This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault...This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.展开更多
In recent years, the weapon systems have been changing drastically because of the advancement of science technology and the change of military concept of combat. There is an unmanned system at the center of all those ...In recent years, the weapon systems have been changing drastically because of the advancement of science technology and the change of military concept of combat. There is an unmanned system at the center of all those changes. Especially, in case of maritime environment, as the center stage of combat has changed from ocean to coastal areas, it is difficult for the existing naval forces to effectively operate in shallow waters. Therefore, unmanned underwater vehicles (UUVs) are being required at an increasing pace. In this paper, we analyze the characteristics of already developed UUVs, which are the key unmanned system of the marine battlefield environment in the future. Through the analysis of development cases and the investigation of the essential technologies, the critical design issues of UUVs are elaborated. We also suggest the future directions of the UUV technologies based on the case analysis.展开更多
This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environment...This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.展开更多
Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Un...Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.展开更多
The importance of polar ice as vital components of the global ocean-climate system is widely recognized.In this paper,we demonstrate the importance and urgency of polar research,describe the primary characteristics of...The importance of polar ice as vital components of the global ocean-climate system is widely recognized.In this paper,we demonstrate the importance and urgency of polar research,describe the primary characteristics of sea ice and ice shelves,and outline the current status and difficulties associated with sub-ice research.We highlight the importance of Unmanned Underwater Vehicles(UUVs)as important tools for oceanographic research.We present recent progress in UUV deployment in sub-ice research in the Arctic and the Antarctic,and review the latest international developments in UUV structure,navigation,payload,and field operation.Moreover,Chinese polar UUVs and their deployments in the polar regions are presented in detail.Key technologies and solutions regarding polar application of UUVs(e.g.,sub-ice navigation and positioning,energy supply and data transmission,and sub-ice guidance and recovery)are discussed.Given the current worldwide attention on polar science,the potential future directions of UUV-related polar research(e.g.,observations under Antarctic ice shelves,long-range surveys beneath Arctic sea ice and application of intelligent technology)are discussed.展开更多
The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from Universi...The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.展开更多
A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned under...A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.展开更多
In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sens...In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state.展开更多
A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. T...A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.展开更多
基金the National Natural Science Foundation of China(62303012,62236002,61911004,62303008)。
文摘This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.
文摘In recent years, the weapon systems have been changing drastically because of the advancement of science technology and the change of military concept of combat. There is an unmanned system at the center of all those changes. Especially, in case of maritime environment, as the center stage of combat has changed from ocean to coastal areas, it is difficult for the existing naval forces to effectively operate in shallow waters. Therefore, unmanned underwater vehicles (UUVs) are being required at an increasing pace. In this paper, we analyze the characteristics of already developed UUVs, which are the key unmanned system of the marine battlefield environment in the future. Through the analysis of development cases and the investigation of the essential technologies, the critical design issues of UUVs are elaborated. We also suggest the future directions of the UUV technologies based on the case analysis.
基金supported by the Ministry of Science and Technology of Thailand
文摘This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.
基金This work was funded by the research center of the Future University in Egypt,in 2023.
文摘Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.
基金supported by the projects of Chinese National Key R&D Program(Chinese National 863 Program,Grant nos.2017YFC0821204,2017YFC0305901)the Marine Science Research Center of the Chinese Academy of Sciences(Grant no.COMS2019Z02).
文摘The importance of polar ice as vital components of the global ocean-climate system is widely recognized.In this paper,we demonstrate the importance and urgency of polar research,describe the primary characteristics of sea ice and ice shelves,and outline the current status and difficulties associated with sub-ice research.We highlight the importance of Unmanned Underwater Vehicles(UUVs)as important tools for oceanographic research.We present recent progress in UUV deployment in sub-ice research in the Arctic and the Antarctic,and review the latest international developments in UUV structure,navigation,payload,and field operation.Moreover,Chinese polar UUVs and their deployments in the polar regions are presented in detail.Key technologies and solutions regarding polar application of UUVs(e.g.,sub-ice navigation and positioning,energy supply and data transmission,and sub-ice guidance and recovery)are discussed.Given the current worldwide attention on polar science,the potential future directions of UUV-related polar research(e.g.,observations under Antarctic ice shelves,long-range surveys beneath Arctic sea ice and application of intelligent technology)are discussed.
基金support to the University of South Florida(Grants No.0014-96-1-5013 and No.0014-97-1-0006)cooperation between Ocean University of China and University of South Florida.
文摘The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.
基金financially supported by the National Natural Science Foundation of China (Grant Nos. 51679057 and 51709062)Heilongjiang Province Outstanding Youth Fund (Grant No. J2016JQ0052)+2 种基金Equipment Preresearch Key Lab Fund (Grant No. 614221580107)China Postdoctoral Science Foundation (Grant No. 2019M651265)Harbin Science and Technology Talent Research Special Fund (Grant No.2017RAQXJ150)。
文摘A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.
基金financially supported by the National Key R&D Program of China(Grant No.2016YFC0300802)the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB06050200)
文摘In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state.
文摘A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.
