Notice bibliographique
Résumé
A nonlinear, 6 degree-of-freedom maneuvering dynamics and control simulator for the Theseus autonomous underwater vehicle (AUV) has been validated against several sets of full scale trials and independent predictive methods. The vehicle hydrodynamic coefficients are estimated with standard theoretical and empirical methods augmented with towing tank test results. The control algorithm implemented in the simulator is the same as the one used in the actual vehicle. A propulsion model makes it possible to optimize vehicle range and transit speeds as the battery capacity changes during the mission. The simulated vehicle response compares well against full scale sea trials data. The paper discusses the simulator validation and its use for vehicle design and mission applications. 1.0 INTRODUCTION In 1992, Defence Research Establishment Pacific (now amalgamated with Defence Research Establishment Atlantic (DREA)) contracted ISE Research Ltd. (ISER) to build an AUV capable of laying cable under Arctic ice. ISER designed and built the Theseus AUV shown in Figure 1 for a 450 km range, a cruising speed of 2 m/s, a working depth of 1000 m, and with variable ballast tanks fore and aft. With a 2.44 m long by 1.12 m diameter payload bay and additional ballast tanks to correct for deploying cable, Theseus can lay up to 220 km of fiber-optic cable in its current configuration. The vehicle has a modular design for ease of transport, fault-tolerant control software, navigational accuracy to better than 0.5% of distance traveled (cross track error is much better), acoustic and fiber-optic telemetry systems, and terminal acoustic homing (Ferguson et al, 1995). In April 1995, Theseus went on its first Arctic mission in the ice covered waters offEllesmere Island, Canada. The successful trial verified launch and recovery procedures, tested all vehicle systems in an under-ice environment (navigation, telemetry, cable deployment, etc.), and led to refined techniques for delivering fibre-optic cable under the ice. Four dives accumulated 13 kin of under-ice distance traveled and laid 9 km of fiber-optic cable. , i ~' ~ Cable Packs ., buoyancy Tank Cable Exit Tube ~/ Figure 1: The Theseus AUV is 10.5 m long, 1.3 m diameter, displaces 119 kN, and has a 5 kW electric propulsion motor In April 1996 at Alert, Canada, Theseus met its operational objectives and laid 175 km of cable. The AUV was deployed through a 2 m by 13 m hole in the 1.7 m thick ice, traversed at depths of up to 425 m, delivered the other end of the fiber optic cable by flying through a 200 m loop suspended from the ice surface and returned to the launch site (Ferguson et al, 1999). The vehicle was autonomous for all of the 54 hour, 350 km round trip except when delivering the far end of the cable, when manual control of the vehicle via this same cable was used. This experience, which spans design, construction, and operations, has shown that judicious use of vehicle dy~mics and control models can contribute to many stages of the development process. The models are valuable tools for: vehicle hullfonn and control algorithm design; testing old and developing new maneuvers; evaluating vehicle responses; determining how top speed, endurance, battery power, and propulsion requirements can be met; experimenting with ballast compensation strategies to address payload changes during a mission; analyzing navigational schemes; investigating emergency scenarios, and minimizing costly sea trial time. However, these models need to be validated to be of practical use. ISER has been collaborating with DREA to develop and validate vehicle
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,001 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».