arXiv subjects

Sarvat Mushtaq Ahmad

Publications and source records attributed to Sarvat Mushtaq Ahmad.

3 recordsLinked to original sources

arXiv2023

Genetic-Algorithm-Based Proportional Integral Controller (GAPI) for ROV Steering Control

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller.

eess.SY↗

arXiv2023

Design of a Low-Cost Prototype Underwater Vehicle

In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an onboard micro-controller, and the sensor payload comprises a turbidity sensor for determining the quality of the water, a depth sensor, and a 9-axis inertial measurement unit. The developed vehicle is an open frame remotely operated vehicle (ROV) with a small footprint and a modular physical and electrical architecture. With a net weight of 1.6 kg, a maximum depth rating of 20 meters, and a development cost of around $80, the ROV frame is composed of polyvinyl chloride tubes and has a length of 0.35 meters. As a ground station, a dedicated laptop shows crucial vehicle data in real time and can send commands to the vehicle. Initial testing in the pool demonstrates that the vehicle is completely operational and effectively complies with pilot commands.

eess.SY↗

arXiv2023

Unmanned Surface Vehicle: Yaw Modeling and Identification

In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the vehicle under inquiry include parameters that define the mobility of the USV in horizontal plane, such as yaw angle and yaw rate. A linear second order model is first developed, and the unknown coefficients are then determined using data from pool trials. Finally, simulations are carried out to verify the model so that it may be used in a later study to implement various control algorithms.

eess.SY↗