Modular modeling and control for autonomous underwater vehicle (AUV)

... literatures that are relevant to modeling and control of autonomous underwater vehicle are discussed 2.1 Modeling method Modeling of marine vehicles involves the study of statics and dynamics Statics is ... module For completeness, three control schemes are adopted and the specific controllers are designed to realize maneuverability of the AUV: forward speed control,...

Ngày tải lên: 26/11/2015, 12:46

... and control that has the capability to adapt to changes and interact with our environment Thus, the innate ability of animals and humans to maneuver and acclimatize is harnessed and imitated, ... STANDING POSTURE MODELING AND CONTROL FOR A HUMANOID ROBOT SYEDA MARIAM AHMED (B.Eng) National University of Sciences and Technology (NUST), Pakistan A THESIS SUBMIT...

Ngày tải lên: 01/10/2015, 17:27

... MODULAR DYNAMIC MODELING AND DEVELOPMENT OF MICRO AUTONOMOUS UNDERWATER VEHICLE: LANCELET CHAO SHUZHE (M Eng., Xi'an Jiaotong University) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY ... the hydrodynamic coefficients and hydrodynamic derivatives of the Starfish AUV and the Lancelet micro AUV in Chapter The key problem of modular dynamic m...

Ngày tải lên: 10/09/2015, 09:21

... systems A complete C2 system is described by its control architecture and the underlying software architecture 2.1 Command and Control Architecture Command and Control system architecture generally ... develop a command and control system that can be deployed in modular AUVs and in the future, allows natural extension and simple modification for multi-AUV sce...

Ngày tải lên: 04/10/2015, 10:26

... MR Controlled variables Manipulated variables Uncontrolled variables i i FIGURE 1.6 10 PROCESS MODELING, Disturbance SIMULATION, AND CONTROL FOR CHEMICAL ENGINEERS c Manipulated variable Controlled ... Congress Cataloging-in-Publlcatlon William L Luyben .-2 nd ed p cm Bibliography: p Includes index ISBN 6-6 7-6 3915 9-9 Chemical process- Math data processing., Chemi...

Ngày tải lên: 01/04/2014, 11:12

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... equation for minimal slippage is [Holland, 1983] A r' = B r Page 18 Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Figu...

Ngày tải lên: 12/12/2013, 21:16

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... K2A Navmaster robot (adapted from [Holland, 1983]) Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning The dead-reckoning c...

Ngày tải lên: 16/12/2013, 14:15

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... K2A Navmaster robot (adapted from [Holland, 1983]) Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning The dead-reckoning c...

Ngày tải lên: 19/01/2014, 19:20

Ngày tải lên: 13/02/2014, 08:20

... Modeling and Control Aspects of Wind Power Systems 18 Wind Farms [26] Z Li, F Zheng, Y Wu, and H Gao Offshore wind farm construction platform jack up control system World Non-Grid-Connected Wind ... is properly cited 2 Modeling and Control Aspects of Wind Power Systems simulator consists of multiple RACKs, each of which consist of both communic...

Ngày tải lên: 07/03/2014, 11:20

... basis for our face model and provides a foundation for many further face modeling and rendering operations, we have extended previous surface fitting techniques to allow a generic face to be conformed ... BRDFs of several subjects’ foreheads and include fitted parameters for the BRDF model of Lafortune et al [10], so they provide an excellent starting point for rendering a...

Ngày tải lên: 08/03/2014, 11:20

... system Mechanical systems with ˇ this special structure are referred to as nonholonomic Caplygin systems [52] 316 A De Luca, G.Oriolo NONHOLONOMIC MECHANICAL SYSTEMS 7.8 Control of Nonholonomic Systems ... consequences on the design of feedback controllers for nonholonomic systems, as we shall see in Section 7.8 7.4 Classification of Nonholonomic Systems On the...

Ngày tải lên: 01/04/2014, 00:20

... Receptors: Models for Binding, Trafficking, and Signalling D Lauffenburger and f Lindennan Process Dynamics, Modeling, and Control B Ogunnaike and W H Ray process dynamics, modeling, and control BABATUNDE ... of Process Dynamics, Modeling, and Control c~ntained in the iiJkbmin~apters Thus this chapter is an introductory oveAAew of process control and how...

Ngày tải lên: 01/04/2014, 11:11

... Network Modeling and Simulation for the Practicing Engineer Jack Burbank, William Kasch, Jon Ward AN INTRODUCTION TO NETWORK MODELING AND SIMULATION FOR THE PRACTICING ENGINEER Jack Burbank William ... relatively constant over the transmission of the message From Table 2-3, the IEEE 802.11 b and g channel bandwidth both exceeds and is below the...

Ngày tải lên: 02/04/2014, 15:49

... Subject CHAPTER Paragraph 4-5 4-5 4-6 4-7 4-8 4-9 4-1 4 4-1 4 4-9 4-2 1 5-1 5-1 5-2 5-1 5-3 5-1 6-1 6-1 6-2 6-1 6-3 6-1 0 6-4 6-1 0 6-5 6-6 6-7 6-1 0 6-1 0 6-1 7 7-1 7-2 7-1 7-1 7-3 7-4 7-5 7-2 7-1 1 7-2 1 UNCONFINED ... 9-5 9-6 9-7 9-8 9-9 9-1 9-1 9-1 9-4 8 9-5 8 9-6 2 9-8 3 9-8 4 1 0-1...

Ngày tải lên: 28/04/2014, 11:51