Wyniki wyszukiwania dla: OPERATIONAL PROCEDURE OF UNMANNED VEHICLE
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Challenges associated with the design of a small unmanned autonomous maritime vehicle
PublikacjaThe paper contains the preliminary results of the research connected with development of a small unmanned autonomous maritime vehicle. First of all a general description of research is introduced. Next, a concept of a vehicle is presented. Then, a brief description of a research method is given. Next, the current research problems under way are introduced. They concern the ballasting, motion and precise position stabilization system...
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Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image
PublikacjaThe paper presents the results of research on assessing the accuracy of angular position measurement relative to the sea horizon using a camera mounted on an unmanned bathymetric surveying vehicle of the Unmanned Surface Vehicle (USV) or Unmanned Aerial Vehicle (UAV) type. The first part of the article presents the essence of the problem. The rules of taking the angular position of the vehicle into account in bathymetric surveys...
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An Intergrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle
PublikacjaIn the paper the aim of an interdisciplinary research is presented. The research method is introduced. An object the unmanned autonomous maritime vehicle is briefly described. The key research problem concerns a combined model of the vehicle motion including the loads of lift and hydrodynamic nature. The model takes into account the gravity and displacement forces, resistance and thrust forces, lift and other hydrodynamic forces....
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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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A commercial of the shelf components for a unmanned air vehicle photogrammetry
PublikacjaA photogrammetry from a unmanned aerial vehicle (UAV) can be understood as a new measurement tool. Is introduces a low-cost alternatives for a traditional aerial photogrammetry. A commercial off-the-shelf products (COTS), that are commercially available for a costumers, are the standard manufactures products, not custom. COTS products are available in the commercial market and can be bought and used under government contract. That...
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A VISION-BASED UNMANNED AERIAL VEHICLE NAVIGATION METHOD
PublikacjaThe satellite navigation systems are the main position sources for unmanned aerial vehicles (UAVs). This fact limits the area of UAVs operation to the places where radio signals is visible for a satellite navigation system receiver, mounted on the vehicle-outdoor navigation. Closed spaced are unavailable for vehicles which navigation is based on global satellite navigation systems (GNSS). Miniature UAV (MiniUAV) is able to operate...
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Analysis of the possibility of determining the general characteristics using the operational data of a vehicle engine
PublikacjaThe paper presents an analysis of the possibility of determining the general characteristics using the operational data of an engine of refuse collection vehicle. Data acquisition was done by reading information from the CAN network using FMS standard (Fleet Management System), which is widely used in heavy duty vehicles since year 2002. The paper presents the analysis of the expected measurement uncertainties resulting from the...
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The concept of anti-collision system of autonomous surface vehicle
PublikacjaThe use of unmanned vehicles in various fields of science and the economy is becoming more common. An extremely important aspect of creating this type of solution is to provide autonomous vehicle navigation, which does not require interference of the human factor or in which it is limited to a minimum. This article discusses the concept of autonomous anti-collision system of unmanned surface vehicle. It proposed a sensor system...
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Towards the Development of a Risk Model for Unmanned Vessels Design and Operations
PublikacjaAn unmanned merchant vessel seems to be escaping from the stage of idea exploration. Once the concept proofs its safety, it may become a part of maritime reality. Although the safety aspect of such a ship has been addressed by a handful of scholars, the problem remains open. This is mainly due to lack of knowledge regarding actual operational circumstances and design of unmanned ships, which are yet to be developed. In the...
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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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Challenges associated with development of AUV - unmanned autonomous underwater vehicles to be operated using the AI-based control systems
PublikacjaThe last decade has been devoted towards further development of the UUV unmanned underwater vehicles which may be of two types. There are the USV unmanned surface vehicles and UUV unmanned underwater vehicles. There is a growing interest to work out and implement the fully advanced AUV autonomous underwater vehicles. The main drivers towards development of such the vehicles are the technologies of autonomous systems, sensors and...
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Modelling of performance of an AUV stealth vehicle. Design for operation.
PublikacjaIn the paper some results of research connected with modelling of performance and risk assessment of an AUV stealth vehicle are presented. A general approach to design of the stealth AUV autonomous underwater vehicle under consideration is introduced. The basic stealth characteristics of the AUV stealth vehicle are briefly described. The method of research is introduced. The AUV stealth vehicle concept is presented including the...
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Modeling of performance of an AUV stealth vehicle. Design for operation.
PublikacjaIn the paper some results of research connected with modelling of performance and risk assessment of an AUV stealth vehicle are presented. A general approach to design of the stealth AUV autonomous underwater vehicle under consideration is introduced. The basic stealth characteristics of the AUV stealth vehicle are briefly described. The method of research is introduced. The AUV stealth vehicle concept is presented including the...
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Using Alpha-beta filtration for robustness improvement of a quadrocopter positioning system
PublikacjaQuadrocopter is an unmanned aerial vehicle (UAV) platform. The position of the robot is determined based on readings from an accelerometer and a gyroscope, but the measurement signals contain broadband noise. This article describes a solution for filtering out the noise based on an Alpha – beta filter. It also presents the methodology of designing and implementing such a filter for noise cancellation in measurement signals from...
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Sensors and System for Vehicle Navigation
PublikacjaIn recent years, vehicle navigation, in particular autonomous navigation, has been at the center of several major developments, both in civilian and defense applications. New technologies, such as multisensory data fusion, big data processing, or deep learning, are changing the quality of areas of applications, improving the sensors and systems used. Recently, the influence of artificial intelligence on sensor data processing and...
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UUV and AUV Vehicles as the autonomous systems for naval applications
PublikacjaThere is a growing pressure to investigate how to design and build the unmanned underwater vehicles of different types which are devoted towards performing many tasks under the water surface according to the data missions. During the recent years the Department of Ship Design and Subsea Robotics, Faculty of Ocean Engineering and Ship Technology, Gdansk University of Technology designed and built a few types of unmanned underwater...
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Framework for Structural Health Monitoring of Steel Bridges by Computer Vision
PublikacjaThe monitoring of a structural condition of steel bridges is an important issue. Good condition of infrastructure facilities ensures the safety and economic well-being of society. At the same time, due to the continuous development, rising wealth of the society and socio-economic integration of countries, the number of infrastructural objects is growing. Therefore, there is a need to introduce an easy-to-use and relatively low-cost...
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Small rov to detection and identification of dangerous underwater objects
PublikacjaA small unmanned underwater vehicle (UUV) to inspection of an undersea space is presented in the paper. Its behavior is controlled by a trained pilot. Correct detection and identification of targets depends on vehicle'sprecise displacement along a predefined route. Nowadays, the UUVs are equipped with an automatic control system to execute some basic maneuvers without constant human interventions. Hence, in the paper, an autopilot...
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Autonomous Vehicle Navigation in Dense Urban Area in Global Positioning Context
PublikacjaAutonoumous vehicle services are likely to be adopted in dense urban area. Some research prove that autonomous transport might be capable of improving the transport needs of few times and as a consequence sustainability, congestion and safety may be improved. The world, hopefully is close to a transport revolution age. These studies are perhaps exaggerated, over-optimistic and far fro fully operational. The paper takes into account...
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Sensorless algorithm for sustaining controllability of IPMSM drive in electric vehicle after resolver fault
PublikacjaThis paper presents a sensorless algorithm designated for the emergency control of an interior permanent magnet synchronous motor (IPMSM) drive in electric or hybrid vehicle. The algorithm is based on analysing the derivatives of motor phase currents measured over the duration of particular inverter states. The method is computationally simple and does not require additional hardware since the derivatives are measured indirectly....