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Steering control for underwater gliders Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 7,   Pages 898-914 doi: 10.1631/FITEE.1601735

Abstract: Steering control for an autonomous underwater glider (AUG) is very challenging due to its changing dynamicHence, an online polynomial estimator is designed to update the yaw dynamic model of the AUG, and an

Keywords： Autonomous underwater glider (AUG)     Online system identification     Steering control     Adaptive control    

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Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal

Hai YANG, Jie MA,

Frontiers in Energy 2009, Volume 3, Issue 4,   Pages 472-479 doi: 10.1007/s11708-009-0052-7

Abstract: The thermal glider’s changeable volume produces propelling force to power the glider’s descendingintensity of the thermocline at different seasons and locations affect the working processes of the gliderBased on the enthalpy method, a mathematical model of the underwater glider’s power system wasthe time efficiency of operation was introduced, so that the effects of different thermoclines on the underwaterglider’s power system were analyzed theoretically.

Keywords： mathematical     underwater glider     system working     certain     corresponding threshold    

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Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Strategic Study of CAE 2020, Volume 22, Issue 6,   Pages 26-31 doi: 10.15302/J-SSCAE-2020.06.004

Abstract: This study aims to propose a technical system layout for the autonomous underwater vehicles (AUVs) developmentefforts on breakthroughs in key technologies including perception, communication/navigation, energy, autonomous

Keywords： deep-sea exploration     autonomous underwater vehicles     development trend     key technologies     fundamental    

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Robust global route planning for an autonomous underwater vehicle in a stochastic environment Research Article

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11,   Pages 1658-1672 doi: 10.1631/FITEE.2200026

Abstract:

This paper describes a route planner that enables an to selectively complete part of the predetermined tasks in the operating ocean area when the local path cost is stochastic. The problem is formulated as a variant of the . Based on the (GA), we propose the greedy strategy based GA (GGA) which includes a novel rebirth operator that maps infeasible individuals into the feasible solution space during evolution to improve the efficiency of the optimization, and use a differential evolution planner for providing the deterministic local path cost. The uncertainty of the local path cost comes from unpredictable obstacles, measurement error, and trajectory tracking error. To improve the robustness of the planner in an uncertain environment, a sampling strategy for path evaluation is designed, and the cost of a certain route is obtained by multiple sampling from the probability density functions of local paths. Monte Carlo simulations are used to verify the superiority and effectiveness of the planner. The promising simulation results show that the proposed GGA outperforms its counterparts by 4.7%–24.6% in terms of total profit, and the sampling-based GGA route planner (S-GGARP) improves the average profit by 5.5% compared to the GGA route planner (GGARP).

Keywords： Autonomous underwater vehicle     Route planning     Genetic algorithm     Orienteering problem     Stochastic path    

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A space-saving steering method for underwater gliders in lake monitoring Article

Yu-shi ZHU, Can-jun YANG, Shi-jun WU, Qing LI, Xiao-le XU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 4,   Pages 485-497 doi: 10.1631/FITEE.1500399

Abstract: An increasing number of underwater gliders have been applied to lake monitoring.Therefore, good space-saving capacity is required for underwater gliders to enlarge the spacing betweenpaper presents a space-saving steering method under a small pitch angle (SPA) for appearance-fixed underwaterA lake trial with a prototype tiny underwater glider (TUG) is conducted to inspect the applicability

Keywords： Underwater glider     Lake monitoring     Space-saving     Steering method     Small pitch angle (SPA)     Hydrodynamics    

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Turbidity-adaptive underwater image enhancement method using image fusion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-021-0669-8

Abstract: Clear, correct imaging is a prerequisite for underwater operations.Most of the existing underwater imaging methods focus on relatively clear underwater environment, itis uncertain that if those methods can work well in turbid and dynamic underwater environments.In this paper, we propose a turbidity-adaptive underwater image enhancement method.The proposed method is verified by an underwater image dataset captured in real underwater environment

Keywords： turbidity     underwater image enhancement     image fusion     underwater robots     visibility    

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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment Special Feature on Intelligent Robats

Da-qi ZHU, Yun QU, Simon X. YANG

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 330-341 doi: 10.1631/FITEE.1800562

Abstract:

There is an ocean current in the actual underwater working environment.An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles(AUVs) is proposed for a three-dimensional underwater workspace in the ocean current.

Keywords： Autonomous underwater vehicles     Self-organizing neural networks     Azimuths     Ocean current    

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Design and construction technology of underwater tunnel

Wang Mengshu

Strategic Study of CAE 2009, Volume 11, Issue 7,   Pages 4-10

Abstract: text-align: justify;">It is briefly introduced that when passing over or crossing rivers, lakes and seas, underwaterof design and construction, key construction technology and frequently-used construction method of underwater

Keywords： underwater tunnel     design     construction    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 6,   Pages 1350-1362 doi: 10.1007/s11709-019-0559-x

Abstract: experiments and numerical studies are conducted to investigate the effect of shock loads due to an underwaterNumerical simulations with three different models of pressure time history generated by underwater explosionThe second model to predict the time history of shock wave pressure from an underwater explosion was

Keywords： underwater explosion     centrifuge experiment     shock load     dynamic response     accumulated shock impulse    

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Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0686-2

Abstract: In the field of autonomous excavation, environmental perception and excavation trajectory planning areBased on optimal trajectory command, the UES performs autonomous excavation.

Keywords： autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 11,   Pages 1378-1396 doi: 10.1007/s11709-022-0855-8

Abstract: It is of great significance to quickly detect underwater cracks as they can seriously threaten the safetyof underwater structures.In this paper, a large-scale underwater crack examination method is proposed based on image stitchingIn addition, a purpose of this paper is to design a new convolution method to segment underwater imagesThe result shows that the improved APAP algorithm and GCN can adapt to complex underwater environments

Keywords： underwater cracks     remote operated vehicle     image stitching     image segmentation     graph convolutional    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 4-4 doi: 10.1007/s11465-021-0660-4

Abstract: presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomousconstraints, which can improve the path following quality for better ride comfort and road availability of autonomous

Keywords： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization    

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Thoughts and Suggestions on Autonomous Driving Map Policy

Liu Jingnan, Dong Yang, Zhan Jiao, Gao Kefu

Strategic Study of CAE 2019, Volume 21, Issue 3,   Pages 92-97 doi: 10.15302/J-SSCAE-2019.03.004

Abstract:

As a key infrastructure to realize autonomous driving, autonomous drivingmap is crucial to the commercial development of the autonomous driving field in China.driving maps in China, i.e., encryption of autonomous driving maps, limitations on geographic informationMeanwhile, combining the development trends of domestic and international autonomous driving fields,and orderly opening of autonomous driving maps, appropriately opening up corporate authorization and

Keywords： autonomous driving map     autonomous driving regulation     autonomous driving policy    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs

Keywords： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Title Author Date Type Operation

Steering control for underwater gliders

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

Journal Article

Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal

Hai YANG, Jie MA,

Journal Article

Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Journal Article

Robust global route planning for an autonomous underwater vehicle in a stochastic environment

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Journal Article

A space-saving steering method for underwater gliders in lake monitoring

Yu-shi ZHU, Can-jun YANG, Shi-jun WU, Qing LI, Xiao-le XU

Journal Article

Turbidity-adaptive underwater image enhancement method using image fusion

Journal Article

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Da-qi ZHU, Yun QU, Simon X. YANG

Journal Article

Design and construction technology of underwater tunnel

Wang Mengshu

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Journal Article

Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

Journal Article

Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

Journal Article

Extended model predictive control scheme for smooth path following of autonomous vehicles

Journal Article

Thoughts and Suggestions on Autonomous Driving Map Policy

Liu Jingnan, Dong Yang, Zhan Jiao, Gao Kefu

Journal Article

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Journal Article