This paper addresses an architecture for the conceptual design of remotely operated vehicles (ROV). The proposed architecture is based in an extensive literature review and the experience acquired during 20 years with the development of three ROV systems that where designed for underwater inspection. The ROV is divided into five subsystems: vehicle, surface station, surface/vehicle interface, control system, and software. For each subsystem, functions and tasks are defined, components are listed, interrelations with other subsystems are established, and commonly used alternatives are proposed. The subsystem's division used for the conceptual design process allows one to avoid problems in the advanced stages of the robotic exploration system development.

/pdf/una-arquitectura-para-el-diseno-conceptual-de-vehiculos-para-5dl6ikb863.pdf

Una arquitectura para el diseño conceptual de vehículos para exploración subacuática

Recent large-scale operations, including frequent maritime transportation and unauthorised as well as unlawful collisions of drainage wastes, have polluted the ocean’s ecology. Due to the ocean’s unsuitable ecology, the entire globe may experience drastic aberrant conditions, which will force illness onto all living things. Therefore, an advanced system is very necessary to remove the undesired waste from the ocean’s surface and interior. Through the use of progressive unmanned amphibious vehicles (UAV), this study provides a dynamic operational mode-based solution to damage removal. In order to successfully handle the heavy payloads of ravage collections when the UAV reveals centre of gravity concerns, a highly manoeuvrable-based design inspired by nature has been imposed. The ideal creatures to serve as the inspiration for this piece are tropical birds, which have a long tail for navigating tricky situations. The design initialization was carried out by focusing on the outer body of tropical birds. Following this, special calculations were conducted and the full design parameters of the UAV were established. This study proposes a unique mathematical formulation for the development of primary and secondary design parameters of an UAV. The proposed mission profile of this application is computationally tested with the aid of sophisticated computational methodologies after the modelling of this UAV. The computational methods that are required are one-way coupling-based hydro-structural interaction assessments and computational hydrodynamic analyses. Computing is used to determine the aerodynamic and hydrodynamic forces over the UAV, the lightweight materials to withstand high fluid dynamic loads, and the buoyancy forces to complete the UAV components. These computational methods have been used to produce a flexible and fine-tuned UAV design for targeted real-time applications.

/pdf/nature-inspired-design-and-advanced-multi-computational-1zm89f8k.pdf

Nature-Inspired Design and Advanced Multi-Computational Investigations on the Mission Profile of a Highly Manoeuvrable Unmanned Amphibious Vehicle for Ravage Removals in Various Oceanic Environments

Wireless Body Area Networks (WBANs) are particular field of Wireless Sensor Networks (WSNs). It is the important building segments of forthcoming networks. Contemporary health care structure is one of the furthermost standard WBAN applications. In recent decades, study has focused on channel modeling, energy consumption strategy of wellorganized medium access control (MAC) protocols. In this form of network, the number of sensors which are used in the network topology has been significantly reduced than existing WBAN. In this paper, we have evaluated TDMA based MAC protocol performance through several metrics. In this paper TDMA approach is used to avoid packet collision which leads to higher packet loss rate. Clock synchronization is the solution of problem like packet collision. After clocks of WBAN sensor nodes are synchronized, data can be transferred between sensor nodes and sink efficiently and rapidly. Keywords—TDMA, MAC protocol, Wireless body Area Network, Throughput.

An Improved Energy Efficient TDMA based MAC Protocol for WBAN


 Nowadays Unmanned Amphibious Vehicles [UAVs] are employed in many applications such as oceanic research, deep sea exploration, mapping, naval surveillance, and disaster monitoring and fisheries protection. The use of UAVs in military and other applications has steadily increased over the few years. On the other hand, there has been a tremendous increase in ocean exploitation. Though technologies are increasing incrementally, nature is exploited adversely. Advancement in ocean transportation, shipping, sewage wastes filled the ocean with tonnes and tonnes of debris and oil wastes. This ravage fills affect the complete marine ecosystem. This in turn makes the ocean toxic. Advancements have been made in recent years to clean up the oil spills. The noted projects such as Sea bin, super high-tech sponges etc. All these innovations are the static one which cannot move along the waves of the ocean. The static form of these inventions could not be used to clean to the larger extent. Therefore, this study aims to build an UAV which is a movable one, can detect the debris and clean those by incorporating existing cleaning techniques. Since the UAV has to sub merge under the water to some extent, it should be designed in such a way by considering both the hydro-dynamical and hydro structural aspects of it. The unique point in the paper covers the flexible cum efficient design of the UAV. The design of the tropical bird is chosen for the efficient model of the UAV. With the few known parameters of this species, the UAV has been designed to achieve the maximum efficiency. The tropical bird chosen has the higher rate of climb, which is the desired requirement for this study. The propeller is uniquely designed based on aerodynamic cum hydrodynamic data so as to balance both the effects. With the design data estimated using analytical formulae, the UAV has been constructed. Following the design, the complete analyses on aerodynamic, aero-structural, hydrodynamic and hydro structural computations are completed. Finally, the employment techniques such as ravage removal mechanism, integrated rotor for the selected application will be integrated. CATIA and ANSYS Workbench are the major tools involved in these comparative investigations, in which modelling of UAV is computed in CATIA and fluid pressure, structural deformations, stresses on UAV are computed through ANSYS Workbench.

/pdf/conceptual-design-and-fluid-structural-interaction-based-1s4d7xlc62.pdf

Conceptual Design, and Fluid-Structural Interaction Based Investigations on Highly Maneuverable Unmanned Amphibious Vehicle for Ravage Removal Applications at Various Oceanic Working Environments

The use of decision feedback equalization (DFE) with digital phase-locked loop (DPLL) technology has proven effective in enhancing resistance to multipath delay and Doppler spread in underwater acoustic (UWA) communications. However, traditional equalizers face challenges in achieving a balance between convergence speed and computational complexity. To address the balance, this article proposes a stabilized fast transversal equalizer (SFTE) for quadrature amplitude modulation (QAM) in UWA communications. The SFTE incorporates four collaborative parallel transversal filters and introduces redundancy in the conversion factor and previous reverse prediction error, resulting in a reliable structure with reduced complexity. Compared to recursive least squares (RLS)-based equalizers with length <inline-formula> <tex-math notation="LaTeX">$L$ </tex-math></inline-formula>, the SFTE achieves comparable complexity of <inline-formula> <tex-math notation="LaTeX">$\mathcal {O}(L)$ </tex-math></inline-formula>, significantly reducing it from the traditional <inline-formula> <tex-math notation="LaTeX">$\mathcal {O}(L^{2})$ </tex-math></inline-formula>. Simulations and UWA communication experiments are conducted to validate the superiority of SFTE in terms of convergence, tracking capability, runtime, and bit error rate (BER) performance.

A Stabilized Fast Transversal Equalizer for Single Carrier Underwater Acoustic Communications

This paper describes the dynamic modeling, structural analysis, implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). Various controllers such as PID, Sliding mode, and Fuzzy and H∞ controllers are designed for depth and heading control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

Dynamic modeling and structural analysis of manta-type uuv

High data-rate underwater communications is demanded. This demand imposes stringent requirements on underwater communication equipment of phase-locked-loop (PLL). Phase noise in PLL is unwanted and unavoidable. In this paper, we investigate the PLL phase noise effect on high order QAM for underwater communication systems. The phase noise model using power spectral density is adopted for performance evaluation. The phase noise components considered in PLL are reference oscillator, voltage controlled oscillator (VCO), filter and divider. The filters in PLL noise are assumed to be second order active and passive low pass filters. Through simulation, we analyze the phase noise characteristics of the four components and then investigate the performance improvement factor of each component. Consequently, we derive specifications of VCO, phase detector, divider to meet performance requirement of high data-rate communication using QAM under phase noise influence.

/pdf/analysis-of-pll-phase-noise-effect-for-high-data-rate-44v4mfgkda.pdf

Analysis of PLL Phase Noise Effect for High Data-rate Underwater Communications

This paper describes the hull design, structural analysis and dynamic performance analysis of an Underwater Robotic Vehicle (URV). The dynamic performance analysis was made with the help of computer simulations. The main purpose of this URV is to carry out fundamental tests on its station keeping ability, attitude control, and position tracking accuracy. Its configuration is similar in appearance to a general open frame ROV for underwater works. The octagonal frame was designed to sustain obstacle collision and the material, stainless steel 316L, was chosen to maximize the resistance to corrosion in seawater. The navigation of the vehicle is controlled by an on-board computer and underwater sensors. This gives us an ideal platform to develop various algorithms needed for the further development of URV technology.

Hull Design and Structural Analysis of an Underwater Robotic Vehicle

Positioning implant device in WBAN(Wireless Body Area Network) becomes difficult since signal strength varies in different human tissues and shadowing noise due to body movement. We propose a novel tracking algorithm in WBAN. To estimate position under various human tissues, we adopt a sliding linear window using past position information. By adjusting window parameters, the proposed algorithm is to reduce noise and to track position. The proposed algorithm has little computational increment as compared to the α-β tracker. Throughout simulations, we verify outstanding position tracking performance and insensitivity of initial parameters.

Novel implant device tracking algorithm for wireless health monitoring in wban

A prototype radar display unit was implemented using inexpensive off-the-shelf components, including a nonlinear estimation algorithm for the target tracking in a clutter environment. Two custom designed boards; an analog signal processing board and a DSP board, can be plugged into an expansion slot of a personal computer (PC) to form a maritime radar display unit. Our system provided all the functionality specified in the International Maritime Organization (IMO) resolution A422(XI). The analog signal processing board was used for A/D conversion as well as rain and sea clutter suppression. The main functions of the DSP board were scan conversion and video overlay operations. A host PC was used to run the tracking algorithm of targets in clutter, using the discrete-time Bayes optimal (nonlinear, and non-Gaussian) estimation method, and the graphic user interface (GUI) software for Automatic Radar Plotting Aid (ARPA). The proposed tracking method recursively found the entire probability density function of the target position and velocity by converting into linear convolution operations.

Maritime radar display unit based on PC for safe ship navigation

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