Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Experimental test of vision-based navigation and system identification of an unmanned underwater survey vehicle (SAGA) for the yaw motion
Date
2019-05-01
Author
Kartal, Seda Karadeniz
Leblebicioğlu, Mehmet Kemal
Ege, Emre
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
225
views
0
downloads
Cite This
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle (SAGA) is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The yaw motion is realized by a suitable combination of right and left thrusters. The navigation problem is solved by using the inertial navigation system and vision-based measurements together. These are integrated to more accurately obtain navigation data for the vehicle. In addition, the magnetic compass is used to support the attitude information of the vehicle. A pool experimental set-up is designed to test the navigation system. Performance of the resultant navigation system can be analysed by creating suitable system state, measurement and noise models. The navigational data for the vehicle has been improved using a Kalman filter. The mathematical model of the vehicle includes some unknown parameters such as added mass and damping coefficients. It is not possible to determine all the parameter values as their effects on the state of the system are usually negligible. On the other hand, most of the important' parameters are obtained based on a system identification study of the vehicle using this estimated navigational data for coupled motion. This study is performed in a MATLAB/Simulink environment.
Subject Keywords
Instrumentation
URI
https://hdl.handle.net/11511/37653
Journal
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
DOI
https://doi.org/10.1177/0142331219826524
Collections
Department of Electrical and Electronics Engineering, Article
Suggestions
OpenMETU
Core
Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA)
KARTAL, SEDA; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2018-05-01)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle (SAGA) is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The three-dimensional motion is realized by a suitable combination of right, left and vertical thrusters. The navigation problem is solved by a combination of the inertial navigation system and acoustic-based measurements, which are integrated to obtain more accurate vehicle navigation data. In addition, a ma...
Overview of the beam emission spectroscopy diagnostic system on the National Spherical Torus Experiment
Smith, D. R.; Feder, H.; Feder, R.; Fonck, R. J.; Labik, G.; McKee, G. R.; Schoenbeck, N.; Stratton, B. C.; Uzun Kaymak, İlker Ümit; Winz, G. (AIP Publishing, 2010-10-01)
A beam emission spectroscopy (BES) system has been installed on the National Spherical Torus Experiment (NSTX) to study ion gyroscale fluctuations. The BES system measures D-alpha emission from a deuterium neutral heating beam. The system includes two optical views centered at r/a approximate to 0.45 and 0.85 and aligned to magnetic field pitch angles at the neutral beam. f/1.5 collection optics produce 2-3 cm spot sizes at the neutral beam. The initial channel layout includes radial arrays, poloidal arrays...
Vision-based Navigation and System Identification of Underwater Survey Vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2015-05-19)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle is obtained. The inertial navigation system and vision-based measurement systems are modelled. The magnetic compass, depth sensor and pitot tube are used in order to support vehicle's attitude, velocity and depth information. The state errors are estimated with error state estimation algorithm from the noisy measurement data. The navigational data of the vehicle can be obtained accurately using the extended Kalman filter...
Feedback motion planning of unmanned surface vehicles via random sequential composition
Ege, Emre; Ankaralı, Mustafa Mert (SAGE Publications, 2019-08-01)
In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthesizing two different existing methodologies: sequential composition of dynamic behaviours and rapidly exploring random trees (RRT). The main motivation of this integrated solution is to develop a robust feedback-based and yet computationally feasible motion planning algorithm for USVs. In ...
Ultrafast spectroscopy diagnostic to measure localized ion temperature and toroidal velocity fluctuations
Uzun Kaymak, İlker Ümit; McKee, G. R.; Schoenbeck, N.; Smith, D.; Winz, G.; Yan, Z. (AIP Publishing, 2010-10-01)
A dual-channel high-efficiency, high-throughput custom spectroscopic system has been designed and implemented at DIII-D to measure localized ion thermal fluctuations associated with drift wave turbulence. A large-area prism-coupled transmission grating and high-throughput collection optics are employed to observe C VI emission centered near lambda = 529 nm. The diagnostic achieves 0.25 nm resolution over a 2.0 nm spectral band via eight discrete spectral channels. A turbulence-relevant time resolution of 1 ...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. K. Kartal, M. K. Leblebicioğlu, and E. Ege, “Experimental test of vision-based navigation and system identification of an unmanned underwater survey vehicle (SAGA) for the yaw motion,”
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
, pp. 2160–2170, 2019, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37653.