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Adaptive PID control system for an autonomous underwater vehicle

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High Technology Letters 2011年第1期17卷 7-12页

作者：王波 su yumin Wan Lei sun Yushan State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China

The control system of an autonomous underwater vehicle （AUV） is introduced. According to control requirements of the AUV, a simple but practical adaptive PID control method is designed The semi-physical simulation is done to test the feasibility of the control system. The neural network idea and the structure of PID controller are referred to design the adaptive PID controller. An intelligent integral is introduced to improve control precision. Compaed with traditional PID con- trollers, the adaptive PID controller has simple structure, good online adjusting ability, fast convergence and good robustness. The simulation experiments also show that the adaptive PID control system has high precision and fine antijamming ability.

关键词： autonomous underwater vehicle ( AUV) control system adaptive PID control semi-physical simulation

Fluid dynamics of a self-propelled biomimetic underwater vehicle with pectoral fins

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Journal of Ocean Engineering and Science 2021年第2期6卷 160-169页

作者： Ningyu Li Jiayuan Zhuang Yazhou Zhu Guangsheng su yumin su Science and Technology on Underwater Vehicle Laboratory Harbin Engineering UniversityHarbinHeilongjiang 150001China School of Naval Architecture&Ocean Engineering Jiangsu University of Science and TechnologyZhenjiangJiangsu 212003China

Fluid dynamics of a self-propelled biomimetic underwater vehicle(BUV)with pectoral fins is investigated by an immersed boundary(IB)***,the BUV with a pair of pectoral fins starts from rest and attains a constant mean velocity as the mean longitudinal force is *** capability and accuracy of the IB method to deal with the interaction between the fluid and complex moving body are firstly *** we carry out a parametric study to understand the effect of key governing parameters on the dynamic response of the *** is found that with the increase of motion frequency or rolling amplitude,the pectoral fin propulsors can induce larger forward velocity so that the BUV takes less time to attain its stable periodic swimming *** the pectoral fin is a very complicated lifting surface,a linear relationship between forward Reynolds number(final swimming velocity is used as velocity scale)and frequency Reynolds number(product of motion frequency and fin chord length is used as velocity scale)can be established when the frequency Reynolds number is above a critical value.A linear relationship between forward Reynolds number and rolling amplitude is also found within the studied range of rolling ***,a small-density-ratio BUV is sensitive to the surrounding flow with more rapid evolution process of ***,BUV with a large density ratio is more *** implications of the hydrodynamic analysis on the bio-inspired engineering design of BUV with pectoral fins are also discussed.

关键词： Fluid dynamics Self-propelled Underwater vehicle Pectoral fin Immersed boundary method Biomimetic

HPSO-based fuzzy neural network control for AUV

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控制理论与应用（英文版） 2008年第3期6卷 322-326页

作者： Lei ZHANG Yongjie PANG yumin su Yannan LIANG School of Naval Architecture Harbin Engineering University Harbin Heilongjiang 150001 China

A fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainties in manual adjustments, a hybrid particle swarm optimization （HPSO） algorithm based on immune theory and nonlinear decreasing inertia weight （NDIW） strategy is proposed. Owing to the restraint factor and NDIW strategy, an HPSO algorithm can effectively prevent premature convergence and keep balance between global and local searching abilities. Meanwhile, the algorithm maintains the ability of handling multimodal and multidimensional problems. The HPSO algorithm has the fastest convergence velocity and finds the best solutions compared to GA, IGA, and basic PSO algorithm in simulation experiments. Experimental results on the AUV simulation platform show that HPSO-based controllers perform well and have strong abilities against current disturbance. It can thus be concluded that the proposed algorithm is feasible for application to AUVs.

关键词： Autonomous underwater vehicle Fuzzy neural network Model reference adaptive control Particle swarm optimization algorithm Immune theory

Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV

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Journal of Marine Science and Application 2011年第3期10卷 333-339页

作者： Jian Cao yumin su Jinxin Zhao State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China

Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.

关键词： adaptive control back-stepping trajectory tracking autonomous underwater vehicle dive-plane control

An Adaptive Obstacle Avoidance Algorithm for Unmanned surface Vehicle in Complicated Marine Environments

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IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 385-396页

作者： Rubo Zhang Pingpeng Tang yumin su Xueyao Li Ge Yang Changting Shi the College of Computer Science and Technology Harbin Engineering UniversityHarbin 150001China College of Electromechanical and Information Dalian Nationalities University the College of Computer Science and Technology Harbin Engineering UniversityHarbin 150001China Wuhan Second Ship Design and Research Institute the National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University

Unmanned surface vehicles(USVs) are important autonomous marine robots that have been studied and gradually applied into practice. However, the autonomous navigation of USVs, especially the issue of obstacle avoidance in complicated marine environment, is still a fundamental problem. After studying the characteristics of the complicated marine environment, we propose a novel adaptive obstacle avoidance algorithm for USVs,based on the Sarsa on-policy reinforcement learning *** proposed algorithm is composed of local avoidance module and adaptive learning module, which are organized by the “divide and conquer” strategy-based architecture. The course angle compensation strategy is proposed to offset the disturbances from sea wind and currents. In the design of payoff value function of the learning strategy, the course deviation angle and its tendency are introduced into action rewards and penalty policies. The validity of the proposed algorithm is verified by comparative experiments of simulations and sea trials in three sea-state marine environments. The results show that the algorithm can enhance the autonomous navigation capacity of USVs in complicated marine environments.

关键词： Algorithm design and analysis Collision avoidance Learning (artificial intelligence) Marine technology Mobile robots Navigation Sea surface Unmanned aerial vehicles “divide and conquer” strategy Sarsa on-policy reinforcement learning algorithm Unmanned surface vehicle adaptive obstacle avoidance algorithm complicated marine environment Obstacle avoidance vehicle UNMANNED sublittoral zone Unmanned Aerial Vehicle Algorithm design and analysis Divide and conquer navigation Marine technology Ground vehicles drone honey bees Collision avoidance algorithms sea surface Mobile robots

Numerical Calculation of Marine Propeller Hydrodynamic Characteristics in Unsteady Flow by Boundary Element Method

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中国造船 2001年第4期42卷 12-22页

作者： su yumin HUANG Sheng(Harbin Engineering University) IKEHATA Mitsuhisa KAI Hisashi(Yokohama National University) Harbin Engineering University Yokohama National University

In this paper, a low order potential based on surface panel method is used for the analysis of marine propellers in unsteady flow. A linear propeller wake model is employed and its geometry is assumed to be independent of the time. The calculation in time domain is carried out from a moment when the rotation of the propeller becomes steady instead of from the moment when the rotation starts from stationary condition. At every time step a linear algebraic equation established on a key blade is solved numerically combined with the Kutta pressure condition. The calculated results by developed code indicate good convergency and effectiveness of present algorithm for conventional propellers and highly skewed propellers.

关键词：流体动力学原理方法特征边界推进器船舶数字计算不稳定流动

Recent advances of cerium oxide nanoparticles in synthesis, luminescence and biomedical studies: a review

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Journal of Rare Earths 2015年第8期33卷 791-799页

作者：何立莹苏玉民蒋兰宏石士考 College of Chemistry and Materials Science Key Laboratory of Inorganic Nanomaterials of Hebei Province Hebei Normal University

Nanostructured cerium oxide （CeO2） commonly known as nanoceria is a rare earth metal oxide, which plays a technologically important role due to its versatile applications as antomobile exhaust catalysts, oxide ion conductors in solid oxide fuel cells, electrode materials for gas sensors, ultraviolet absorbents and glass-polishing materials. However, nanoceria has little or weak luminescence, and therefore its uses in high-performance luminescent devices and biomedical areas are limited. In this review, we present the recent advances of nanoceria in the aspects of synthesis, luminescence and biomedical studies. The CeO2 nanoparticles can bc synthesized by solution-based methods including co-precipitation, hydrothemlal, microemulsion process, sol-gel techniques, combustion reaction and so on. Achieving controlled morphologies and enhanced luminescence efficiency of nanoceria particles arc quite essential for its potential energyand environment-related applications. Additionally, a new fiontier for nanoccria particles in biomedical research has also been opened, which involves low toxicity, retinopathy, biosensors and cancer therapy aspects. Finally, the summary and outlook on the challenges and perspectives of the nanoceria particles are proposed.

关键词： cerium oxide nanoparticle controlled synthesis luminescence biomedical rare earths

RANSE Simulation of High-speed Planning Craft in Regular Waves

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Journal of Marine Science and Application 2012年第4期11卷 447-452页

作者： Shuo Wang yumin su Xi Zhang Jinglei Yang State Key Laboratory of Autonomous Underwater Vehicle Harbin engineering UniversityHarbin 150001China

This paper presents a study on the numerical simulation of planing crafts sailing in regular waves. This allows an accurate estimate of the seas keeping performance of the high speed craft. The simulation set in six-degree of freedom motions is based on the Reynolds averaged Navier Stokes equations volume of fluid （RANSE VOF） solver. The trimming mesh technique and integral dynamic mesh method are used to guarantee the good accuracy of the hydrodynamic force and high efficiency of the numerical simulation. Incident head waves, oblique waves and beam waves are generated in the simulation with three different velocities （Fn =1.0, 1.5, 2.0）. The motions and sea keeping performance of the planing craft with waves coming from different directions are indicated in the flow solver. The ship designer placed an emphasis on the effects of waves on sailing amplitude and pressure distribution of planing craft in the configuration of building high speed crafts.

关键词： planing craft RANSE VOF solver high-speed planning craft hydrodynamic performance regular waves

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西域的供养人、工匠与窟寺营造

西域研究 2007年第4期 74-83页

作者：苏玉敏北京大学考古文博学院

本文主要是根据吐鲁番文书以及新疆石窟或寺院中的壁画、题记、账册、碑铭,探讨供养人、工匠在窟寺营造中的关系,以及工匠修建窟寺的报酬和工匠的来源。

关键词：石窟寺营造供养人工匠