A5001799790- Underwater Vehicles and Communication Systems
- Underwater Acoustics Research
- Adaptive Control of Nonlinear Systems
- Maritime Navigation and Safety
- Target Tracking and Data Fusion in Sensor Networks
- Inertial Sensor and Navigation
- Aerospace Engineering and Energy Systems
- Mobile Agent-Based Network Management
- Insect Pheromone Research and Control
- Distributed Control Multi-Agent Systems
- Fluid Dynamics Simulations and Interactions
- Oil Spill Detection and Mitigation
- Fault Detection and Control Systems
- Ship Hydrodynamics and Maneuverability
- Water Quality Monitoring Technologies
- Coral and Marine Ecosystems Studies
- Vibration and Dynamic Analysis
- Water Systems and Optimization
- Robotics and Sensor-Based Localization
- Methane Hydrates and Related Phenomena
- Power Line Inspection Robots
Shenyang Institute of Automation
2014-2024
Chinese Academy of Sciences
2014-2024
University of Chinese Academy of Sciences
2014-2017
State Key Laboratory of Robotics
2016
Abstract An unmanned Autonomous and Remotely Operated Vehicle (ARV), Haidou‐1, visited the Challenger Deep in Mariana Trench, performed observation, sampling bathymetric mapping explorations at trench bottom. The Haidou‐1 vehicle reached a depth of 10,908 m west pool probed 10,909 east pool. 2600 kg underwater robotic could conduct survey missions with full autonomy can also be remotely operated through light fiber tether. carries an electric manipulator to implement lightweight intervention...
Aiming at the demand of marine environment observation and realizing AUV industrialization, A portable autonomous system (PAOS) was built by Shenyang Institute Automation. In 2013, Lake trial, sea trial standard conducted. This paper describes components, control design PAOS, process test result.
This paper proposes a centralized MTT method based on state-of-the-art multi-sensor labeled multi-Bernoulli (LMB) filter in underwater multi-static networks with autonomous vehicles (AUVs). The LMB can accurately extract the number of targets and trajectories from measurements affected by noise, missed detections, false alarms port–starboard ambiguity. However, its complexity increases as sensors increases. In addition, due to time-varying environment, AUV detection probabilities are...
Thermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for local precisely thermocline tracking. Combining with advantage yo-yo movement, this paper presents simple effective tracking method. According to definition thermocline, we set threshold, in real detect area, threshold can change adaptively, thus...
Hydrodynamic performance plays an important role on energy consuming and safety for autonomous underwater vehicles (AUVs). The hydrodynamics of the whole process AUV free running pushed by a rotating propeller was investigated with physics-based simulations using multi-block hybrid dynamic grids method, URANS, coupled to 6DOF UDFs. had cruised approximately 14.1 s 7.105 m from stationary constant velocity at 300RPM. simulation results included acceleration state steady state. In state,...
In order to understand the underwater operation performance of deep-sea seven-function master-slave servo electric manipulator, tracking and motion power manipulator are analyzed practical experiments carried out. aspect delay slave is tested under different communication connection modes between master controller. loss caused by internal filling compensation oil hydrodynamic force tested. The experimental results show that have a great influence on master, cannot be ignored. analysis...
This paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose this is adapt the error caused by coupling between different controls channels as time-varying errors. In paper, system identification not used get dynamic model directly, but simplify hydrodynamic and quantize effect parameters. Computational-fluid-dynamics (CFD) build increase experiment data simulate coupling. And on basis, An C1 can enough resources be build....
This paper presents a new method based on the state feedback of followers in leader-follower formation control multiple autonomous underwater vehicles (AUVs) cooperative system. Firstly, we analyze and redefine some kinds followers' possible abnormal conditions. Then add to traditional by using finite automaton (FSA), each command corresponds follower discrete state. We established FSA model for special situations which system has one leader three ignore conditions will not happen real...
From August to October of 2018, Haidou ARV participated in the third Mariana Trench scientific expedition China. It carried out a total 7 underwater trials Challenger Deep. The working time bottom Deep was 5h 47min. A lot data were got by expedition, including HD video Deep, high-precision seabed depth measurement and CTD observation These observed are great significance for scientists carry research on Hadal zone future. This paper mainly describes application China results during expedition.
Through and comprehensive tests are essential to ensure complete stability reliability of autonomous underwater vehicle. Due the high-cost risk field test vehicle, onshore testing is needed. This paper presents design development an system for vehicle; architecture, workflow, implementation key subsystems some experimental results described. Resort system, performance vehicle can be tested comprehensively in a laboratory environment.