Obstacle avoidance system and wireless communication for an unmanned underwater vehicle for low depth water surfaces

Vivek Ghodeswar,Arockia Selvakumar Arockia Doss

doi:10.1504/ijamechs.2020.10033413

Abstract

An underwater glider is a most commonly used unmanned underwater vehicle but it has limitations to avoid obstructions in its path. To overcome this problem, the application of obstacle avoiding system is needed. This paper describes the development of an unmanned underwater vehicle (UUV) with integration of sensor-actuator network to avoid obstacles. To study the hydrodynamic behaviour of the proposed UUV, computational fluid dynamics (CFD) is carried out by considering pure surge and heave motion. The UUV is equipped with obstacle avoidance system with infra-red (IR) sensor and wireless communication module. Experimental tests are conducted to understand the behaviour of the UUV in low depth water surfaces and also to validate the CFD simulation results. The UUV's development, motion analyses and preliminary tests in obstacle avoidance are reported.

Highlights

Modelling of business processes and workflows is an important area in software engineering
I will show recent results of my work on the effects on the decidability of Metric Temporal Logic (MTL) extended with operators known from process algebras
Three interesting research questions arise: (1) how to increase the exibility in de ning features for graph-based parsing; (2) how to add search to transition-based parsing; and (3) how to combine the two parsing approaches so that the strengths of each are utilised. We study these questions under one framework: beam-search

Summary

Introduction

Modelling of business processes and workflows is an important area in software engineering. Business Process Modelling Notation (BPMN) [2] allows developers to take a processoriented approach to modelling of systems. The main contribution of our work is to provide a formal process semantics for a subset of BPMN, in terms of the process algebra CSP [3]. By using the language and the behavioural semantics of CSP as the denotational model, we show how the existing refinement orderings defined upon CSP processes can be applied to the refinement of business process diagrams, and demonstrate how to specify behavioural properties using BPMN. One very important application is robotic search-and-rescue. We describe an approach being developed jointly by Amsterdam’s Intelligent Systems Laboratory and the Oxford University Computing Laboratory that integrates advanced techniques from a variety of fields such as mapping, localization, exploration, communication, navigation and human-robot interface design. All research reported here is performed using the USARSim simulator[3]

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