Sökning: "Autonoma Undervattensfarkoster AUV"

Hittade 5 avhandlingar innehållade orden Autonoma Undervattensfarkoster AUV.

  1. 1. Hydrobatics: Real-time Control, Simulation and Learning for Underactuated AUVs in Agile Maneuvers

    Författare :Sriharsha Bhat; Ivan Stenius; Dimos V. Dimarogonas; Massimo Caccia; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; utonomous Underwater Vehicles; Underactuated Systems; Model Predictive Control; Hybrid Systems; Simulation; System Identification; Adaptive Sampling; Cyber-physical Systems.; Autonoma Undervattensfarkoster AUV ; Modellering; Simulering; Modelprediktiv kontroll MPC ; Systemidentifiering; Adaptiv mätning; Fältförsök; Cyber-fysikaliska System CPS .; Farkostteknik; Vehicle and Maritime Engineering;

    Sammanfattning : The term hydrobatics refers to the agile maneuvering of underwater vehicles. Underwater robots such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) are either designed as flight style, optimized for range and speed, or hover style, optimized for precise maneuverability. LÄS MER

  3. 2. Hydrobatics: Efficient and Agile Underwater Robots

    Författare :Sriharsha Bhat; Ivan Stenius; Dimos V. Dimarogonas; Alexander Phillips; KTH; []
    Nyckelord :Autonomous Underwater Vehicles; Modeling; Simulation; Control; Field Testing; Cyber-physical Systems.; Autonoma Undervattensfarkoster AUV ; Modellering; Simulering; Reglerteknik; Fältprovning; Cyber-fysikaliska System CPS .; Vehicle and Maritime Engineering; Farkostteknik;

    Sammanfattning : The term hydrobatics refers to the agile maneuvering of underwater vehicles. Hydrobatic capabilities in autonomous underwater vehicles (AUVs) can enable increased maneuverability without a sacrifice in efficiency and speed. This means innovative robot designs and new use case scenarios are possible. LÄS MER

  4. 3. On the Performance of Long-Range Autonomous Underwater Vehicles : Enhancing the Endurance of AUVs

    Författare :Clemens Deutsch; Jakob Kuttenkeuler; Roger Berg; Martin Ludvigsen; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Autonomous underwater vehicles; Underwater gliders; Propulsion; Fuel cell; Energy management strategies; Autonom undervattensfarkost; Undervattensglidning; Propulsion; Bränslecell; Energy Management Strategies; Vehicle and Maritime Engineering; Farkostteknik;

    Sammanfattning : Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to gather environmental data, provide bathymetric images, and perform manipulation tasks. These robots are used not only for scientific, but also for industrial and military purposes. LÄS MER

  5. 4. Data-driven Approaches to Uncertainty Modelling for SLAM in the Open Sea

    Författare :Ignacio Torroba; John Folkesson; Patric Jensfelt; John Leonard; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Datalogi; Computer Science;

    Sammanfattning : Autonomous underwater vehicles (AUVs) equipped with multibeam echo-sounders have become indispensable tools for bathymetric mapping due to their ability to reach seabed regions inaccessible to surface vessels. However, the closer proximity to the survey area comes at the expense of a growing error in the AUV global pose estimate due to the lack of prior maps or a geo-referencing system underwater, such as GPS. LÄS MER

  7. 5. Optimizing Ocean Feature Estimation and Tracking through Adaptive Sampling and Formation Control of Autonomous Underwater Vehicles

    Författare :Joana Filipa Gouveia Fonseca; Karl H. Johansson; Nina Mahmoudian; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Increased ocean temperatures caused by climate change are expected to lead to more frequent and severe harmful algal blooms, which deteriorate water quality, cause human illness and fish mortality. Scientific understanding of algal blooms and their dynamics is limited due to the lack of data from such ocean phenomena. LÄS MER