Coupled Hydroplane and Variable Ballast Control System for Autonomous Underwater Vehicle Altitude-Keeping to Variable Seabed
Bibliographic record
Abstract
This paper proposes a novel proportional-integral-derivative (PID) control approach that enables variable ballast systems on an autonomous underwater vehicle (AUV) to complement the underwater vehicle's hydroplanes when altitude-keeping over a variable seabed. This control approach is tested on an AUV computer simulator that features a variable ballast system model, which includes the capacity for free flow of seawater into and out of the ballast tank. The new control approach uses hydroplane deflection angle feedback as inputs to the variable ballast system controller in combination with a lowpass filter to ensure that the variable ballast system does not react to high hydroplane deflection rates and unnecessarily deplete the underwater vehicle's onboard energy supply. For the conditions modeled in this research, the resulting simulation case studies showed that this control approach enables the variable ballast system to effectively return control authority back to the hydroplanes while altitude-keeping to a variable seabed.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".