Search academic texts

Information × Registration Number 0213U000323, 0111U002314 , R & D reports Title Development of theoretical base for design of "intelligent" underwater robots popup.stage_title Head Blintsov Volodymyr Stepanovich, Registration Date 31-01-2013 Organization National university of shipbuilding of admiral Makarov popup.description2 The research object - process of designing of basic new type of underwater Vehicles-Robots, (AUV-R) which functions under the control of multi-level adaptive automatic control systems (ACS). Research objective - creation of theoretical bases of designing of new types of highly effective AUV-R with "intelligent" control by developing methods to determine their architectural design and synthesis of multi-level types of automatic control systems with the use of fuzzy and neural network controllers. Research methods and equipment - theoretical bases of concept formation, method of mathematical modeling of a controlled three-dimensional motion of AUV with the condition of the uncertainty of the external disturbances and nonstationarity of its own parameters, method of computer modelling for research of efficiency of synthesised ACSs, method of experimental (marine navigation) tests for the inspection of the credibility of the created modeling complex, the theory of artificial neaural networks (ANN) and the theoretical fundamentals of application of the inverse neural network and mathematical models of control objects for synthesis of ACS of AUV. Theoretical and practical results: The expediency and possibility of the construction of multilevel system of "intelligent" control by the work of AUV on the basis of application of elements of the theory of artificial intelligence are proved; Operating efficiency of the control systems of AUV on the basis of application in their composition of direct and inverse mathematical and neural network models of AUV elements is proved; Established the theoretical basis for the development of new models of underwater robotics with intelligent control, which operates in an uncertain external disturbances and unsteadiness of its own parameters. Novelty: For the first time the estimation method of architectural-constructive type of "intelligent" AUV and a method of synthesis of systems of "intelligentl" control by quasistationary and transitive operating modes of AUV on the basis of application of the theory of fuzzy logic and artificial neural networks is developed; For the first time developed direct and inverse mathematical and neural network model of the functioning of the AUV as automated and automatic control in the conditions of uncertainty of external disturbances and nonstationarity of its own parameters; For the first time the technique of design calculation of the main structural elements of "intelligent" AUVs and methods of synthesis of the fuzzy and neural network controller for executive mechanism (actuators) worked. Efficiency of implementation: the concept of "intelligent" mode control AUV will be used in the Ukrainian Armed Forces Central Research Institute (CRI), arms and military equipment AME, GP "Kiev Research Institute Gidropribor" and the State Research Center for the Ukrainian Armed Forces in formulating the performance specification for the creation of new models of AUV; method for determining the architectural and structural types of "intelligent" AUV used in the performance of contractual works with government enterprise "Research Project shipbuilding center," with Nikolaev TRAINING CENTER (2011) and the State Joint Stock Company "Chernomorneftegaz" (2012); software-hardware specialized modeling complex and laboratory bench to study the elements and systems of AUV used in the NUS for the studying of the effectiveness of "intelligent" control of AUV in quasistationary and dynamic operation modes. Scope of use of research output - Navy Armed Forces of Ukraine, State Enterprise "Ukrspetseksport" domestic organizations (SIC "State Oceanarium" Armed Forces of Ukraine, State Joint Stock Company "Chernomorneftegaz", Ltd. " Klimatechnik"). Product Description popup.authors А. Філіппова А.Надточій В. Корицький В. Корицький В.Надточій Г. Бабкін Доан Фук Тхи Н. Архіпова О. Блінцов О. Крючков С. Блінцов Чан Там Дик Ю. Костенко popup.nrat_date 2020-04-02 Close