A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous ...A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.展开更多
介绍A gen t及多A gen t系统的概念,阐述基于M u lti-A gen t实现伴星自主控制的基本思想;对现有分布式卫星系统自主控制结构进行定性分析,在此基础上针对伴星的不同应用确定相应的控制结构,并探讨复杂伴星系统分层自主控制的具体实现方...介绍A gen t及多A gen t系统的概念,阐述基于M u lti-A gen t实现伴星自主控制的基本思想;对现有分布式卫星系统自主控制结构进行定性分析,在此基础上针对伴星的不同应用确定相应的控制结构,并探讨复杂伴星系统分层自主控制的具体实现方案;最后提出伴星自主控制的通用A gen t体系结构,适用于各种控制结构中的各颗卫星。展开更多
Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design refe...Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.展开更多
基金Project(2011AA09A106)supported by the Hi-tech Research and Development Program of ChinaProject(51179035)supported by the National Natural Science Foundation of ChinaProject(2015ZX01041101)supported by Major National Science and Technology of China
文摘A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.
文摘介绍A gen t及多A gen t系统的概念,阐述基于M u lti-A gen t实现伴星自主控制的基本思想;对现有分布式卫星系统自主控制结构进行定性分析,在此基础上针对伴星的不同应用确定相应的控制结构,并探讨复杂伴星系统分层自主控制的具体实现方案;最后提出伴星自主控制的通用A gen t体系结构,适用于各种控制结构中的各颗卫星。
文摘Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.
