Introductory notes for the Acta IMEKO Special Issue on the “19th Symposium on Measurement of Electrical Quantities” and the “17th Workshop on ADC/DAC Modelling and Testing”

Postprint (published version

Obstacle detection algorithm of low computational cost for Guanay II AUV

Obstacle detection is one of the most important stages in the obstacle avoidance system. This work is focused to explain the operation of a designed and implemented for the overall detection of objects with low computational cost strategy. This strategy of low computational cost is based on performing a spatial segmentation of the information obtained by the SONAR and determine the minimum distance between the SONAR (AUV) and the obstacle.Postprint (published version

Hydrodynamic model, simulation and linear control for cormoran-auv

Peer Reviewe

The predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators

Autonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy.Peer ReviewedPostprint (author's final draft

Measuring system and power management of the Guanay II AUV

Peer Reviewe

Design of obstacle detection and avoidance system for GUANAY II AUV

Postprint (published version

Latest contributions to guanay II

Peer Reviewe

Linear control of the yaw and rudder limitations

This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (auv). The development includes the physical limitations of the rudder that involve more constraints for the control. The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.Postprint (published version

Small instrument to volcanic seismic signals

Postprint (published version

Design of seismic acquisition system for volcanology

This paper presents a new design based on acquisition system of the volcanic seismic data. Mainly, this system is composed of a microcontroller to manage the peripherals, a module to acquire the information of seismic sensor and a module of communications that contains the RF and GPS system. The prototype aims to be a very low power system allowing also working during a complete year.Peer ReviewedPostprint (published version