Roll motion compensation by active marine gyrostabiliser

Unmanned Surface Vehicle (USV) has been gaining more marine applications nowadays. However, the USV is vulnerable to excessive rolling motions induced by water waves, and this phenomenon may cause significant downtime to the operations of USV and engender detrimental effects to the on-board instrument and sensors. Active control system had been proposed to compensate the rolling stability issue but most of the proposed devices were expensive. This paper developed a gyrostabiliser on USV model to compensate the excessive rolling motion. Gyrostabiliser consists of rotor, gimbal and spinning axes, which commonly used for measuring or maintaining orientations and angular velocities. The gyrostabiliser was mounted vertically inside the USV model. Experiments were conducted to obtain the ideal gains of gyrostabiliser’s controller, to investigate the differences between active- and passive-gyrostabiliser, and to identify the induced pitch effect of the vertical gyrostabiliser to the USV model. The roll angle of the USV was measured by gyro sensor, whereas the precession motor and flywheel motor were controlled by a non-encoder Direct-Current (DC) motor. A proportional controller of the gyrostabiliser was implemented through Arduino Integrated Development Environment (IDE) to ensure optimal performance of gyrostabiliser in precession speed and direction control. The results showed that both active- and passive-gyrostabiliser managed to mitigate the roll angle of USV from +/- 15° back to less than 1° and reached steady state within 2.32 seconds and 2.60 seconds, respectively. The active gyrostabiliser had advantage to return to zero precession angle while the passive gyrostabiliser accumulated 30° precession angle in the experiment. The induced pitch angle by the gyrostabiliser had been found in an insignificant magnitude for the case study. The outcomes of this paper lead to an alternative for improving the robustness of USV in rolling reduction. 

Roll motion compensation by active marine gyrostabiliser

922-929Unmanned Surface Vehicle (USV) has been gaining more marine applications nowadays. However, the USV is vulnerable to excessive rolling motions induced by water waves, and this phenomenon may cause significant downtime to the operations of USV and engender detrimental effects to the on-board instrument and sensors. Active control system had been proposed to compensate the rolling stability issue but most of the proposed devices were expensive. This paper developed a gyrostabiliser on USV model to compensate the excessive rolling motion. Gyrostabiliser consists of rotor, gimbal and spinning axes, which commonly used for measuring or maintaining orientations and angular velocities. The gyrostabiliser was mounted vertically inside the USV model. Experiments were conducted to obtain the ideal gains of gyrostabiliser’s controller, to investigate the differences between active- and passive-gyrostabiliser, and to identify the induced pitch effect of the vertical gyrostabiliser to the USV model. The roll angle of the USV was measured by gyro sensor, whereas the precession motor and flywheel motor were controlled by a non-encoder Direct-Current (DC) motor. A proportional controller of the gyrostabiliser was implemented through Arduino Integrated Development Environment (IDE) to ensure optimal performance of gyrostabiliser in precession speed and direction control. The results showed that both active- and passive-gyrostabiliser managed to mitigate the roll angle of USV from +/- 15° back to less than 1° and reached steady state within 2.32 seconds and 2.60 seconds, respectively. The active gyrostabiliser had advantage to return to zero precession angle while the passive gyrostabiliser accumulated 30° precession angle in the experiment. The induced pitch angle by the gyrostabiliser had been found in an insignificant magnitude for the case study. The outcomes of this paper lead to an alternative for improving the robustness of USV in rolling reduction

Gyroscope Sebagai Alternatif Pengganti Katir Pada Kapal Berbentuk Slender

Kapal penangkap ikan di Indonesia, masih banyak yang dilengkapi katir untuk meningkatkan stabilitas kapal, terutama pada kapal-kapal berbentuk ramping atau slender.  Akan tetapi keberadaan katir juga memiliki risiko, terutama saat kapal-kapal tersebut hendak berlabuh di suatu tempat pendaratan. Hal ini terjadi karena antar katir saling bersinggungan dan dapat mengakibatkan patahnya katir atau bahkan hingga membalikkan kapal. Saat ini perkembangan teknologi di bidang perkapalan sudah semakin maju. Salah satunya dengan ditemukannya marine gyrostabilizer yaitu perangkat yang memanfaatkan prinsip kerja gyroscope dalam menjaga olah gerak kapal yang disebabkan gangguan gaya eksternal. Sehingga muncul suatu pemikiran untuk memanfaatkan teknologi marine gyrostabilizer sebagai pengganti katir pada kapal berbentuk slender. Penelitian ini bertujuan untuk merancang gyrostabilizer dan posisi penempatannya di atas model kapal berbentuk slender. Penelitian ini dilakukan secara eksperimental dengan menggunakan model kapal berbentuk ramping atau slender dengan dimensi utama LOA (65cm), LPP (58,19cm), B (16cm), D (8,5cm), d (3,1cm) dan ton displacement 0,00141 ton (1,41 kg). Eksperimen dilakukan untuk mendapatkan data berupa performa gerakan rolling kapal yang dilengkapi dengan gyroscope dan tanpa gyroscope, sehingga dapat diperoleh performa dan pengaruh keberadaan gyroscope dalam mempertahankan stabilitas kapal berbentuk slender. Berdasarkan hasil penelitian diperoleh bahwa nilai profil gerakan rolling pada perlakuan model kapal yang dilengkapi dengan gyroscope lebih baik dibandingkan perlakuan pada model kapal yang tidak dilengkapi gyroscope dan performa penggunaan prototype gyroscope memiliki kemampuan meredam rolling model kapal slender sebesar 68,45

Position Control of a Three Degree of Freedom Gyroscope using Optimal Control

In this paper, a 3 DOF gyrscope position control have been designed and controlled using optimal control theory. An input torque has been given to the first axis and the angular position of the second axis have been analyzed while the third axis are kept free from rotation. The system mathematical model is controllable and observable. Linear Quadratic Integral (LQI) and Linear Quadratic State Feedback Regulator (LQRY) controllers have been used to improve the performance of the system. Comparison of the system with the proposed controllers for tracking a desired step and random angular position have been done using Matlab/Simulink Toolbox and a promising results has been analyzed

Automatic Control and Routing of Marine Vessels

Due to the intensive development of the global economy, many problems are constantly emerging connected to the safety of ships’ motion in the context of increasing marine traffic. These problems seem to be especially significant for the further development of marine transportation services, with the need to considerably increase their efficiency and reliability. One of the most commonly used approaches to ensuring safety and efficiency is the wide implementation of various automated systems for guidance and control, including such popular systems as marine autopilots, dynamic positioning systems, speed control systems, automatic routing installations, etc. This Special Issue focuses on various problems related to the analysis, design, modelling, and operation of the aforementioned systems. It covers such actual problems as tracking control, path following control, ship weather routing, course keeping control, control of autonomous underwater vehicles, ship collision avoidance. These problems are investigated using methods such as neural networks, sliding mode control, genetic algorithms, L2-gain approach, optimal damping concept, fuzzy logic and others. This Special Issue is intended to present and discuss significant contemporary problems in the areas of automatic control and the routing of marine vessels

Proceedings of the International Micro Air Vehicles Conference and Flight Competition 2017 (IMAV 2017)

The IMAV 2017 conference has been held at ISAE-SUPAERO, Toulouse, France from Sept. 18 to Sept. 21, 2017. More than 250 participants coming from 30 different countries worldwide have presented their latest research activities in the field of drones. 38 papers have been presented during the conference including various topics such as Aerodynamics, Aeroacoustics, Propulsion, Autopilots, Sensors, Communication systems, Mission planning techniques, Artificial Intelligence, Human-machine cooperation as applied to drones

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Shortest Route at Dynamic Location with Node Combination-Dijkstra Algorithm

Abstract— Online transportation has become a basic requirement of the general public in support of all activities to go to work, school or vacation to the sights. Public transportation services compete to provide the best service so that consumers feel comfortable using the services offered, so that all activities are noticed, one of them is the search for the shortest route in picking the buyer or delivering to the destination. Node Combination method can minimize memory usage and this methode is more optimal when compared to A* and Ant Colony in the shortest route search like Dijkstra algorithm, but can’t store the history node that has been passed. Therefore, using node combination algorithm is very good in searching the shortest distance is not the shortest route. This paper is structured to modify the node combination algorithm to solve the problem of finding the shortest route at the dynamic location obtained from the transport fleet by displaying the nodes that have the shortest distance and will be implemented in the geographic information system in the form of map to facilitate the use of the system. Keywords— Shortest Path, Algorithm Dijkstra, Node Combination, Dynamic Location (key words

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors

Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program

Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft