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Wyniki wyszukiwania dla: autonomous underwater robots
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Power Hardware-In-the-Loop Approach for Autonomous Power Generation System Analysis
PublikacjaThe article presents the Power Hardware-In-the-Loop (PHIL) dynamic model of a synchronous generator of 125 kVA for autonomous power generation system analysis. This type of system is typically composed of electrical energy sources in the form of several diesel generator units with synchronous machines, the main distribution switchboard and different loads. In modern power distribution systems, the proposed power management strategies...
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Adaptive Identification of Underwater Acoustic Channel with a Mix of Static and Time-Varying Parameters
PublikacjaWe consider the problem of identification of communication channels with a mix of static and time-varying parameters. Such scenarios are typical, among others, in underwater acoustics. In this paper, we further develop adaptive algorithms built on the local basis function (LBF) principle resulting in excellent performance when identifying time-varying systems. The main drawback of an LBF algorithm is its high complexity. The subsequently...
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Autonomous Perception and Grasp Generation Based on Multiple 3D Sensors and Deep Learning
PublikacjaGrasping objects and manipulating them is the main way the robot interacts with its environment. However, for robots to operate in a dynamic environment, a system for determining the gripping position for objects in the scene is also required. For this purpose, neural networks segmenting the point cloud are usually applied. However, training such networks is very complex and their results are unsatisfactory. Therefore, we propose...
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Trolleybus with traction batteries for autonomous running
PublikacjaIn 2009 the transport company of city Gdynia (Poland) introduced in the operation trolleybuses fitted with traction batteries. This solution was designed for emergency situations, such as: damage of overhead lines or power loss. Transport company also considering the use of batteries in regular use. The article presents the operational experiences gained during the current operation. Furthermore, there are presented new trends...
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Trolleybuses with traction batteries for autonomous running
PublikacjaIn 2009 the transport company of city Gdynia (Poland) introducet in the operation trolleybuses fitted with traction batteries. This solution was designed for emergency situations, such as: damage of overhead lines or power loss. Transport company also considering the use of batteries in regular use. The article presents the operational experiences gained during the current operation. Furthermore, there are presented new trends...
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Intelligent integration for autonomous manufacturing systems
PublikacjaW artykule zaproponowano inteligentną platformę integracyjną dla autonomicznych systemów produkcyjnych. Autonomie zdefiniowano w pracy jako samowystarczalne zamkniecie informacyjne. Inteligencje natomiast zdefiniowana jako umiejętność podejmowania właściwych decyzji w zmiennym otoczenie. Platformę integracyjną oparto na technice systemów ekspertowych.
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Design and Evaluation of the Compact and Autonomous Energy Subsystem of a Wave Energy Converter
PublikacjaThis paper presents the results of the design process focused on the development of the energy subsystem (ES) of a wave energy converter (WEC). The ES is an important electrical part that significantly affects the energy reliability and energy efficiency of the entire WEC device. The designed ES was intended for compact WECs powering IoT network devices working in the distributed grid. The developed ES is an electronic circuit...
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Design of an Autonomous IoT Node Powered by a Perovskite-Based Wave Energy Converter
PublikacjaThis paper presents the results of experimental research focused on wave energy harvesting and its conversion to power Internet of Things (IoT) devices. The harvesting and conversion process was performed using a wave energy converter (WEC) consisting of a lead zirconate titanate piezoelectric ceramic perovskite material and a prototype power electronic circuit. The designed WEC was considered as a power supply for an end node...
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Weldability of Underwater Wet-Welded HSLA Steel: Effects of Electrode Hydrophobic Coatings
PublikacjaThe paper presents the effects of waterproof coatings use to cover electrodes on the weldability of high-strength, low-alloy (HSLA) steel in water. With the aim of improving the weldability of S460N HSLA steel in water, modifications of welding filler material were chosen. The surfaces of electrodes were covered by different hydrophobic substances. The aim of the controlled thermal severity (CTS) test was to check the influence...
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Reliable OFDM Data Transmission with Pilot Tones and Error-Correction Coding in Shallow Underwater Acoustic Channel
PublikacjaThe performance of Underwater Acoustic Communication (UAC) systems are strongly related to the specific propagation conditions of the underwater channel. Horizontal, shallow-water channels are characterised by extremely disadvantageous transmission properties, due to strong multipath propagation and refraction phenomena. The paper presents the results of communication tests performed during a shallow, inland-water experiment with...
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Diffusible hydrogen management in underwater wet self-shielded flux cored arc welding
PublikacjaThis article reports the effect of underwater wet welding parameters and conditions on the diffusible hydrogen content in deposited metal for welding with a self-shielded flux cored wire. The diffusible hydrogen content in deposited metal was determined using the glycerin method according to the Plackett-Burman design determining the significance of the effect of the stick out length, welding current, arc voltage, travel speed...
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Assessment of Wide-Sense Stationarity of an Underwater Acoustic Channel Based on a Pseudo-Random Binary Sequence Probe Signal
PublikacjaThe performances of Underwater Acoustic Communication (UAC) systems are strongly related to the specific propagation conditions of the underwater channel. Designing the physical layer of a reliable data transmission system requires a knowledge of channel characteristics in terms of the specific parameters of the stochastic model. The Wide-Sense Stationary Uncorrelated Scattering (WSSUS) assumption simplifies the stochastic description...
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a rule for vibration surveillance of manipulators in order to improve operating parameters of industrial robots
PublikacjaPrzedmiotem rozważań są drgania układu nośnego manipulatora IRb-6. Proponowane podejście ma na celu minimalizację poziomu drgań końcówki manipulatora. Dla niestacjonarnego układu sterowanego, którego zachowanie opisano we współrzędnych uogólnionych, zdefiniowano energetyczny wskaźnik jakości uwzględniający energię kinetyczną i potencjalną układu, a także - chwilową energię sygnału sterującego. Dalsze rozważania dotyczą tymczasowego...
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A method for testing the wide-sense stationary uncorrelated scattering assumption fulfillment for an underwater acoustic channel
PublikacjaWide-sense stationary and uncorrelated scattering (WSSUS) assumptions are often applied for the statistical description of wireless communication channels. However, in the case of underwater acoustic channels the WSSUS model is of limited value. The degree of similarity of in-phase and quadrature components of the channel impulse response, measured with the use of bandpass modulated signals, can be used as an indicator of WSSUS...
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Underwater welded joint properties investigation
PublikacjaPrzeprowadzono badania mikro- i makroskopowe złączy spawanych typu implant wykonanych pod wodą metodą lokalnej komory suchej. Wyniki badań świadczą o tym, że w SWC badanych złączy tworzą się kruche struktury hartownicze, które są odpowiedzialne za zwiększoną skłonność stali o podwyższonej wytrzymałości do tworzenia pęknieć zimnych. Analiza rozkładów twardości złączy implant również potwierdza istnienie szkodliwego wpływu środowiska...
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Effect of underwater local cavity welding method conditions on diffusible hydrogen content in deposited metal
PublikacjaOne of the methods with great potential for applications in underwater repairs is local cavity welding. In local cavity method, cooling conditions and diffusible hydrogen amount in weld metal are nearly the same as those existed during welding in the air. This paper presents the results of literature survey and preliminary tests of the effect of local cavity welding conditions on diffusible hydrogen amount in a deposited metal....
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Adaptive identification of sparse underwater acoustic channels with a mix of static and time-varying parameters
PublikacjaWe consider identification of sparse linear systems with a mix of static and time-varying parameters. Such systems are typical in underwater acoustics (UWA), for instance, in applications requiring identi- fication of the acoustic channel, such as UWA communications, navigation and continuous-wave sonar. The recently proposed fast local basis function (fLBF) algorithm provides high performance when identi- fying time-varying systems....
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Modeling of performance and safety of a multi-task unmanned autonomous maritime vehicle = Modelowanie ruchu i bezpieczeństwa wielozadaniowego bezzałogowego autonomicznego pojazdu wodnego
PublikacjaAt the beginning of the paper the aim of research is presented. Then the method is introduced. Next, the unmanned autonomous maritime vehicle is briefly described. The following chapter concerns a model of vehicle performance including the ballasting and motion. Some information on an integrated steering, positioning and stabilization system of the vehicle is briefly presented in the paper. Such the system enables to obtain a fully...
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Comparative Analysis of Salient and Non-Salient Pole Brushless Synchronous Generator for Application in Autonomous Electric Power System
PublikacjaThis paper presents a comparative study of two types of brushless synchronous generator for application in autonomous electric power systems (e.g. airplane power grid). Commercially used salient pole and a prototype non-salient pole high speed multi-pole brushless synchronous generator (BSG) have been presented. Comparative analysis of both types of the generator has been performed. Chosen simulation (using FEM and circuit models)...
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Knowledge processing methodologies in intelligent autonomous systems
PublikacjaPrzedstawiono najnowsze trendy oraz stan badań światowych w zakresie wspomagania procesów zarządzania wiedzą w inteligentnych systemach autonomicznych.
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Examining Impact of Speed Recommendation Algorithm Operating in Autonomous Road Signs on Minimum Distance between Vehicles
PublikacjaAn approach to a new kind of recommendation system design that suggests safe speed on the road is presented. Real data obtained on roads were used for the simulations. As part of a project related to autonomous road sign development, a number of measurements were carried out on both local roads and expressways. A speed recommendation model was created based on gathered traffic data employing the traffic simulator. Depending on...
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A New Direct-Sequence Spread Spectrum Signal Detection Method for Underwater Acoustic Communications in Shallow-Water Channel
PublikacjaDirect-Sequence Spread Spectrum (DSSS) is one of the modulation and coding techniques used in Underwater Acoustic Communication (UAC) systems for reliable data transmision even at low signal levels. However, in a shallow water channel, there is a strong multipath propagation which causes a phase fluctuation of the received signal, affecting the performance of the spread-spectrum system. The article presents a differential method...
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The modal control vibration surveillance of manipulators as a mean of improving operating parameters of industrial robots.
PublikacjaNowe zastosowania robotów, a przede wszystkim - operacje szybkiego montażu, technika kosmiczna oraz operacje manipulacyjne dużymi masami (niekiedy przekraczającymi masę własną manipulatora), stawiają przed robotami coraz to większe wymagania dotyczące m.in. dużej dokładności i powtarzalności pozycjonowania. Spełnienie powyższych wymagań, bez redukcji poziomu drgań występujących w układzie nośnym manipulatora, jest trudne do uzyskania....
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Machine Learning for Control Systems Security of Industrial Robots: a Post-covid-19 Overview
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Robots for Elderly Care: Review, Multi-Criteria Optimization Model and Qualitative Case Study
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Study of probe signal bandwidth influence on estimation of coherence bandwidth for underwater acoustic communication channel
PublikacjaA signal transmitted in a shallow Underwater Acoustic Communication (UAC) channel suffers from time dispersion due to the multipath propagation and the refraction phenomena. This causes intersymbol interference of the received signal and frequency-selective fading observed in its spectrum. Coherence bandwidth is one of the key transmission parameters used for designing the physical layer of a data transmission system to minimise...
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OFDM modulation and adaptive equalisation for underwater communications.
PublikacjaWłasności transmisyjne płytkiego kanału podwodnego są ograniczone ze względu na wielokrotne odbicia fal dźwiękowych od dna i powierzchni wody oraz ze względu na niestacionarność powodowaną głównie przez ruch powierzchni wody. W celu minimalizacji wpływu interferencji międzysymbolowych, powodowanych przez wielodrogową propagację fal dźwiękowych, w tradycyjnych wąskopasmowych modemach telekomunikacyjnych stosowane są złożone equalizery...
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A parametric method for preliminary determination of underwater vehiclesdeadweight
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Weldability of high strength steel in underwater environment
PublikacjaThe article describes the problems with weldability of high-strength steels in the aquatic environment. The tendency of steel S355J2G3 and S500M to form cold cracks when welded in wet welding conditions has been experimentally evaluated. It was found that the tested steels have a high propensity to cracking. An experiment has been proposed and tested to evaluate the usefulness of the tempering bead technique as a method of improving...
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Smart Underwater Positioning System and Simultaneous Communication
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New methods of underwater ship noise classification
PublikacjaDetekcja, klasyfikacj, identyfikacja i rozpoznanie cech hałasu generowanego przez statki jest bardzo istotna z punku widzenia naukowego i obronnego. Włożono wiele wysiłku w rozwój technologii sonarów pasywnych, która umożliwia zastosowanie hałasów podwodnych do celów praktycznych. Przedstawiono wyniki badań, które ukazują możliwości wykorzystania sieci neuronowej do klasyfikacji źródeł generowanych przez układy mechaniczne, odpowiadających...
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Review of Autonomous and Remotely Controlled Ships in Maritime Sector
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A Time Delay Controller Included Terminal Sliding Mode and Fuzzy Gain Tuning for Underwater Vehicle-Manipulator Systems
PublikacjaAn improved Time Delay Control (TDC) method for an Underwater Vehicle-Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a time-delay-estimation term that cancels nonlinearities of the UVMS dynamics, a Terminal Sliding Mode (TSM) term that provides a fast response and a PID term that reduces the tracking error. In addition the proposed controller uses fuzzy rules to adaptively tune the gains...
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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm
PublikacjaThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control...
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Application of unmanned USV surface and AUV underwater maritime platforms for the monitoring of offshore structures at sea
PublikacjaThe operation of offshore structures at sea requires the implementation of advanced systems for their permanent monitoring. There is a set of novel technologies that could be implemented to deliver a higher level of effective and safe operation of these systems. A possible novel solution may be the application of a new maritime unmanned (USV) surface and underwater vehicles/platforms (AUV). Application of such vehicles/platforms...
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3D Object Shape Reconstruction from Underwater Multibeam Data and Over Ground Lidar Scanning
PublikacjaThe technologies of sonar and laser scanning are an efficient and widely used source of spatial information with regards to underwater and over ground environment respectively. The measurement data are usually available in the form of groups of separate points located irregularly in three-dimensional space, known as point clouds. This data model has known disadvantages, therefore in many applications a different form of representation,...
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Effect of User Mobility upon Trust Building among Autonomous Content Routers in an Information-Centric Network
PublikacjaThe capability of proactive in-network caching and sharing of content is one of the most important features of an informationcentric network (ICN). We describe an ICN model featuring autonomous agents controlling the content routers. Such agents are unlikely to share cached content with other agents without an incentive to do so. To stimulate cooperation between agents, we adopt a reputation and trust building scheme that is able...
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Framework of an Evolutionary Multi-Objective Optimisation Method for Planning a Safe Trajectory for a Marine Autonomous Surface Ship
PublikacjaThis paper represents the first stage of research into a multi-objective method of planning safe trajectories for marine autonomous surface ships (MASSs) involved in encounter situations. Our method applies an evolutionary multi-objective optimisation (EMO) approach to pursue three objectives: minimisation of the risk of collision, minimisation of fuel consumption due to collision avoidance manoeuvres, and minimisation of the extra...
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Side Fins Performance in Biomimetic Unmanned Underwater Vehicle
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Low-Cost Underwater Communication System: A Pilot Study
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The analysis of hydrodynamic forces and shape of towrope for an underwater vehicle
PublikacjaOpisano metodę obliczania sił hydrodynamicznych oraz kształtu liny holującej pojazd podwodny pod wpływem sił indukowanych przez opływ wody wokół liny i pojazdu. Siły indukowane na linie obliczane są za pomocą równania Morison'a, natomiast siły i momenty na kadłubie pojazdu za pomocą współczynników sił hydrodynamicznych, zależnych od kątów natarcia i prękości holowania pojazdu. Przykłady obliczeń dla pojazdu podwodnego zostały wykonane...
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Underwater robot actuated by shape memory alloy wires
PublikacjaW pracy przedstawiono koncepcję projektu robota podwodnego z napędem wykorzystującym materiały SMA ze stopów z pamięcią kształtu. Rozpatrywany układ ma budowę modułową złożoną z segmentów na podobieństwo do anatomicznej budowy dżdżownicy. Pojedyńczy segment składa się z dwóch okrągłych tarcz, pomiędzy którymi umieszczono balon wypełniony wodą. Wielkość balonu jest dopasowana w taki sposób do rozmiarów tarcz oraz długości sprężyn...
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The analysis of the system towing rope with long underwater object
PublikacjaW artykule zawarta jest analiza zestawu złożonego z liny holującej i długiego obiektu podwodnego o małej sprężystości.Sformułowane zagadnienie brzegowe rozwiązywane jest iteracyjnie z zastosowaniem metody elementów skończonych. Z warunków brzegowych znany jest punkt zaczepienia liny holującej na okręcie oraz głębokość na jaką zanurza się koniec holowanego obiektu. Rozwiązanie tego zagadnienia doprowadziło do równań źle uwarunkowanych...
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Adaptation of telecommunication modem techniques for underwater communication systems.
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Interference between Land and Sea Logistics Systems. Multifunctional Building System Design Towards Autonomous Integrated Transport Infrastructure
PublikacjaThe research is focused on developing design theory towards efficient multifunctional facilities for logistics supply chains in the contemporary urban city structures. The development of modern systems based on autonomous transport creates new conditions for their management and generates an emerging need to define dedicated functional service structures. An important element of consideration also taken into account is the scenario...
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Exploring the technological dimension of Autonomous sensory meridian response-induced physiological responses Cite this as Seifzadeh S, Kostek B. 2024. Exploring the technological dimension of Autonomous sensory meridian response-induced physiological responses. PeerJ 12:e17754 https://doi.org/10.7717/peerj.17754
PublikacjaBackground In recent years, the scientific community has been captivated by the intriguing Autonomous sensory meridian response (ASMR), a unique phenomenon characterized by tingling sensations originating from the scalp and propagating down the spine. While anecdotal evidence suggests the therapeutic potential of ASMR, the field has witnessed a surge of scientific interest, particularly through the use of neuroimaging techniques...
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Autonomous Energy Matching Control in an LLC Induction Heating Generator
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Autonomous control of a mobile robot to explore areas with difficult terrain
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Autonomous Sensory Meridian Response (ASMR): The time perception approach
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Research Toward The Optical Equipment For An Autonomous Robot For TviV Environment
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