Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA)

Kartal, Seda Karadeniz; Leblebi̇ci̇oğlu, Kemal; Ege, Emre

doi:10.1177/0142331218756727

Cited by 6 publications

(2 citation statements)

References 13 publications

(12 reference statements)

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“…The rotations of the sea-surface vehicle about the x, y, and z axes are defined as roll, pitch, and yaw, respectively, and are measured using an inertial measurement system (INS) [37,38]. The sea-surface vehicle's attitudes such as roll and pitch are zero without disturbances, and the echosounder is perpendicular to the seafloor.…”

Section: External Disturbance Effectmentioning

confidence: 99%

Modeling and Analysis of Sea-Surface Vehicle System for Underwater Mapping Using Single-Beam Echosounder

Kartal

Hacıoğlu

Gormus

et al. 2022

JMSE

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Detailed knowledge on the shape of the seafloor is crucial for many researchers. Bathymetric data are critical for navigational safety and are used for underwater mapping. This study develops a sea-surface vehicle (SSV) system for underwater mapping by using both bathymetric data from a low-cost single-beam echosounder located on the SSV, and the navigation data of the SSV. The navigation of the SSV was obtained using a global positioning system (GPS). The effect of changing bathymetric and navigation data due to external disturbances such as wind and waves on the map was analyzed. The sea-bottom slope angles, which are effective in changing bathymetric data, were estimated and corrected in relation to the estimated angles in a particular mapped area for more accurate underwater mapping. Additionally, the effects of the grid range of the mapped area, beam angle of the echosounder, and position of the echosounder on the underwater mapping were analyzed. These analyses were based on simulation data, and were performed in a MATLAB, HYPACK, and Global Mapper environment. An underwater map was also obtained in the Kozlu/Zonguldak area, Black Sea by using a single-beam echosounder located on the SSV. This map was improved by estimating sea-bottom slope angles and the corrected bathymetric data to obtain a more accurate underwater map of the area. The experimental and simulation results were compared, focusing on the sea-bottom slope changes, sea-surface disturbances, bathymetry grid range changes, and draft effects.

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Section: External Disturbance Effectmentioning

confidence: 99%

Modeling and Analysis of Sea-Surface Vehicle System for Underwater Mapping Using Single-Beam Echosounder

Kartal

Hacıoğlu

Gormus

et al. 2022

JMSE

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“…In addition to the abovementioned methods, a gray box method (Kwad et al, 2020) considers some of the features to be known and others unknown. System identification of highly nonlinear dynamics influenced by the impact of the noisy data is an active area of research (Karadeniz Kartal et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Introducing convex BiLSTM-based controller applied to 3-PSP spatial parallel robot manipulator

Sabahi

2023

Transactions of the Institute of Measurement and Control

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The idea of modeling first and then finding a control approach might have made sense when systems were changing on a vast scale, but not in today’s world where we are in danger of being run over on a highway called the information highway. The feedback phenomenon, which involves a system’s future being influenced by its past, presents a rational conflict in this context. However, we can move beyond these challenges by leveraging the system’s inherent ability to randomly repeat and re-create parts, allowing new features to emerge and the best repetition to become the standard. To address the mentioned challenges, this paper proposes a new structure based on bilateral long short-term memory (BiLSTM) to provide supervising feedback on the nonlinear components comprising friction, Coriolis, and Centrifugal forces in addition to gravity for adapting uncertain variations in the robotic system dynamics. A key characteristic of the proposed BiLSTM-based controller is the incorporation of memory. A new formulation is developed for determining when to recover old memories and to what extent, ensuring the controller remains both adaptive and efficient. Furthermore, given that for system identification, speed is vital; the proposed approach has dealt with the speed category by introducing a convex combination of BiLSTM layers. The stability of the whole structure has also been analyzed, and the updated learning rules have been derived. The simulation results show improved tracking performance and learning time compared to alternative approaches.

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Comparison of SI-ANN and Extended Kalman Filter-Based Sensorless Speed Controls of a DC Motor

2020

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Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA)

Cited by 6 publications

References 13 publications

Modeling and Analysis of Sea-Surface Vehicle System for Underwater Mapping Using Single-Beam Echosounder

Modeling and Analysis of Sea-Surface Vehicle System for Underwater Mapping Using Single-Beam Echosounder

Introducing convex BiLSTM-based controller applied to 3-PSP spatial parallel robot manipulator

Comparison of SI-ANN and Extended Kalman Filter-Based Sensorless Speed Controls of a DC Motor

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