Estimación eficiente de parámetros y control en base a un sistema de guía LOS modificado de un vehículo subacuático

In this work, a methodology is proposed for the improvement of the parameter estimation effciency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the Canal de Experiencias Hidrodinámicas del Pardo, Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation effciency: selection of the sampling period, smoothing of the data acquired in the tests considering a compromise between variance and bias of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial, from the statistical point of view for the estimation of the parameters. Improvements in effciency are verified by graphical and statistical methods. In addition, a modification of the conventional LOS method is proposed which provides satisfactory results in the presence of ocean currents by performing a simple procedure

Hybrid control architecture for navigation of unmanned underwater vehicles

In the present paper, a hybrid architecture based on multi-agent systems is proposed based on a layered system. This architecture presents qualities of modularity and scalability. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and e ectiveness). Time processing operations reduction is expected during the inspection

Software docente para el reconocimiento de objetos sumergidos fabricados por el hombre mediante el procesado de imagen de un sonar de barrido lateral de simple haz

The knowledge about digital images provided by onboard sidescan sonar in unmanned undersea vehicles (UUVs), usually, is far away of educational purposes. Our research team demonstrates in previous papers that this target is possible at affordable cost. This communication shows how the educational software developed by our team, have been enhanced in terms of implementation the state of the art in underwater recognition techniques, including manmade submerged objects, to improve the skills or our students. This work shows an economical solution for this problem by using digital image processing techniques under MATLAB environment. Results are comparable in quality with the commercial expensive hardware solutions. The application presented here is easy to use and has been developed under “user friendly” philosophy and could be operated for users at any level

Improved underwater stereo reconstruction by turbidity characterization

[Resumen] Este trabajo se centra en realizar un completo análisis de imágenes de objetos característicos en entornos subacuáticos con diferentes grados de turbidez, con el objetivo de mejorar la calidad de las imágenes que faciliten el posterior reconocimiento de objetos y cálculo de su posición respecto al vehículo subacuático mediante técnicas de visión estereoscópica. Para ello, se ha analizado el comportamiento de un conjunto de evaluadores de la calidad mediante una batería de imágenes tomadas con distintos niveles de turbidez para posteriormente poder determinar la influencia de las técnicas de filtrado en la correspondencia estéreo. De esta manera, se puede obtener una reconstrucción más densa de los objetos que permita determinar con mayor precisión la posición de estos con referencia al vehículo subacuático y servir tanto de ayuda al operador humano como para la generación de trayectorias de navegación autónoma.[Abstract] This work focuses on performing a complete image analysis of characteristic objects in underwater environments with different degrees of turbidity, with the aim of improving the quality of the images to facilitate the subsequent recognition of objects and calculation of their position with respect to the underwater vehicle using stereoscopic vision techniques. For this purpose, the behavior of a set of quality evaluators has been analyzed using a battery of images taken with different levels of turbidity in order to determine the influence of filtering techniques on the stereo correspondence. In this way, a denser reconstruction of the objects can be obtained, allowing to determine their position with reference to the underwater vehicle with greater precision and to serve both as an aid to the human operator and for the generation of autonomous navigation trajectories.Ministerio de Ciencia e Innovación; TED2021-132158B-I0

Image Easy Sonar: software para el procesado digital de imágenes sonar con aplicaciones docentes

Usually, the knowledge about digital images provided by onboard sidescan sonar in unmanned undersea vehicles (UUVs), is far away of educational purposes. In this communication authors demonstrate that this target is possible at affordable cost. This kind of images are usually poor in their resolution if are compared with optical images. There are two commercial expensive solutions for this trouble: the first one is the use of high resolution multibeam sidescan sonar, the second one consists in the use of bathymetric sonar. It is evident that for a spanish university these solutions exceeds the economical education budget and needs a generous external support. This work shows an economical solution for this problem by using digital image processing techniques under MATLAB environment. Results are comparable in quality with the commercial expensive hardware solutions. The application presented here is easy to use and has been developed under “user friendly” philosophy and could be operated for users at any level. This work is the first step for future lines of work in underwater recognition of objects

Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves

This paper presents a dynamic positioning control scheme for concrete caissons in an attempt to automate part of the manoeuvres which usually require a complex deploy of personnel and equipment for port infrastructures development. The aim of this paper is to propose a control scheme, which is able to provide a reduction in costs and an improvement in security for the dynamic positioning manoeuvres . To do so, a dual loop controller is developed and the unscented Kalman filter is applied for states and perturbances estimation. Furthermore, a control allocation algorithm is proposed based on anchoring lines and winches. Finally, some simulations are performed to verify the effectiveness of the proposed approach.The Spanish FEDER/Ministry of Science, Innovation and Universities — State Research Agency (Fig. 14) is greatly acknowledged for funding our research through SAFE Project (Desarrollo de un Sistema Autónomo para el Fondeo de Estructuras para Obras Marítimas), Grant Agreement: RTC-2017-6603-4. The authors would like to thank FCC CO as a collaborator in the development of the SAFE Project. R. Guanche also acknowledges financial support from the Ramon y Cajal Program (RYC-2017-23260) of the Spanish Ministry of Science, Innovation and Universities

LQG control for dynamic positioning of floating caissons based on the Kalman filter

This paper presents the application of an linear quadratic gaussian (LQG) control strategy for concrete caisson deployment for marine structures. Currently these maneuvers are carried out manually with the risk that this entails. Control systems for these operations with classical regulators have begun to be implemented. They try to reduce risks, but they still need to be optimized due to the complexity of the dynamics involved during the sinking process and the contact with the sea bed. A linear approximation of the dynamic model of the caisson is obtained and an LQG control strategy is implemented based on the Kalman filter (KF). The results of the proposed LQG control strategy are compared to the ones given by a classic controller. It is noted that the proposed system is positioned with greater precision and accuracy, as shown in the different simulations and in the Monte Carlo study. Furthermore, the control efforts are less than with classical regulators. For all the reasons cited above, it is concluded that there is a clear improvement in performance with the control system proposed.The Spanish FEDER/Ministry of Science, Innovation and Universities—State Research Agency is greatly acknowledged for partially funding our research through the SAFE Project (Desarrollo de un Sistema Autónomo para el Fondeo de Estructuras para Obras Marítimas), GrantAgreement: RTC-2017-6603-4. The Regional Ministry of Universities, Equality, Culture and Sports of the Gov-ernment of Cantabria has supported this work through the ControlFond project (Control De Ve-hículos Subacuáticos No Tripulados Para Supervisión De Estructuras Para Obras Marítimas Fondeadas). The authors would like to thank FCC Construcción CO as a collaborator in the de-velopment of the SAFE Project, specially Victor Florez Casillas and Nuria Cotallo Aguado (Tech-nical Direction/Hydraulic and Maritime Works) and Alvaro de Toro Mingo (Machinery Direction). R. Guanche also acknowledges financial support from the Ramon y Cajal Program (RYC-2017-23260) of the Spanish Ministry of Science, Innovation and Universities

Software para el reconocimiento de objetos sumergidos fabricados por el hombre basado en el procesado de imagen procedente de un sonar de barrido lateral de simple haz

Digital processing of sidescan sonar images significantly enhances the performance in recognition of seafloor features and underwater artifacts. These images are usually poor in its resolution compared with optical captured frames. There are different commercial solutions that can solve this problem, like using a high resolution multibeam sidescan sonar, or using a bathymetric sonar device. Present work shows an economical solution to avoid this kind of problem employing digital image processing techniques under MATLAB environment. The application presented here has been developed under user friendly philosophy, i.e., it is easy to manipulate and it can be operated for users at any level. Two types of sonar surveys: seafloor mapping and submerged target searches (buried or not), require different processing methods for data analysis that are implemented in the software. This program is an updated version of the previous one [1-4]. An important improvement is the semi-automatic recognition of man-made submerged objects

Automática (G739). Febrero 2017

Grado en Ingeniería Mecánic

Automática (G739). Septiembre 2020

Grado en Ingeniería Mecánic