Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances

Energy efficiency is one of the main challenges for long-term autonomy of AUVs (Autonomous Underwater Vehicles). We propose a novel approach for improving the energy efficiency of AUV controllers based on the ability to learn which external disturbances can safely be ignored. The proposed learning approach uses adaptive oscillators that are able to learn online the frequency, amplitude and phase of zero-mean periodic external disturbances. Such disturbances occur naturally in open water due to waves, currents, and gravity, but also can be caused by the dynamics and hydrodynamics of the AUV itself. We formulate the theoretical basis of the approach, and demonstrate its abilities on a number of input signals. Further experimental evaluation is conducted using a dynamic model of the Girona 500 AUV in simulation on two important underwater scenarios: hovering and trajectory tracking. The proposed approach shows significant energy-saving capabilities while at the same time maintaining high controller gains. The approach is generic and applicable not only for AUV control, but also for other type of control where periodic disturbances exist and could be accounted for by the controller. © 2013 IEEE

Hydrodynamic response of rotationally supported flows in the Small Shearing Box model

The hydrodynamic response of the inviscid small shearing box model of a midplane section of a rotationally supported astrophysical disk is examined. An energy functional ${\cal E}$ is formulated for the general nonlinear problem. It is found that the fate of disturbances is related to the conservation of this quantity which, in turn, depends on the boundary conditions utilized: ${\cal E}$ is conserved for channel boundary conditions while it is not conserved in general for shearing box conditions. Linearized disturbances subject to channel boundary conditions have normal-modes described by Bessel Functions and are qualitatively governed by a quantity $\Sigma$ which is a measure of the ratio between the azimuthal and vertical wavelengths. Inertial oscillations ensue if $\Sigma >1$ - otherwise disturbances must in general be treated as an initial value problem. We reflect upon these results and offer a speculation.Comment: 6 pages, resubmitted to Astronomy and Astrophysics, shortened with references adde

A discussion of dynamic stability measurement techniques

Techniques for the measurement of the dynamic stability of linear systems are discussed. Particular attention is given to an analysis of the errors in the procedures, and to methods for calculating the system damping from the data. The techniques discussed include: transient decay, moving block analysis, spectral analysis, random decrement signatures, transfer function analysis, and parameter identification methods. The special problems of rotorcraft dynamic stability testing are discussed

Observer-based tuning of two-inertia servo-drive systems with integrated SAW torque transducers

This paper proposes controller design and tuning methodologies that facilitate the rejection of periodic load-side disturbances applied to a torsional mechanical system while simultaneously compensating for the observer’s inherent phase delay. This facilitates the use of lower-bandwidth practically realizable disturbance observers. The merits of implementing full- and reduced-order observers are investigated, with the latter being implemented with a new low-cost servo-machine-integrated highband width torque-sensing device based on surface acoustic wave (SAW) technology. Specifically, the authors’ previous work based on proportional–integral–derivative (PID) and resonance ratio control (RRC) controllers (IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1226–1237, Aug. 2006) is augmented with observer disturbance feedback. It is shown that higher-bandwidth disturbance observers are required to maximize disturbance attenuation over the low-frequency band (as well as the desired rejection frequency), thereby attenuating a wide range of possible frequencies. In such cases, therefore, it is shown that the RRC controller is the preferred solution since it can employ significantly higher observer bandwidth, when compared to PID counterparts, by virtue of reduced noise sensitivity. Furthermore, it is demonstrated that the prototype servo-machine-integrated 20-N · mSAWtorque transducer is not unduly affected by machine-generated electromagnetic noise and exhibits similar dynamic behavior as a conventional instrument inline torque transducer

MHD Waves and Coronal Seismology: an overview of recent results

Recent observations have revealed that MHD waves and oscillations are ubiquitous in the solar atmosphere, with a wide range of periods. We give a brief review of some aspects of MHD waves and coronal seismology which have recently been the focus of intense debate or are newly emerging. In particular, we focus on four topics: (i) the current controversy surrounding propagating intensity perturbations along coronal loops, (ii) the interpretation of propagating transverse loop oscillations, (iii) the ongoing search for coronal (torsional) Alfven waves and (iv) the rapidly developing topic of quasi-periodic pulsations (QPP) in solar flares