Yuru Xu

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Sonar images have some characteristics such as low resolution, strong echo disturbance, small object regions and obscure object edges, so the satisfied results can't be obtained by the global enhancement algorithm. An adaptive local enhancement algorithm is proposed in this paper, and the evaluation function is defined by edge numbers, edge intensity and(More)
General Detection Remotely Operated Vehicle (GDROV) is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams. It is difficult to model the GDROV precisely. A fuzzy direct adaptive controller based on fuzzy basic functions is designed for GDROV motion control system.(More)
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Besides MFC frame, Creator and(More)
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Momentum theorem was used to(More)
This paper proposes a method for optimized the Unmanned Surface Vehicle (USV) structure based on a combination of iSIGHT optimization software and the parameterized model of geometry and finite element. The finite element model of the vehicle was established by using the parameterize language (ANSYS Parametric Design Language) of ANSYS based on the study of(More)
A motion control strategy consisting of both position and speed control was designed for different work assignments of Autonomous Underwater Vehicles (AUV). To provide a form that will be suitable for simulation and control purposes, a general mathematical model of underwater vehicles was derived based on the six degrees of freedom nonlinear equations of(More)
In this paper, an improved Takagi-Sugeno (T-S) Fuzzy Neural Network (FNN) based on modified learning is proposed for the motion control of Autonomous Underwater Vehicles (AUV). Aiming to improve the control precision and adaptability of T-S fuzzy model, a fuzzy objective is used to update the fuzzy rules and the proportion factor on-line. A modified(More)
—A real-time control scheme based on Fuzzy Neural Network (FNN) is proposed for the motion control of Autonomous Underwater Vehicles (AUVs) in this paper, for which the dynamics of the controlled system need not be completely known. A real-time Desired State Planning (DSP) based a sigmoid reference model is introduced to assist the FNN to keep the track(More)