Lift fin stabilizers based on data fusion with wavelet denoising technology

Fin stabilizers with fin-lift feedback control can shield the mapping error of calculation between the fin angle and fin lift force,which is in the fin stabilizer with fin-angle feedback control.In practice,there are some technical difficulties in lift fin stabilizers,such as lift force detection and lift force sensor installation,so it cannot achieve the good antirolling performance.Therefore,a fin stabilizer system with fin-lift/fin-angle integrated control is brought forward.Data fusion based on wavelet denoising technology is employed in the system,which combines lift with fin angle local information from two sensors with different frequency ranges in order to eliminate redundant and contradictory information,and using complementary information to obtain the relative integrity of the lift force signal.The system model is established in this paper,and the fusion signal and the antirolling performance of this model are simulated respectively.The result shows that the control system can meet the antirolling need in different sea situations.

1-D Directional Filter Based Texture Descriptor in Fractional Fourier Domain

Texture analysis is a fundamental field in computer vision. However,it is also a particularly difficult problem for no universal mathematical model of real world textures. By extending a new application of the fractional Fourier transform( Fr FT) in the field of texture analysis,this paper proposes an Fr FT-based method for describing textures. Firstly,based on the Radon-Wigner transform,1-D directional Fr FT filters are designed to two types of texture features,i. e.,the coarseness and directionality. Then,the frequencies with maximum and median amplitudes of the Fr FT of the input signal are regarded as the output of the 1-D directional Fr FT filter. Finally,the mean and the standard deviation are used to compose of the feature vector. Compared to the WD-based method,three benefits can be achieved with the proposed Fr FT-based method,i. e.,less memory size,lower computational load,and less disturbed by the cross-terms. The proposed method has been tested on16 standard texture images. The experimental results show that the proposed method is superior to the popular Gabor filtering-based method.

Application of a Zero-speed Fin Stabilizer for Roll Reduction of a Marine Robot near the Surface

A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.