{"id":11570,"date":"2018-03-09T08:57:00","date_gmt":"2018-03-09T08:57:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/a-hybrid-control-architecture-for-an-auv\/"},"modified":"2018-03-09T08:57:00","modified_gmt":"2018-03-09T08:57:00","slug":"a-hybrid-control-architecture-for-an-auv","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/a-hybrid-control-architecture-for-an-auv\/","title":{"rendered":"A hybrid control architecture for an auv."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Pere Ridao Rodriguez <\/strong><\/h2>\n<p>Esta tesis doctoral propone una nueva arquitectura de control para un robot aut\u00f3nomo submarino (auv). Se aborda el problema de la navegaci\u00f3n aut\u00f3noma en 4 grados de libertad (x,y,z,yaw) sobre un entorno no estructurado y desconocido a priori. Para ello se propone la organizaci\u00f3n del sistema de control en tres niveles. El primer nivel, denominado reactivo, se encarga de la percepci\u00f3n as\u00ed como de la reacci\u00f3n al entorno y, por lo tanto, del control del veh\u00edculo en tiempo real. En este nivel encontramos diferentes componentes como el controlador de bajo nivel, los sensores f\u00edsicos y l\u00f3gicos, los comportamientos y el coordinador, as\u00ed como los monitores. El nivel intermedio se encarga del control de ejecuci\u00f3n siendo responsable de habilitar\/inhibir los comportamientos y\/o los monitores. Finalmente, el nivel superior denominado nivel deliberativo, es el responsable de la planificaci\u00f3n de la misi\u00f3n. el desarrollo de la arquitectura de control se ha realizado como una aplicaci\u00f3n distribuida y orientada a objetos, ejecut\u00e1ndose sobre el sistema operativo de tiempo real vxworks.  la tesis propone tambi\u00e9n, una metodolog\u00eda de dise\u00f1o y desarrollo que permite validar la arquitectura. Para ello se proponen herramientas espec\u00edficas (simulador en matlab\/simulink y simulador virtual en tiempo real) que ayudan al dise\u00f1ador en las diferentes etapas. Las herramientas desarrolladas se basan en el conocimiento del modelo din\u00e1mico del veh\u00edculo. Para ello se presentan las ecuaciones b\u00e1sicas del comportamiento de un robot submarino, as\u00ed como el m\u00e9todo utilizado para la identificaci\u00f3n de los coeficientes f\u00edsicos de los cuales depende el modelo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>A hybrid control architecture for an auv.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 A hybrid control architecture for an auv. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Pere Ridao Rodriguez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Girona<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 22\/06\/2001<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Joan Batue Grabulosa<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: alicia Casals gelr <\/li>\n<li>robert Sutton (vocal)<\/li>\n<li>Antonio Tiano (vocal)<\/li>\n<li> Quiles flor Francisco Jos\u00e9 (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Pere Ridao Rodriguez Esta tesis doctoral propone una nueva arquitectura de control para un robot aut\u00f3nomo submarino [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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