Guidance and control of an autonomous underwater vehicle

Merged with duplicate record 10026.1/856 on 07.03.2017 by CS (TIS)A cooperative project between the Universities of Plymouth and Cranfield was aimed at designing and developing an autonomous underwater vehicle named Hammerhead. The work presented herein is to formulate an advance guidance and control system and to implement it in the Hammerhead. This involves the description of Hammerhead hardware from a control system perspective. In addition to the control system, an intelligent navigation scheme and a state of the art vision system is also developed. However, the development of these submodules is out of the scope of this thesis. To model an underwater vehicle, the traditional way is to acquire painstaking mathematical models based on laws of physics and then simplify and linearise the models to some operating point. One of the principal novelties of this research is the use of system identification techniques on actual vehicle data obtained from full scale in water experiments. Two new guidance mechanisms have also been formulated for cruising type vehicles. The first is a modification of the proportional navigation guidance for missiles whilst the other is a hybrid law which is a combination of several guidance strategies employed during different phases of the Right. In addition to the modelling process and guidance systems, a number of robust control methodologies have been conceived for Hammerhead. A discrete time linear quadratic Gaussian with loop transfer recovery based autopilot is formulated and integrated with the conventional and more advance guidance laws proposed. A model predictive controller (MPC) has also been devised which is constructed using artificial intelligence techniques such as genetic algorithms (GA) and fuzzy logic. A GA is employed as an online optimization routine whilst fuzzy logic has been exploited as an objective function in an MPC framework. The GA-MPC autopilot has been implemented in Hammerhead in real time and results demonstrate excellent robustness despite the presence of disturbances and ever present modelling uncertainty. To the author's knowledge, this is the first successful application of a GA in real time optimization for controller tuning in the marine sector and thus the thesis makes an extremely novel and useful contribution to control system design in general. The controllers are also integrated with the proposed guidance laws and is also considered to be an invaluable contribution to knowledge. Moreover, the autopilots are used in conjunction with a vision based altitude information sensor and simulation results demonstrate the efficacy of the controllers to cope with uncertain altitude demands.J&S MARINE LTD., QINETIQ, SUBSEA 7 AND SOUTH WEST WATER PL

Deliverable 1.1 review document on the management of marine areas with particular regard on concepts, objectives, frameworks and tools to implement, monitor, and evaluate spatially managed areas

The main objectives if this document were to review the existing information on spatial management of marine areas, identifying the relevant policy objectives, to identify parameters linked to the success or failure of the various Spatially Managed marine Areas (SMAs) regimes, to report on methods and tools used in monitoring and evaluation of the state of SMAs, and to identify gaps and weaknesses in the existing frameworks in relation to the implementation, monitoring, evaluation and management of SMAs. The document is naturally divided in two sections: Section 1 reviews the concepts, objectives, drivers, policy and management framework, and extraneous factors related to the design, implementation and evaluation of SMAs; Section 2 reviews the tools and methods to monitor and evaluate seabed habitats and marine populations.peer-reviewe

Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

Status and management of tropical coastal fisheries in Asia

Coastal fisheries, Fishery management, Stock assessment, Conferences, Asia,

Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

Pelagic deep-sea metazoan biodiversity and ecology revealed by environmental DNA analysis in combination with other censuses

The deep sea (> 200 m) not only represents the largest habitat on earth, but also has the highest faunal biomasses and greatest number of individual organisms. While the deep sea provides humans with substantial services, its ecosystems remain poorly studied. Logistical and technical challenges to sample deep-sea ecosystems as well as organisms’ avoidance behavior to underwater gear stress the need for alternative techniques. In this thesis, I focused on a relatively novel tool in deep-sea biology; environmental DNA (eDNA) analysis. Environmental DNA is genetic material that organisms shed into their environment. This eDNA can be assigned to a specific taxon and provides information on species presence, diversity and distribution without the need to encounter or capture the source animal. The first objective of this thesis was to develop a pipeline to collect diversity and distribution data on deep-sea cephalopods with eDNA analysis from water and sediment samples. The second objective was to establish biodiversity baselines and distribution patterns of key organisms in the deep sea and to put these patterns into an ecological context. The third objective of this thesis was to identify cephalopod and fish taxa that potentially contribute to the vertical transport of carbon. This thesis showed that eDNA can be used successfully in the assessment and monitoring of deep-sea pelagic metazoans in hotspots of diversity and climate change. Especially when eDNA analysis is analyzed in different kinds of samples and used in combination with other techniques, it can help to answer ecological questions and ultimately contribute to aid in conservation of deep-sea habitats