Development stages of a semi-autonomous underwater vehicle experiment platform

Yılmaz, Serhat

doi:10.1177/17298806221103710

Cited by 4 publications

(4 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Combining the rigid body dynamics model (8) with external resultant forces and moments as shown in (11), the dynamic model of the unmanned underwater platform is described by the following equations:…”

Section: Kinematic Modeling Of Unmanned Underwater Platformsmentioning

confidence: 99%

See 1 more Smart Citation

RETRACTED: Research on motion and attitude control of unmanned underwater platform

Jin,

Miao,

Cui

2023

Preprint

View full text Add to dashboard Cite

Unmanned underwater platforms are commonly used in ocean exploration and development to help researchers understand underwater conditions. A Model Reference Adaptive PID (MRAC-PID) control method is designed to solve the problem that a small unmanned underwater platform can’t carry different equipment to maintain motion and attitude stability in the harsh seabed environment. In this paper, the kinematic and dynamic system model of the platform in the stable state is set as the reference model of the control algorithm. When the model parameters of the controlled object change due to the environment or its factors, the controller will compare the control difference between the reference model and the controlled object. At the same time, the tracking control error will be fed back to the adaptive adjusting mechanism in real-time, so that the controller keeps iterating the control parameters. Through continuous optimization of control parameters, the control effect of the controlled object and the reference model can be kept consistent at all times so that the attitude of the unmanned underwater platform can be kept stable at all times. Compared with the traditional PID and fuzzy PID control algorithm, the algorithm developed in this paper improved the control performance indicators greatly. Even though the system model structure and parameters change with the operating environment, the MRAC-PID control algorithm is still effective and shows a very good robustness. The proposed control approach is also suitable for real-time application, which can provide a reference for the subsequent related researches.

show abstract

Section: Kinematic Modeling Of Unmanned Underwater Platformsmentioning

confidence: 99%

“…The domestic and international research scholars focused on the research and development of underwater robots involve many disciplines, such as image analysis, robotics, system modelling and regulation, and fluid mechanics since the last century [8,9]. The attitude control has been the key focus of many research institutions [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: Research on motion and attitude control of unmanned underwater platform

Jin,

Miao,

Cui

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Participating in the construction of this experimental system gave undergraduate students personal gratification and academic improvement. Likewise, an AUV platform, Lucky fin, was constructed by students by applying classroom concepts to their projects [31]. Students can build and implement various control algorithms and conduct experiments to determine and analyze underwater vehicle hydrodynamic parameters.…”

Section: Robotics In Educationmentioning

confidence: 99%

Employing an underwater vehicle in education as a learning tool for Python programming

Rousouliotis,

Vasileiou,

Manos

et al. 2023

Comp Applic In Engineering

View full text Add to dashboard Cite

Getting students motivated and interested in their education can be challenging in any classroom setting, even more so in an online learning environment. In this spectrum, educational robotics (ER) has demonstrated numerous advantages in the educational environment, not only by facilitating teaching, but also enabling the cultivation of manyfold skills, including creativity, problem‐solving, and teamwork. Meanwhile, many methods have been developed with the aid of technology to improve the teaching process and boost students' ability to learn. Blended learning is one approach that integrates conventional classroom methods with digital resources in an effort to foster students' creativity. But how can blended learning be combined with robotics? The objective of this paper is to evaluate the impact of employing an underwater vehicle, called educational underwater vehicle (EDUV), in conjunction with a dedicated programming learning platform within the context of a programming course that is offered at the high school level. In this work, this platform is utilized by students in secondary education, and a survey was conducted prior and after using the underwater vehicle's platform based on two questionnaires. The survey included 112 Greek participants, 64 males and 48 females in the age range of 14–18 years old. The experimental results show an increase in their motivation and creativity. In other words, they are more engaged in the classroom and the lesson becomes more enjoyable. More specifically, the survey revealed that most participants are familiar with computers but have limited knowledge of robotics and programming. After training on the EDUV platform, participants showed a significant increase in correct responses for Python and Blockly environments, with an average of 50.7% in four programming‐related questions. The platform also reduced “do not know” replies, which means that the student's self‐esteem increased. The paired sample T‐test showed that the EDUV platform positively influenced participants' perceptions of robotics and motivated them to further their education. In this paper, the related work is discussed, and the architecture of the vehicle is analyzed, along with the integration with the online platform. In addition, the methodology performed is explained and divided into steps. Finally, the experimental results are discussed. Instructions, 3D models, and code can be found in the github repository https://github.com/MariosVasileiou/EDUV.

show abstract

“…It realizes functions of motion control, planning, navigation, self-rescue, surface monitoring, etc. [ 51 ]. As an intelligent vehicle, its planning system, motion control system, navigation system and self-rescue system are embedded in the framework of the platform.…”

Section: Dsrv Platformmentioning

confidence: 99%

Design and Verification of Deep Submergence Rescue Vehicle Motion Control System

Jiang,

Zhang,

Wan

et al. 2023

Sensors

View full text Add to dashboard Cite

A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.

show abstract

Development stages of a semi-autonomous underwater vehicle experiment platform

Cited by 4 publications

References 36 publications

RETRACTED: Research on motion and attitude control of unmanned underwater platform

RETRACTED: Research on motion and attitude control of unmanned underwater platform

Employing an underwater vehicle in education as a learning tool for Python programming

Design and Verification of Deep Submergence Rescue Vehicle Motion Control System

Contact Info

Product

Resources

About