Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781443
M. H. Nordin, S. Rajendran, Sanjay K. Sharma, Asiya Khan, M. Gianni, R. Sutton
The collaboration of Unmanned Surface Vehicle (USV) and Unmanned Aerial Vehicle (UAV) for offshore inspections heavily depends on a relative localization system. For inspection data, it needs to be tied to an absolute coordinate of an offshore asset. The missing of an absolute coordinate system for inspection data related to the offshore asset may cause future monitoring or repair works to become tedious and time-consuming since precise locations are unknown. An approach to identify the origin of an absolute coordinate based on intelligent object recognition is proposed. However, ongoing works are still in progress and the results in terms of the performance and reliability of the proposed approach have not yet been established. Nevertheless, further strategies for anchoring the USV and UAV to an offshore asset have been discussed in this paper.
{"title":"Extended Abstract: Intelligent Position Anchoring for Collaborative Unmanned Surface-Aerial Vehicle","authors":"M. H. Nordin, S. Rajendran, Sanjay K. Sharma, Asiya Khan, M. Gianni, R. Sutton","doi":"10.1109/Control55989.2022.9781443","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781443","url":null,"abstract":"The collaboration of Unmanned Surface Vehicle (USV) and Unmanned Aerial Vehicle (UAV) for offshore inspections heavily depends on a relative localization system. For inspection data, it needs to be tied to an absolute coordinate of an offshore asset. The missing of an absolute coordinate system for inspection data related to the offshore asset may cause future monitoring or repair works to become tedious and time-consuming since precise locations are unknown. An approach to identify the origin of an absolute coordinate based on intelligent object recognition is proposed. However, ongoing works are still in progress and the results in terms of the performance and reliability of the proposed approach have not yet been established. Nevertheless, further strategies for anchoring the USV and UAV to an offshore asset have been discussed in this paper.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127065227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781458
Irryhl Mohammedi, D. Gucik-Derigny, D. Henry
The general context of this short communication, is the development and the application of the guaranteed state estimation observer–based interval techniques, to improve the navigation unit used in space missions. A H ∞ constraint is also considered in the design of the interval observer, to formulate robustness performance against sensor misalignment errors, noises and other unknown inputs that may affect the estimation. The application support is the Microscope satellite which is a scientific mission launched in 2016. A functional engineering simulator (FES) of the Microscope mission is used to assess the performance of the proposed state estimation interval techniques. The FES includes highly representative models of sensors and actuators, and Dynamics Kinematics and Environment (DKE) models. The environment modules (within DKE) contain the spatial disturbances that affect the rotational and translational dynamics of the satellite. The considered disturbances are the magnetic field, the aerodynamic drag, the gravitational disturbances, the solar and the albedo radiations.
{"title":"Guaranteed state estimation using H∞ interval approaches for space applications: a case study","authors":"Irryhl Mohammedi, D. Gucik-Derigny, D. Henry","doi":"10.1109/Control55989.2022.9781458","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781458","url":null,"abstract":"The general context of this short communication, is the development and the application of the guaranteed state estimation observer–based interval techniques, to improve the navigation unit used in space missions. A H ∞ constraint is also considered in the design of the interval observer, to formulate robustness performance against sensor misalignment errors, noises and other unknown inputs that may affect the estimation. The application support is the Microscope satellite which is a scientific mission launched in 2016. A functional engineering simulator (FES) of the Microscope mission is used to assess the performance of the proposed state estimation interval techniques. The FES includes highly representative models of sensors and actuators, and Dynamics Kinematics and Environment (DKE) models. The environment modules (within DKE) contain the spatial disturbances that affect the rotational and translational dynamics of the satellite. The considered disturbances are the magnetic field, the aerodynamic drag, the gravitational disturbances, the solar and the albedo radiations.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"27 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120823012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781453
Pouria Sarhadi, W. Naeem, N. Athanasopoulos
Collision avoidance and risk assessment are open problems to be practically addressed in maritime transportation. In high-speed vessels this problem becomes more challenging due to manoeuvring and reaction time constraints. Here, a reactive collision avoidance and risk assessment technique with fuzzy weighting functions are proposed for a relatively high-speed autonomous catamaran. To follow paths between predefined waypoints, a Line of Sight (LOS) technique with Cross Tracking Error (CTE) is utilised. Besides, a new collision risk index is introduced based on fuzzy weighting functions. To perform formal maritime decision making, the standard marine COLlision REGulations (COLREGs) are incorporated into the algorithm. Furthermore, a simplified Closest Point of Approach (CPA) formulation is presented. The proposed framework is simulated on a realistic model of a vessel including input and non-holonomic constraints and disturbances. Simulation results for various encounter scenarios demonstrate the merits of the proposed method.
{"title":"An Integrated Risk Assessment and Collision Avoidance Methodology for an Autonomous Catamaran with Fuzzy Weighting Functions","authors":"Pouria Sarhadi, W. Naeem, N. Athanasopoulos","doi":"10.1109/Control55989.2022.9781453","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781453","url":null,"abstract":"Collision avoidance and risk assessment are open problems to be practically addressed in maritime transportation. In high-speed vessels this problem becomes more challenging due to manoeuvring and reaction time constraints. Here, a reactive collision avoidance and risk assessment technique with fuzzy weighting functions are proposed for a relatively high-speed autonomous catamaran. To follow paths between predefined waypoints, a Line of Sight (LOS) technique with Cross Tracking Error (CTE) is utilised. Besides, a new collision risk index is introduced based on fuzzy weighting functions. To perform formal maritime decision making, the standard marine COLlision REGulations (COLREGs) are incorporated into the algorithm. Furthermore, a simplified Closest Point of Approach (CPA) formulation is presented. The proposed framework is simulated on a realistic model of a vessel including input and non-holonomic constraints and disturbances. Simulation results for various encounter scenarios demonstrate the merits of the proposed method.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123930541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781447
Aliyuda Ali, U. Diala, Lingzhong Guo
Secondary recovery involves injecting water or gas into reservoirs to maintain or boost the pressure and sustain production levels at viable rates. Accurate tracking of pressure dynamics as reservoirs produce under secondary production is one of the challenging tasks in reservoir modelling. In this paper, a data-driven based technique called Dynamic Mode Learning (DML) that aims to provide an efficient alternative approach for learning and decomposing pressure dynamics in multiphase reservoir model that produces under secondary recovery is proposed. Existing algorithms suffer from complexity and thereby resulting to expensive computational demand. The proposed DML technique is developed in the form of a learning system by first, constructing a simple, fast and efficient learning system that extracts important features from original full-state data and places them in a low-dimensional representation as extracted features. The extracted features are then used to reduce the original high-dimensional data after which dynamic modes are computed on the reduced data. The performance of the proposed DML method is illustrated on pressure field data generated from direct numerical simulations. Experimental results performed on the reference data reveal that the proposed DML method exhibits better and effective performance over standard and compressed dynamic mode decomposition (DMD) mainstream algorithms.
{"title":"Data-Driven Based Modelling of Pressure Dynamics in Multiphase Reservoir Model","authors":"Aliyuda Ali, U. Diala, Lingzhong Guo","doi":"10.1109/Control55989.2022.9781447","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781447","url":null,"abstract":"Secondary recovery involves injecting water or gas into reservoirs to maintain or boost the pressure and sustain production levels at viable rates. Accurate tracking of pressure dynamics as reservoirs produce under secondary production is one of the challenging tasks in reservoir modelling. In this paper, a data-driven based technique called Dynamic Mode Learning (DML) that aims to provide an efficient alternative approach for learning and decomposing pressure dynamics in multiphase reservoir model that produces under secondary recovery is proposed. Existing algorithms suffer from complexity and thereby resulting to expensive computational demand. The proposed DML technique is developed in the form of a learning system by first, constructing a simple, fast and efficient learning system that extracts important features from original full-state data and places them in a low-dimensional representation as extracted features. The extracted features are then used to reduce the original high-dimensional data after which dynamic modes are computed on the reduced data. The performance of the proposed DML method is illustrated on pressure field data generated from direct numerical simulations. Experimental results performed on the reference data reveal that the proposed DML method exhibits better and effective performance over standard and compressed dynamic mode decomposition (DMD) mainstream algorithms.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121993140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781369
Dom Wilson, Ioannis Georgilas, A. Plummer, Pejman Iravani, Dhinesh Sangiah
This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required for tuning and simulation results show superior position tracking performance and robustness compared to a PI controller.
{"title":"Varying Boundary Layer Sliding Mode Control of an Integrated Hydraulic Actuator","authors":"Dom Wilson, Ioannis Georgilas, A. Plummer, Pejman Iravani, Dhinesh Sangiah","doi":"10.1109/Control55989.2022.9781369","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781369","url":null,"abstract":"This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required for tuning and simulation results show superior position tracking performance and robustness compared to a PI controller.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125500307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781455
Daxiong Ji, Faizan ur Rehman, Syed Ali Ajwad, Syed Agha Hassnain Mohsan, Amjad Ali Amjad, Shuai Zhou, Sanjay K. Sharma, R. Sutton
This paper focuses on the development and vision-based object tracking control of a fish robot. Its efficiency towards target tracking is demonstrated in a water tank. Inspired by the maneuvering and stability of Tuna fish, the fish robot is designed by a single actuator located at the rare part of the fish body. The precise maneuverability characteristics of the fish robot is achieved by the motion of a caudal fin. A servomotor is involved to control the oscillation of the caudal fin. A vision-sensor is integrated into fish robot to gain information related to Cartesian coordinates of the targeted object by implementing a color-based filtering algorithm. An object tracking algorithm is designed which performs the decision-making task for the fish robot while identifying and following the targeted object. The locomotion of the fish robot in various directions is tested experimentally by achieving effective performance of the proposed targeted object following task.
{"title":"Development of vision-based object tracking fish robot","authors":"Daxiong Ji, Faizan ur Rehman, Syed Ali Ajwad, Syed Agha Hassnain Mohsan, Amjad Ali Amjad, Shuai Zhou, Sanjay K. Sharma, R. Sutton","doi":"10.1109/Control55989.2022.9781455","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781455","url":null,"abstract":"This paper focuses on the development and vision-based object tracking control of a fish robot. Its efficiency towards target tracking is demonstrated in a water tank. Inspired by the maneuvering and stability of Tuna fish, the fish robot is designed by a single actuator located at the rare part of the fish body. The precise maneuverability characteristics of the fish robot is achieved by the motion of a caudal fin. A servomotor is involved to control the oscillation of the caudal fin. A vision-sensor is integrated into fish robot to gain information related to Cartesian coordinates of the targeted object by implementing a color-based filtering algorithm. An object tracking algorithm is designed which performs the decision-making task for the fish robot while identifying and following the targeted object. The locomotion of the fish robot in various directions is tested experimentally by achieving effective performance of the proposed targeted object following task.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121899896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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