Autonomous Underwater Vehicles Part 4 potx

... 26, 2001, pp. 42 4 43 6 [2] J. Sherman, R. E. Davis, W. B. Owens, et al , “The autonomous underwater glider “Spray”,” IEEE Journal of Oceanic Engineering, vol.26, 2001, pp. 43 7 44 6 [3] D. C. ... of profile drag coefficient and angle of attack Autonomous Underwater Vehicles 52 -10 -8 -6 -4 -2 0 2 4 6 8 10 -40 -30-20-10 0 10 20 30 40 angle of at tack α (°) L/D NA...

Ngày tải lên: 10/08/2014, 21:23

... θ() 1 – ξ · R ξ · I R θ() 1– θcos θsin–0 θsin θcos 0 001 = θπ2 ⁄ = r 1= l 1= ϕ · 1 4= ϕ · 2 2= ξ I · x · y · θ · 01–0 100 001 3 0 1 0 3 1 === 54 Chapter 3 Under these assumptions, we present two constraints for ... three-matrix from equation (3.15) for each steerable standard wheel. In summary, equation (3. 24) represents the constraint that all standard wheels must spin around their hor...

Ngày tải lên: 10/08/2014, 05:20

... 100 10 40 0 3 .44 -0. 044 4 13 150 6 40 -100 3.78 -0.05 94 14 150 8 60 100 3 .40 -0.0858 15 150 10 20 0 5.30 -0.0237 16 200 6 60 0 3. 94 -0.115 17 200 8 20 -100 6.17 -0.0562 18 200 10 40 100 ... 100 8 40 0 3.11 -0.0323 3 100 10 60 -100 2. 74 -0.109 4 150 6 20 0 4. 07 -0.00059 5 150 8 40 -100 4. 37 -0.08 54 6 150 10 60 100 3.82 -0.127 7 200 6 40 100 4. 88 -0.0158 8...

Ngày tải lên: 10/08/2014, 21:23

... Switch HG1700 IMU RS -42 2 RS-232 Water Speed Sensor RS -48 5 RS-232 DVL (Optional) RS-232 RS-232 Switch Radio Modem Radio Modem Remote E-Stop Remote E-Stop 44 0MHz Wave Relay MANET 2.4GHz Throttle and ... Autonomous Underwater Vehicles 72 will be ruled out. (In Fig .4 the trajectory requiring the UUV to jump out of the water is infeasible because it violates the constraint (...

Ngày tải lên: 10/08/2014, 21:23

... be denoted a (o,w,c) i , respectively, and represent the 106 Autonomous Underwater Vehicles Autonomous Underwater Vehicles 94 framework. When these matching conditions are satisfied, the ... (6) ∂ ∂d p o (d)=− A + d 2 exp  A + d  ; lim d→∞ ∂ ∂d p o (d)=0; lim d→0 + ∂ ∂d p o (d)=∞ (7) 1 04 Autonomous Underwater Vehicles 4 Will-be-set-by-IN-TECH With all of the above...

Ngày tải lên: 10/08/2014, 21:23

... T y w = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ 0.7 542 0.1000 0.1000 0.0208 0.0208 0.0 042 0 .47 39 0.3365 0.1 043 0.0379 0.02 84 0.0190 0 .47 39 0.1 043 0.3365 0.02 84 0.0379 0.0190 0.3825 0.1 749 0.1 749 0.09 84 0.09 84 0.0710 0.3825 0.1 749 0.1 749 0.09 84 ... 0.0617 0.0 044 0 .40 20 0 .40 20 0.1106 0.0503 0.0302 0.0050 0 .40 20 0.1106 0 .40 20 0.0302 0.0503 0.0050 0.37 04 0.2667 0. 148 1 0. 148 1 0.0593 0...

Ngày tải lên: 10/08/2014, 21:23

... Raton FL 3 348 7 USA. Tuohy, S. T. (19 94) . A simulation model for AUV navigation, Proceedings of the 19 94 Symposium on Autonomous Underwater Vehicle Technology, pp. 47 0 47 8. US Navy (20 04) . The US ... 12 (4) , 45 6- 45 9 Ren Yongping, Li Shengyi (2005). Design method of a kind of new controller. Control and Decision, 20 (4) , 47 1 -47 4 Venugopal KP, Sudhakar R (1992). On-l...

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... the vehicle. The typical configuration Autonomous Underwater Vehicles 162 4. Overall control system Overall, the control system of any autonomous underwater vehicle consists of a control ... of the vehicle, regardless of what sensor information is available. Autonomous Underwater Vehicles 1 64 Fig. 4. Surge trajectory. Fig. 5. Surge trajectory magnified....

Ngày tải lên: 10/08/2014, 21:23

... (1985). Robust Trajectory Control of Underwater Vehicles. IEEE Journal of Oceanic Engineering , Vol. 10, No. 4, (October), pp. (46 2 -47 0), ISSN 03 64- 9059 14 Will-be-set-by-IN-TECH the swarm, ... Engineering, Vol. 26, No. 4, (October), pp. (46 6 -47 6), ISSN 03 64- 9059 Palmer, A., Hearn, G. E. & Stevenson, P. (2009). Experimental Testing of an Autonomous Underwater Vehi...

Ngày tải lên: 10/08/2014, 21:23