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Author: | Qu, Zengcai |
Title: | Intelligent diving control of Lagrangian type of underwater robot |
Publication type: | Master's thesis |
Publication year: | 2009 |
Pages: | 72 s. + liitt. Language: eng |
Department/School: | Automaatio- ja systeemitekniikan laitos |
Main subject: | Automaatiotekniikka (Aut-84) |
Supervisor: | Vainio, Mika ; Hyyppä, Kalevi ; Hyyppä, Kalevi |
Instructor: | Aro, Eemeli |
Electronic version URL: | http://urn.fi/URN:NBN:fi:aalto-201203071287 |
OEVS: | Electronic archive copy is available via Aalto Thesis Database.
Instructions Reading digital theses in the closed network of the Aalto University Harald Herlin Learning CentreIn the closed network of Learning Centre you can read digital and digitized theses not available in the open network. The Learning Centre contact details and opening hours: https://learningcentre.aalto.fi/en/harald-herlin-learning-centre/ You can read theses on the Learning Centre customer computers, which are available on all floors.
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Location: | P1 Ark TKK 6639 | Archive |
Keywords: | underwater robot swarm system diving control optimal energy consumption environment model environment based control |
Abstract (eng): | The SWARM underwater system, which consists of multiple, homogenous robots, is a project for monitoring the Baltic Sea environments. The unit of the system is a Lagrangan type rosot which can control its depth by changing the buoyancy using a piston engine, and moves otherwise freely with the sea water flows. The depth control of the robots is very important for the performance of the whole system. This thesis provides an energy optimal diving control algorithm for the SWARM robots to improve the performance and energy consumption of the diving process. De to the nonlinear environment and dynamics, most of the classical theories may not achieve good results and consume much energy. The environment based depth control algorithm estimates the water density by a density model, which is built from previous information or measurement. By reducing the piston movements, much energy can be saved than the previous control algorithm. The Baltic environments are studied and the physical water properties including salinity, temperature, pressure and density are analyzed. Result proves the availability of the seawater properties model in diving control. Different methods of measuring seawater density and updating the environment model are evaluated, and the environment based control algorithm is tested in the simulator. Error and energy consumption are analyzed and the result shows the diving performance is improved significantly. |
ED: | 2009-09-09 |
INSSI record number: 38306
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