in order to provide searching of survivors, lifting them up from either sea or ice surface, considering also further transporting of the people suffered - to stationary point-of-care or station of medical aid. Should tasks of robot group operation planning and of challenging situations complex analysis be considered, the most important is to implement standardized language with very clearly defined terminology. To solve this task, it is necessary to have appropriate ontology, i.e. it is ontology that determines core constructs, properties and connections. The article indicates core robotic ontologies, standardized and currently applied by international engineering community, as well as proposes extended solution of already existing IEEE standards (CORA, etc.), formulated with application of core SUMO ontology.
We consider the problem of docking the autonomous underwater vehicle (AUV) to the seabed container. A two-level control system was previously developed using the mathematical model of the AUV dynamics. We further improve the mathematical model with the model of the AUV Computer Vision system, which is based on cameras and specialized markers installed on the container. In this paper, the studies are supplemented by considering the influence of two disturbance factors. The first one is the pixel coordinate error of the detected markers? Which is internal to the system. The second one is the external stationary ocean current. We study system performance in the vicinity of these factors and determine the acceptable docking conditions.
The technology of cybernetic models’ creating for the synthesis and refinement of algorithms for controlling the autonomous underwater vehicle’s (AUV’s) motion is considered. The paper gives a description of the following sequence of actions performed at each stage of the cybernetic model development: dynamic model type and parameters identification, controller type selection, construction and analysis of the considered control loop block diagram, determination of the controller’s optimal parameters. The synthesis of heading, pitch and depth stabilization regulators for streamlined shape AUV during propulsion engines controlling is performed. The results of numerical modeling and research of the various factors influence on the quality of control are presented.
The purpose of this work is to create the most accurate mathematical model of the underwater vehicle dynamics. In fact, the proposed model should be an alternative to full-scale testing of the device. The paper presents a calculation method that implements coupled calculations of the underwater vehicle dynamics and the hydrodynamics of the fluid, flowing around it. From the point of view of mechanics and hydrodynamics, this approach is the most accurate method for modeling the device dynamics in the presence of arbitrary control actions. The main advantage of the proposed calculation method is the conservative approximation scheme for hydrodynamic calculations, which is extremely important when performing non-stationary calculations. In addition, the proposed method requires less computational resources than other currently used coupled calculations methods. The proposed method was verified on a large data volume received from real autonomous underwater vehicles (AUV) field tests and showed high accuracy in reproducing full-scale data. The developed calculation method was used for the designing AUV control system and showed its high efficiency.
The paper considers a problem of synthesis of the docking process control of the AUV with the container which belongs to the class of terminal control problems. The method for the synthesis of a two-level control system based on the selection of the dominant component of the state vector and predicting the dynamics of the remaining components at each control step is proposed. In this case, according to the results of the extrapolation of the dynamics to the terminal point, the value of the restriction on the derivative of the dominant component is determined. We synthesize a two-level control system for vertical docking for a specific pair of AUV - container. A thorough analysis of the synthesized control system based on the developed mathematical model is carried out.
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