To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster an...To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.展开更多
This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors ...This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.50909025
文摘To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
基金supported in part by Japan Society for the Promotion of Science(JSPS)KAKENHI(No.16H04364).
文摘This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.
