State relativity and speed-allocated line-of-sight course control for path-following of underwater vehicles

Path-following is a primary task for most marine, air or space crafts, especially during autonomous operations. Research on autonomous underwater vehicles (AUV) has received large interests in the last few decades with research incentives emerging from the safe, cost-effective and practical solutions provided by their applications such as search and rescue, inspection and monitoring of pipe-lines ans sub-sea structures. This thesis presents a novel guidance system based on the popular line-of-sight (LOS) guidance law for path-following (PF) of underwater vehicles (UVs) subject to environmental disturbances. Mathematical modeling and dynamics of (UVs) is presented first. This is followed by a comprehensive literature review on guidance-based path-following control of marine vehicles, which includes revised definitions of the track-errors and more detailed illustrations of the general PF problem. A number of advances on relative equations of motion are made, which include an improved understanding of the fluid FLOW frame and expression of its motion states, an analytic method of modeling the signs of forces and moments and the proofs of passivity and boundedness of relative UV systems in 3-D. The revision in the relative equations of motion include the concept of state relativity, which is an improved understanding of relativity of motion states expressed in reference frames and is also useful in incorporating environmental disturbances. In addition, the concept of drift rate is introduced along with a revision on the angles of motion in 3-D. A switching mechanism was developed to overcome a drawback of a LOS guidance law, and the linear and nonlinear stability results of the LOS guidance laws have been provided, where distinctions are made between straight and curved PF cases. The guidance system employs the unique formulation and solution of the speed allocation problem of allocating a desired speed vector into x and y components, and the course control that employs the slip angle for desired heading for disturbance rejection. The guidance system and particularly the general course control problem has been extended to 3-D with the new definition of vertical-slip angle. The overall guidance system employing the revised relative system model, course control and speed allocation has performed well during path-following under strong ocean current and/or wave disturbances and measurement noises in both 2-D and 3-D scenarios. In 2-D and 3-D 4 degrees-of-freedom models (DOF), the common sway-underactuated and fully actuated cases are considered, and in 3-D 5-DOF model, sway and heave underactuated and fully actuated cases are considered. Stability results of the LOS guidance laws include the semi-global exponential stability (SGES) of the switching LOS guidance and enclosure-based LOS guidance for straight and curved paths, and SGES of the loolahead-based LOS guidance laws for curved paths. Feedback sliding mode and PID controllers are applied during PF providing a comparison between them, and simulations are carried out in MatLab

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

Trajectory solutions for a game-playing robot using nonprehensile manipulation methods and machine vision

The need for autonomous systems designed to play games, both strategy-based and physical, comes from the quest to model human behaviour under tough and competitive environments that require human skill at its best. In the last two decades, and especially after the 1996 defeat of the world chess champion by a chess-playing computer, physical games have been receiving greater attention. Robocup TM, i.e. robotic football, is a well-known example, with the participation of thousands of researchers all over the world. The robots created to play snooker/pool/billiards are placed in this context. Snooker, as well as being a game of strategy, also requires accurate physical manipulation skills from the player, and these two aspects qualify snooker as a potential game for autonomous system development research. Although research into playing strategy in snooker has made considerable progress using various artificial intelligence methods, the physical manipulation part of the game is not fully addressed by the robots created so far. This thesis looks at the different ball manipulation options snooker players use, like the shots that impart spin to the ball in order to accurately position the balls on the table, by trying to predict the ball trajectories under the action of various dynamic phenomena, such as impacts. A 3-degree of freedom robot, which can manipulate the snooker cue on a par with humans, at high velocities, using a servomotor, and position the snooker cue on the ball accurately with the help of a stepper drive, is designed and fabricated. [Continues.

Control oriented modelling of an integrated attitude and vibration suppression architecture for large space structures

This thesis is divided into two parts. The main focus of the research, namely active vibration control for large flexible spacecraft, is exposed in Part I and, in parallel, the topic of machine learning techniques for modern space applications is described in Part II. In particular, this thesis aims at proposing an end-to-end general architecture for an integrated attitude-vibration control system, starting from the design of structural models to the synthesis of the control laws. To this purpose, large space structures based on realistic missions are investigated as study cases, in accordance with the tendency of increasing the size of the scientific instruments to improve their sensitivity, being the drawback an increase of its overall flexibility. An active control method is therefore investigated to guarantee satisfactory pointing and maximum deformation by avoiding classical stiffening methods. Therefore, the instrument is designed to be supported by an active deployable frame hosting an optimal minimum set of collocated smart actuators and sensors. Different spatial configurations for the placement of the distributed network of active devices are investigated, both at closed-loop and open-loop levels. Concerning closed-loop techniques, a method to optimally place the poles of the system via a Direct Velocity Feedback (DVF) controller is proposed to identify simultaneously the location and number of active devices for vibration control with an in-cascade optimization technique. Then, two general and computationally efficient open-loop placement techniques, namely Gramian and Modal Strain Energy (MSE)-based methods, are adopted as opposed to heuristic algorithms, which imply high computational costs and are generally not suitable for high-dimensional systems, to propose a placement architecture for generically shaped tridimensional space structures. Then, an integrated robust control architecture for the spacecraft is presented as composed of both an attitude control scheme and a vibration control system. To conclude the study, attitude manoeuvres are performed to excite main flexible modes and prove the efficacy of both attitude and vibration control architectures. Moreover, Part II is dedicated to address the problem of improving autonomy and self-awareness of modern spacecraft, by using machine-learning based techniques to carry out Failure Identification for large space structures and improving the pointing performance of spacecraft (both flexible satellite with sloshing models and small rigid platforms) when performing repetitive Earth Observation manoeuvres

Criticism in the absence of criticism

English abstract: Criticism is defined as the examination and judgment about someone or something. This definition includes, at first, an analytical task -with a particular methodology related to it- and, at second, a synthetic activity, translated into a value judgment on what is previously analyzed. Criticism can be done in different ways and depths: from the basic critical thinking -essentially descriptive- to the most truthful one –the poetic criticism-, that transcends pure description or analysis and refers itself to the internal coherence of the object. Any criticism that seeks to reduce the distance to the truth will address both to the intrinsic object relationships -or own laws- and to the extrinsic ones. Furthermore, an objective criticism provides a knowledge of the object regardless of the observer or frame of reference. This provides an effective method and a guaranteed way to approach to the knowledge of the object. Does this mean that without a regular critical method no criticism is undertaken? The proposal of this paper is to explain how a critical thought can be undertaken in the absence of criticism, in which there is no explicit value judgment. Taking the hypothesis that there is criticism in the absence of criticism, an architectural work –either being a building, a writing on architecture, etc.- that implies a tacit criticism could work on two levels: as a practical result –built, literary, etc.- and as a critical thought. The hypothesis proposes that such duality, criticism and practice, may come together in a single work. Although not in any. The existence of criticism in the absence of criticism will depend on the nature of the object and, with no doubt, on the speaker and receiver. At first glance, the guarantees provided by this criticism in the absence of criticism seem less tan through the orthodox one, in which the subject is the weakest part of the chain. However, the absence of explicit value judgment can lead to a series of stimuli –coherency, aesthetic, recreational or other- that, in certain contexts, do more viable the approach to the knowledge than through the conventional method. Spanish abstract: La crítica se define como el examen y juicio acerca de alguien o algo. Esta definición comprende, por un lado, una tarea analítica -con una determinada metodología asociada- y, por otro, una actividad sintética, traducida en un juicio de valor acerca de lo previamente analizado. La crítica puede hacerse de distinta forma y con distinto grado de profundidad: desde la más básica –fundamentalmente, la crítica descriptiva- hasta la más veraz -la crítica poética-, que trasciende la descripción o el análi sis puro y se refiere a la coherencia interna del objeto de estudio. Toda crítica que pretenda reducir la distancia de aproximación a la verdad se ocupará tanto de las relaciones intrínsecas o leyes propias del objeto como de las eelaciones extrínsecas al mismo. Por otro lado, una crítica objetiva facilita el conocimiento del objeto de estudio independientemente del observador o del marco de referencia, lo que la convierte en un método eficaz y con garantías para la aproximación al conocimiento del objeto. Pero ¿significa esto que sin crítica ortodoxa no puede existir crítica?. La propuesta de esta comunicación es dilucidar hasta qué punto puede emprenderse una crítica en ausencia de crítica, es decir, una crítica en la que no sea explícito el juicio de valor. Tomando como hipótesis el hecho de que exista crítica en ausencia de crítica, una obra arquitectónica –ya sea un edificio construido, un escrito sobre arquitectura, etc.- que implique una crítica tácita podría funcionar a dos niveles: como producto práctico -edificado, literario, etc.- y como reflexión crítica. La hipótesis planteada propone que tal dualidad, la crítica y la práctica, pueda confluir en una misma obra. Aunque no en cualquiera. La existencia de crítica en ausencia de crítica dependerá de la naturaleza de la obra y, sin lugar a dudas, del emisor y el receptor del mensaje crítico. A primera vista, las garantías que ofrece la crítica en ausencia de crítica parecen menores que mediante la crítica ortodoxa, para la que el sujeto es la parte más débil de la cadena. Sin embargo, la ausencia de juicio de valor explícito puede comportar una serie de estímulos – de coherencia, estéticos, lúdicos, prácticos o de otra índole- que, en determinados contextos, hagan más viable y clara la comprensión de la obra que a través del método convencional