{"id":232,"date":"2018-01-18T11:14:05","date_gmt":"2018-01-18T16:14:05","guid":{"rendered":"https:\/\/carleton.ca\/mdl\/?page_id=232"},"modified":"2018-01-22T13:51:25","modified_gmt":"2018-01-22T18:51:25","slug":"marine","status":"publish","type":"page","link":"https:\/\/carleton.ca\/mdl\/research\/marine\/","title":{"rendered":"Marine Robotics"},"content":{"rendered":"<h2>Signal Prediction<\/h2>\n<p>For marine applications the research group has successfully developed and deployed a real-time prediction algorithm and developed new set-point algorithms for various active-heave compensation systems. The prediction\u00a0system acts as a previewing function on the set-point that allowed for improved control and operation since the system now estimates how\/when a set-point is varying several time-steps, or seconds, into the future.<\/p>\n<p>Below is a sample of the prediction system. The red line is trying to predict the blue line, with only knowing the history of the blue line. The computations are evaluated in real-time and allow for improved control of various system.<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-369\" src=\"https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/PredictionGraph.gif\" alt=\"\" width=\"650\" height=\"391\" \/><\/p>\n<p>This prediction system is also being used to improve the flight and landing control systems of <a href=\"https:\/\/carleton.ca\/mdl\/research\/flight\/\">unmanned aerial vehicles<\/a>. Much of the ongoing research uses and builds upon this prediction system, some of the questions which we are examining are:<\/p>\n<ul>\n<li>Can we use the prediction algorithms to optimize gain scheduling during motion compensation activities?<\/li>\n<li>Can we reduce power consumption and failure modes of marine motion compensation systems?<\/li>\n<li>Can we model, estimate and proactively mitigate collisions during small boat launch and recoveries?<\/li>\n<li>Can we combine all of the above for a complete crane\/winch motion compensation system to mitigate and proactively reduce the occurrence or dangerous scenarios during operations?<\/li>\n<\/ul>\n<p><\/p>\n<h2>Towed Systems<\/h2>\n<p>We have been able to develop a new motion compensation system for tow bodies. The formulation was developed using Matlab and Simulink and then tested with a National Instruments controller and our flume-scale testbed to validate the models. The new system was able to reduce the motion by over 90%.<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-281\" src=\"https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics.png\" alt=\"\" width=\"1500\" height=\"616\" srcset=\"https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics.png 1671w, https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics-160x66.png 160w, https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics-240x99.png 240w, https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics-768x315.png 768w, https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics-400x164.png 400w, https:\/\/carleton.ca\/mdl\/wp-content\/uploads\/Tow-Dynamics-360x148.png 360w\" sizes=\"(max-width: 1500px) 100vw, 1500px\" \/><\/p>\n<p><\/p>\n<p>Several opportunities are available for skilled and motivated students <a href=\"https:\/\/carleton.ca\/mdl\/prospective-students\/\">interested in joining<\/a> the lab to improve marine operations. The projects have a basis in fundamental research and theoretical development with experimental validation using industrial or laboratory hardware. Knowledge of MATLAB\/Simulink and LabVIEW is required.<\/p>\n<p><\/p>\n<p>Learn about the other research for <a href=\"https:\/\/carleton.ca\/mdl\/research\/flight\/\">Flight<\/a>\u00a0and <a href=\"https:\/\/carleton.ca\/mdl\/research\/robotic\/\">Terrestrial<\/a> robotics applications.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Signal Prediction For marine applications the research group has successfully developed and deployed a real-time prediction algorithm and developed new set-point algorithms for various active-heave compensation systems. The prediction\u00a0system acts as a previewing function on the set-point that allowed for improved control and operation since the system now estimates how\/when a set-point is varying several [&hellip;]<\/p>\n","protected":false},"author":6,"featured_media":0,"parent":144,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.2 - 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