Dmitry Yukhimets

Some marine trial results of a new method for AUV trajectory motion control

Some results of a new tracking control method investigation using an autonomous underwater vehicle (AUV) is considered in this paper. This method involves additional loops for automatic program signals generation in AUV control system (CS). The work of these additional loops provides the AUV motion along the desired spatial trajectory with high velocity and desired accuracy. The features of the proposed CS realization and results of experimental researches are presented.

The method of cutting of flexible parts using manipulators and information multiplexing from 3D vision system and CAD model

This paper presents new method of cutting of flexible parts with arbitrary geometrical form. Proposed method is based on four principles: 1) simple and rapid fixation of any flexible parts with the help of universal devices with possible deformation of its geometric forms; 2) scanning of the deformed parts by means of 3D vision system; 3) multiplexing of priori known CAD model of parts with the model, received by scanning; 4) automatic generation of new motion trajectory of manipulators working tool. For realization of this method an algorithm of multiplexing of two models and transferring of cutting path from the CAD model to deformed model is developed. Conducted mathematical simulation showed that proposed algorithm provides the accurate path planning of manipulators working tool at deformation of parts and hence to provide the quality cutting.

An new approach for automatization of cutting of flexible items by using multilink manipulators with vision system

This paper presents a new advanced approach for automatization of cutting of flexible items with arbitrary geometrical forms. This approach based on using multilink manipulators with vision system and allows not use the individual equipment for rigid fixing of processed parts. This is achieved by formation and correction of program motions of cutting tool of manipulator using information about current position of processed parts from 3D vision system.

A new approach to synthesis of high speed and high reliable control systems for multilink manipulators

This paper is dedicated to development of new approach to synthesis of highly reliable speed control systems of multilink manipulator (MM). These control systems provide guaranteed performance of technological operations as fast as possible at the faults presence in actuators of these manipulators. Simulation results confirmed the efficiency of the proposed approach.

The method of identification of underwater vehicle mathematical model parameters

In this paper the method of identification of underwater vehicle (UV) mathematical model parameters is offered. This method allows providing the limited set of UV onboard sensors and has acceptable complexity for using on UV onboard computer.

A new approach to automatization of non-rigid parts machining at their deformation by using multilink manipulators with vision system

In this paper, the new approach to automatization of non-rigid parts machining at their deformation is proposed and analyzed. This approach bases on application of multilink manipulators with vision system and allows not using the expensive individual equipment for exact fixing of parts before machining. Two different algorithms of intelligent path planning of manipulators working tool based on vision system were developed. The choice of these algorithms depends on value of deformation of parts. The results of performed simulations have completely confirmed the working capacity and high quality of the proposed approach.

The synthesis of AUV high-precision path following control system on the base of PD-controller

Autonomous underwater vehicle (AUV) are complex nonlinear dynamic objects with variable and uncertain parameters, operating in conditions of significant interacting between their degrees of freedom in the presence of external influences. For high-precision path-control of AUV the control system (CS) consisting of two loops is offered in this paper. First loop is the loop of tracking a target point and second loop is the loop of correction of position of this point. Thus, for improvement of characteristics of this CS in paper the method of synthesis of controller of target point position based on Lyapunov method is offered and the features of its implementation as part of on-board AUV CS are described. Performed mathematical simulation shows that the proposed AUV path controller provides highly accurate motion AUV for given spatial trajectories in the presence of external disturbances, as well as changing the parameters of the AUV.

Method of combination of three-dimensional models of details with their CAD-models at the presence of deformations

In this work the combination method of three-dimensional models of processed details with their reference CAD-models when these details have unknown in advance deformation is proposed. This method assumes preliminary transformation of models to clouds of points, special density increasing of these clouds and their iterative combination by means of ICP (Iterative Closest Points) algorithm. Model example demonstrates the efficiency and effectiveness of proposed approach.

The method of formation of AUV smooth trajectory in unknown environment

The method of formation of smooth trajectories of the AUV movement during performing of missions in unknown environment is offered in paper. This method is based on use of the data from their onboard sensors of a distance and allows to correct the trajectory defines by means of Beziers splines of the third order during AUV movement. Use of the offered approach allows to provide high precision and speed of the AUV movement during performing of their missions.

The software for verification of underwater vehicle missions

In this paper, an approach for development of program-verifier whereby it is carried out a check of mission for autonomous underwater vehicle (AUV) is proposed. The approach is consisted in substitution of standard libraries, in which described access to all resources of AUV, on libraries which carry out transmit of commands and parameters of these commands to external program-verifier. The program-verifier considerably facilitate localization of logical error in mission and show state of AUV and its on-board equipments when commands execution of mission.