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Depth Control of an Autonomous Underwater Vehicle in Situational Awareness a Mission
Igor Astrov,Ennu Rustern 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller to govern the process. With the SA strategy, we proposed a two stage depth control procedure using two adaptive neural networks to address the dynamics variation and performance requirement difference in various stages of AUV’ trajectory for a nontrivial mid-small size AUV “2D4” model. Two adaptive neural network controllers are designed for fast and stable diving maneuvers of this AUV model. This hybrid control strategy for chosen AUV model has been verified by simulation of diving maneuvers using software package Simulink and demonstrated good performance for fast SA in real-time search-and-rescue operations.
Igor Astrov,Andrus Pedai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper focuses on a critical component of the situational awareness, the neural control of autonomous vertical flight for an unmanned aerial vehicle. Autonomous vertical flight is a challenging but important task for tactical unmanned aerial vehicles to achieve high level of autonomy under adverse conditions. The fundamental requirement for vertical flight is the knowledge of the height above the ground, and a properly designed controller to govern the process. With the situational awareness strategy, we proposed a two stage flight control procedure using two adaptive neural networks to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial small-scale helicopter model comprising five states, two inputs and two outputs. This control strategy for chosen helicopter model has been verified by simulation of descending and landing manoeuvres using software package Simulink and demonstrated good performance for fast situational awareness in real-time search-and-rescue operations.
Predictive Analysis of the ITER Poloidal Field Conductor Insert (PFCI) Test Program
Zanino, R.,Astrov, M.,Bagnasco, M.,Baker, W.,Bellina, F.,Ciazynski, D.,Egorov, S.,Kim, K.,Kvitkovic, J.L.,Lacroix, B.,Martovetsky, N.,Mitchell, N.,Muzzi, L.,Nunoya, Y.,Okuno, K.,Polak, M.,Ribani, P.L. IEEE 2007 IEEE transactions on applied superconductivity Vol.17 No.2
<P>In this paper, we discuss the predictive analysis performed in support of the test program of the International Thermonuclear Experimental Reactor (ITER) poloidal field conductor insert (PFCI). A subset of the test program items was considered, with particular emphasis on DC performance and AC losses. The results and implications of the comparison of selected predictions from different laboratories will be presented.</P>