This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-theart solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.
The unmanned surface vehicles have been used most frequently in recent years in different applications, like environmental research. For this vehicles to accomplish their autonomous missions, a path-following algorithm is necessary to reduce the cross-track error in the presence of environmental disturbance. This article presents a control scheme based on the path-following nonlinear guidance law for a small unmanned surface vehicle called Krick Felix which follows a straight path. A dynamic model of 3 degrees of freedom for this vehicle is presented. The control scheme consists of a cascade control loop that is capable of guaranteeing zero cross-track error in the presence of environmental disturbance without adding an integral action. A nonlinear Lyapunov stability analysis is carried out for this control scheme taking in consideration the dynamics of both the inner loop and the external loop. The simulation was realized by implementing the 3-degree-of-freedom nonlinear model of the Krick Felix. The simulation also took account of the environmental factors, that is, marine currents. An experimental test is carried out with the Krick Felix where the control scheme present satisfactory results.
The autonomous surface vehicles are composed of a guidance, navigation, and control systems where the first one plays an important role in missions without human intervention. This article presents the design of a guidance system made of an I-LOS controller, where its purpose is to achieve the convergence and the precise following of straight paths, regardless of the sea currents presence. The controller gains adjustment is performed according to the vehicle features and the geometry of the path to follow. The proposed guidance algorithm is assessed through simulation, obtaining favorable results.
O ITEGAM-JETIA -Journal of Engineering and Technology for Indus try Applications (JETIA) é uma publicação do Instituto de Tecnologia e Educação Galileo da Amazônia (ITEGAM), localizado na cidade de Manaus desde 2008. ITEGAM-JETIA publica artigos científicos originais que cobrem todos os aspectos de engenharia. Nosso objetivo é a divulgação da investigação original, útil e relevante apresentando novos conhecimentos sobre aspectos teóricos ou práticos de metodologias e métodos utilizados em engenharia ou que levam a melhorias nas práticas profissionais. Todas as conclusões apresentados nos artigos deve basear-se no estado-da-arte e apoiada por uma análise rigorosa atual e uma equilibrada avaliação. A revista publica artigos de pesquisa científica e tecnológica, artigos de revisão e estudos de caso. O ITEGAM-JETIA abordará temas das seguintes áreas do conhecimento: Engenharia Mecânica, Engenharia Civil, Materiais e de Mineralogia, Geociências, Meio Ambiente, Sistemas de Informação e Decisão, Processos e Energia, Elétrica e Automação, Mecatrônica, Biotecnologia e outras áreas relacionadas à Engenharia. Informações da Publicação:ITEGAM-JETIA (ISSN 2447-0228), online) é publicado pelo Instituto de Tecnologia e Educação Galileo da Amazônia (ITEGAM), com uma periodicidade bimestral (março, junho, setembro, dezembro). Informações para Contato:Página da WEB: www.itegam-jetia.org E-mail: itegam-jetia@itegam-jetia. Copyright 2014. Instituto de Tecnologia e Educação Galileo da Amazônia (ITEGAM)A reprodução total ou parcial de textos relacionadas aos artigos é permitida, somente no caso da fonte seja devidamente citada. Os conceitos e opiniões expressas nos artigos são de responsabilidade exclusiva dos autores. Aviso prévioTodas as declarações, métodos, instruções e ideias são apenas responsabilidade dos autores e não representam, necessariamente, a vista do ITEGAM -JETIA. A editora não se responsabiliza por qualquer prejuízo e/ou danos para a utilização dos conteúdos deste periódico. Os conceitos e opiniões expressas nos artigos são de responsabilidade exclusiva dos autores. Diretório Membros do Centro Editorial do ITEGAM -Journal of Engineering and Technology for Industrial Applications Design of control systems for fermenters at the Molecular Immunology Center 12Waldo Hernández Sánchez, Aneisys González Gonzalez, Daniel Darias Zayas, Daniel Gongora Morales, Gismell Garcia Garcia, Ronny O. Pacheco An Evolutionary Algorithm for Application in Compensation of the Reactive Power in Electric Power Distribution 20 Alysson Roberto Azevedo, Manoel S. Santos Azevedo, Jandecy Cabral Leite, Ignacio Pérez AbrilWork out optimization in the induced electromagnetic field calculation due to a lightning stroke 29 "J. A. Gutierrez-Robles, V. H. Ortiz-Muro, O. Aguilar-Peña, M. A. Villalobos-Castro, S. A. Vargas-SanchezComparison among different software for photovoltaic plants projects: case study 36 Fernando Valente de Menezes Júnior, Jorge Laureano Moya Rodriguez Industrial Processes Automation in the Pilot Plant at the University o...
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