University of Macau / Faculty of Science and Technology. / Department of Computer and Information Science

Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection

There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection

Thomas Kin Fong Lei. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 64-66). / Abstracts in English and Chinese. / LIST OF FIGURES --- p.IV / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Model-based Control of SMA Wires --- p.3 / Chapter 2.1 --- Model Identification of SMA Wires --- p.3 / Chapter 2.1.1 --- Temperature-Current Relationship --- p.3 / Chapter 2.1.2 --- Stress-Strain Relationship --- p.5 / Chapter 2.1.3 --- Martensite Fraction-Temperature Relationship --- p.8 / Chapter 2.2 --- Model-based Position Control of Two Linking SMA Wires --- p.9 / Chapter 2.3 --- Summary --- p.12 / Chapter 3 --- Neural-fuzzy-based Control of SMA Wires --- p.13 / Chapter 3.1 --- Adaptive Neuro-fuzzy Inference System (ANFIS) --- p.13 / Chapter 3.1.1 --- ANFIS Architecture --- p.13 / Chapter 3.1.2 --- Hybrid Learning Algorithm --- p.16 / Chapter 3.2 --- Generalized Neural Network (GNN) --- p.20 / Chapter 3.2.1 --- GNN Architecture --- p.20 / Chapter 3.2.2 --- Approximation of the GNN --- p.22 / Chapter 3.2.3 --- Backpropagation Training Algorithm --- p.24 / Chapter 3.2.4 --- Complexity Reduction of the GNN --- p.25 / Chapter 3.2.5 --- Error Bound of In-exact Reduction of the GNN --- p.29 / Chapter 3.3 --- Neural-fuzzy-based Position Control of Four Linking SMA Wires --- p.32 / Chapter 3.3.1 --- ANFIS-based Position Control of Four Linking SMA Wires --- p.32 / Chapter 3.3.2 --- GNN-based Position Control of Four Linking SMA Wires --- p.35 / Chapter 3.3.3 --- Performance Comparison of ANFIS and GNN Algorithms --- p.37 / Chapter 3.4 --- Summary --- p.39 / Chapter 4 --- SMA Actuated Artificial Face --- p.40 / Chapter 4.1 --- Muscles of the Human Face --- p.40 / Chapter 4.2 --- The Software Part: facial model --- p.41 / Chapter 4.3 --- The Hardware Part: artificial face and peripheral interface --- p.43 / Chapter 4.3.1 --- SMA Actuated Artificial Face --- p.43 / Chapter 4.3.2 --- Peripheral Interface --- p.45 / Chapter 4.4 --- Position Control on the Artificial Face --- p.47 / Chapter 4.4.1 --- Model-based Position Control on Artificial Face --- p.48 / Chapter 4.4.2 --- Neural-fuzzy-based Position Control on Artificial Face --- p.49 / Chapter 4.4.3 --- Comparison of the Model-based and Reduced GNN Control of Artificial Face --- p.49 / Chapter 4.5 --- Experimental Result --- p.50 / Chapter 5 --- Conclusion --- p.52 / Appendix1 --- p.53 / Appendix2 --- p.55 / Appendix3 --- p.56 / Appendix4 --- p.58 / Bibliography --- p.64

[pt] Síntese de Sistemas Fuzzy por Computação Evolucionária propõe uma metodologia de projeto para o desenvolvimento de sistemas fuzzy fundamentada em técnicas de computação evolucionária. Esta metodologia contempla as etapas de concepção do sistema fuzzy e a implementação em hardware do circuito eletrônico que o representa. A concepção do sistema é realizada num ambiente de projeto no qual sua base de conhecimento - composta da base de regras e demais parâmetros característicos - é evoluída, por intermédio de simulação, através do emprego de um novo algoritmo de três estágios que utiliza Algoritmos Genéticos. Esta estratégia enfatiza a interpretabilidade e torna a criação do sistema fuzzy mais simples e eficiente para o projetista, especialmente quando comparada com o tradicional ajuste por tentativa e erro. A implementação em hardware do circuito é realizada em plataforma de desenvolvimento baseada em Eletrônica Evolucionária. Um conjunto de circuitos, denominados de blocos funcionais, foi desenvolvido e evoluído com sucesso para viabilizar a construção da estrutura final do sistema fuzzy. / [en] Synthesis of Fuzzy Systems through Evolutionary Computation proposes a methodology for the design of fuzzy systems based on evolutionary computation techniques. A three-stage evolutionary algorithm that uses Genetic Algorithms (GAs) evolves the knowledge base of a fuzzy system - rule base and parameters. The evolutionary aspect makes the design simpler and more efficient, especially when compared with traditional trial and error methods. The method emphasizes interpretability so that the resulting strategy is clearly stated. An Evolvable Hardware (EHW) platform for the synthesis of analog electronic circuits is proposed. This platform, which can be used for the implementation of the designed fuzzy system, is based on a Field Programmable Analog Array (FPAA). A set of evolved circuits called functional blocks allows the implementation of the fuzzy system.

O princípio de invariância de LaSalle estuda o comportamento assintótico das soluções sem conhecer as soluções das equações diferenciais.Para isto,utiliza uma função auxiliar V usualmente chamada de função de Lyapunov. Este trabalho apresenta um princípio de invariância fuzzy e sua versão global para a classe de sistemas dinâmicos fuzzy descrito, via extensão de Zadeh,por equações diferenciais autônomas com incertezas na condição inicial.Ainda, apresentamos um princípio de invariância uniforme, no qual não se exige que a derivada da função de Lyapunov seja sempre definida negativa, para a classe de sistemas dinâmicos não lineares não autônomos que são descritos por um conjunto de equações diferenciais ordinárias periódicas. Aplicações para as duas classes de sistemas foram desenvolvidas. / The LaSalle\'s invariance principle studies the asymptotic behavior of the solutions without requiring the knowledge of the solutions of differential equations. For this, it uses an auxiliary function V usually called Lyapunov function. This work proposes a fuzzy invariance principle and its global version for the class of fuzzy dynamic systems described, via Zadeh\'s extension, by autonomous ordinary differential equation with uncertainties in the initial condition. Moreover, we develop an uniform invariance principle, in which the derivative of the Lyapunov function is not required to be always negative definite, for the class of non autonomous non linear dynamical system described by a set of periodic ordinary differential equations. Applications for the two classes of systems are also developed.

Este trabalho apresenta uma metodologia para alocação eficiente de dispositivos indicadores de faltas em sistemas de distribuição de energia elétrica. São avaliadas como as principais variáveis que influenciam na quantificação da potencialidade para instalação de dispositivos indicadores de faltas se comportam ao longo do tronco principal dos alimentadores de distribuição de energia elétrica. Como metodologia, empregou-se sistemas de inferência fuzzy para quantificar a referida potencialidade a partir das variáveis avaliadas. Resultados com dados reais destacam também a eficiência da metodologia proposta para quantificar e avaliar a rede de dispositivos indicadores já existentes em alimentadores. / This work presents a methodology for efficient allocation of fault indicator devices in electric power distribution systems. The behavior of the main variables that influence in the quantification of the potentiality for installation of fault indicator devices were analyzed taking into account the feeder length. In methodology terms, fuzzy inference systems were used to quantify this potentiality from the analyzed variables. Results with real data have also highlighted the efficiency of the proposed methodology to quantify and to evaluate the fault indicator device network already existent in power distribution feeders.

O princípio de invariância de LaSalle estuda o comportamento assintótico das soluções sem conhecer as soluções das equações diferenciais.Para isto,utiliza uma função auxiliar V usualmente chamada de função de Lyapunov. Este trabalho apresenta um princípio de invariância fuzzy e sua versão global para a classe de sistemas dinâmicos fuzzy descrito, via extensão de Zadeh,por equações diferenciais autônomas com incertezas na condição inicial.Ainda, apresentamos um princípio de invariância uniforme, no qual não se exige que a derivada da função de Lyapunov seja sempre definida negativa, para a classe de sistemas dinâmicos não lineares não autônomos que são descritos por um conjunto de equações diferenciais ordinárias periódicas. Aplicações para as duas classes de sistemas foram desenvolvidas. / The LaSalle\'s invariance principle studies the asymptotic behavior of the solutions without requiring the knowledge of the solutions of differential equations. For this, it uses an auxiliary function V usually called Lyapunov function. This work proposes a fuzzy invariance principle and its global version for the class of fuzzy dynamic systems described, via Zadeh\'s extension, by autonomous ordinary differential equation with uncertainties in the initial condition. Moreover, we develop an uniform invariance principle, in which the derivative of the Lyapunov function is not required to be always negative definite, for the class of non autonomous non linear dynamical system described by a set of periodic ordinary differential equations. Applications for the two classes of systems are also developed.

Originally presented as the author's Thesis (doctoral)--Technische Universität München. / "FGV-TUM." Includes bibliographical references (p. 147-156).

This thesis presents a framework for an intelligent interface for the access of robotsupported remote laboratories through the Internet. The framework is composed of the student assessment and coaching system, the experimentation scenario, and the associated graphical user interface. Student assessment and coaching system is the main feature of a successful intelligent interface for use during remote experimentation with a robot-supported laboratory setup. The system has a modular structure employing artificial neural networks and a fuzzy-rule based decision process to model the student behaviour, to evaluate the performance and to coach him or her towards a better achievement of the tasks to be done during the experimentation. With an experimentation scenario designed and a graphical user interface, the system is applied to a robotic system that is connected to the Internet for the evaluation of the proposed framework. Illustrative examples for the operation of the each module in the system in the context of the application are given and sensitivity analysis of the system to the change in parameters is also done. The framework is then applied to a mobile robot control laboratory. The user interface and the experimentation scenario is developed for the application, and necessary modifications are made to the student assessment and coaching system in order to support the experiment.