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Information × Registration Number 0215U007235, 0113U000243 , R & D reports Title Development of the theoretical bases of the autonomous underwater vehicles control popup.stage_title Head Blintsov Volodymyr Stepanovich, Registration Date 19-02-2015 Organization National university of shipbuilding of admiral Makarov popup.description2 Object of study is a system of control of marine moving objects control - autonomous uninhabited underwater vehicles (AUV) which jointly solve the multivariate underwater task under the conditions of incomplete information about the environment, uncertainty of the external disturbances and transiency of the personal preferences. The aim of research is to develop the theoretical foundations of the group control of AUV under incomplete information about the environment, uncertainty of the external disturbances transiency of the personal preferences. Methods and facilities: theoretical foundations of the concepts formation for the development of the concept of the intelligent control of the AUV group under incomplete information about the environment, uncertainty of the external disturbances transiency of the personal preferences; a systematic approach for the synthesis of the multi-level system of automatic control of the AUV group; mathematical and computer modeling for the development of the instrumentation of the research of the controlled motion of the AUV group (groups) as a control object; methods for the synthesis of fuzzy controllers, artificial neural network theory and methods of synthesis of neural and analytical direct and inverse models of the elements of the controlled object - for the synthesis of the systems of control of the single AUV and the AUV group; methods of information and communication technologies for the development and study of the basic structures of subsystems of the overwater and underwater communications as system of intelligent control of the AUV group. Theoretical and practical results: improvement of information technology of the study and development of water resources of the state by creating the information and communication network of the data collection on the basis of the AUV group; development of computer simulation technology of the coordinated group controlled motion of AUV under uncertainty; a working AUV model with a multilevel system of intelligent control; a specialized modeling complex for the study of the grouped controlled motion of the AUV group and the efficiency checking of the system of group control of AUV; methods of the mathematical modeling of the controlled grouped motion of AUV under the conditions of incomplete information about the environment, uncertainties of the external disturbances and the transiency of its own parameters; Novelty: the conception of designing AUV as an "agent" of the multiagent automatic control system was first developed and the list of the common tasks of the group control of AUVs was formulated; the structure of the specialized modeling complex for the study of the control systems of AUV under the conditions of uncertainties of submersibles' own parameters and uncertainties of external disturbances was improved; the composite index of intelligence of AUV control system was first suggested; the generalized structure of the multilevel system of AUV group control was first developed and the regulator of the main engine of AUV was improved basing on the use of the inverse model of the control object; the theory and the methods of automatic control of autonomous self-propelled underwater vehicles with online identification of their own parameters and environment characteristics were further developed. Efficiency of application: the conception of developing AUV as an "agent" of the multiagent automatic control system will be implemented by such organizations as the Ministry of Ecology and Natural Resources of Ukraine, the State Service for Emergency Situations of Ukraine and the Ministry of Defense of Ukraine (Ukrainian Scientific Research Institute of Civil Protection, CSRI of WME of the Armed Forces of Ukraine, SE "Kyiv Scientific Research Institute of Hydrodevices" and SSTC of the Armed Forces of Ukraine) in the formulation of technical assignments for the development of new samples of AUVs; hardware and software of the specialized modeling complex will be used in NUS for the study of the efficiency of the systems of group control of AUV. Field (area) of the use of their products: the Naval Forces of the Armed Forces of Ukraine, State Enterprise "Ukrspetsexport", the organization of Ministry of Environmental Protection of Ukraine. Product Description popup.authors А. Войтасик А. Сірівчук А.Надточій В. Корицький В. Тимченко В.Надточій Г. Бабкін Д. Тхи Ж. Буруніна К. Трунін Л. Алоба О. Авдеєва О. Блінцов О. Зівенко О. Клочков О. Козлов С. Блінцов С. Волянський Ч. Дик popup.nrat_date 2020-04-02 Close