Multi-AUV Kinematic Task Assignment Based on Self-Organizing Map Neural Network and Dubins Path Generator.

To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed combining the Dubins Path algorithm with improved SOM neural network algorithm. At first, the aimed tasks are assigned to the AUVs by the improved SOM neural network method based on workload balance and neighborhood function. When there exists kinematic constraints or obstacles which may cause failure of trajectory planning, task re-assignment will be implemented by changing the weights of SOM neurals, until the AUVs can have paths to reach all the targets. Then, the Dubins paths are generated in several limited cases. The AUV's yaw angle is limited, which results in new assignments to the targets. Computation flow is designed so that the algorithm in MATLAB and Python can realize the path planning to multiple targets. Finally, simulation results prove that the proposed algorithm can effectively accomplish the task assignment task for a multi-AUV system.

Hybrid Path Planning for Unmanned Surface Vehicles in Inland Rivers Based on Collision Avoidance Regulations.

In recent years, with the continuous advancement of the construction of the Yangtze River's intelligent waterway system, unmanned surface vehicles have been increasingly used in the river's inland waterways. This article proposes a hybrid path planning method that combines an improved A* algorithm with an improved model predictive control algorithm for the autonomous navigation of the "Jinghai-I" unmanned surface vehicle in inland rivers. To ensure global optimization, the heuristic function was refined in the A* algorithm. Additionally, constraints such as channel boundaries and courses were added to the cost function of A* and the planned path was smoothed to meet the collision avoidance regulations for inland rivers. The model predictive control algorithm incorporated a new path-deviation cost while imposing a cost constraint on the yaw angle, significantly minimizing the path-tracking error. Furthermore, the improved model predictive control algorithm took into account the requirements of rules in the cost function and adopted different collision avoidance parameters for different encounter scenarios, improving the rationality of local path planning. Finally, the proposed algorithm's effectiveness was verified through simulation experiments that closely approximated real-world navigation conditions.

Information Fusion Fault Diagnosis Method for Deep-Sea Human Occupied Vehicle Thruster Based on Deep Belief Network.

In this article, a novel thruster information fusion fault diagnosis method for the deep-sea human occupied vehicle (HOV) is proposed. A deep belief network (DBN) is introduced into the multisensor information fusion model to identify uncertain and unknown, continuously changing fault patterns of the deep-sea HOV thruster. Inputs for the DBN information fusion fault diagnosis model are the control voltage, feedback current, and rotational speed of the deep-sea HOV thruster; and the output is the corresponding fault degree parameter ( s ), which indicates the pattern and degree of the thruster fault. In order to illustrate the effectiveness of the proposed fault diagnosis method, a pool experiment under different simulated fault cases is conducted in this study. The experimental results have proved that the DBN information fusion fault diagnosis method can not only diagnose the continuously changing, uncertain, and unknown thruster fault but also has higher identification accuracy than the information fusion fault diagnosis methods based on traditional artificial neural networks.

Fault reconstruction using a terminal sliding mode observer for a class of second-order MIMO uncertain nonlinear systems.

This study focuses on the fault reconstruction for a class of second-order multi-input and multi-output (MIMO) nonlinear systems with uncertainties. An innovative design scheme of terminal sliding mode observer (TSMO) is presented for which the relative degree of the system is two. In comparison with the common sliding mode observer (SMO), the proposed TSMO can converge all state estimation errors to zero in finite time, even when some states cannot be measured directly. Given that state estimation errors converge to zero in finite time, a fault reconstruction method based on an equivalent output error injection concept and a SMO-based fault isolation strategy are presented, so that the fault information after isolating disturbances can be accurately known. Simulation examples of fault reconstruction on a small unmanned underwater vehicle are presented to demonstrate the effectiveness of the proposed method.

Adaptive trajectory tracking control for remotely operated vehicles considering thruster dynamics and saturation constraints.

This paper discusses the problem of adaptive trajectory tracking control for remotely operated vehicles (ROVs). Considering thruster dynamics, a third-order state space equation is used to describe the dynamic model of ROVs. For the problem of unknown dynamics and partially known input gain, an adaptive sliding mode control design scheme based on RBF neural networks is developed using a backstepping design technique. Because of the saturation constraints of the thrusters, a first-order auxiliary state system is applied, and subsequently, a saturation factor is constructed for designing adaptive laws to ensure the stability of the adaptive trajectory tracking system when the thrusters are saturated. The proposed controller guaranteed that trajectory tracking errors are uniformly ultimately bounded (UUD). Finally, the effectiveness of the proposed controller is verified by simulations.

Quality-Oriented Perceptual HEVC Based on the Spatiotemporal Saliency Detection Model.

Perceptual video coding (PVC) can provide a lower bitrate with the same visual quality compared with traditional H.265/high efficiency video coding (HEVC). In this work, a novel H.265/HEVC-compliant PVC framework is proposed based on the video saliency model. Firstly, both an effective and efficient spatiotemporal saliency model is used to generate a video saliency map. Secondly, a perceptual coding scheme is developed based on the saliency map. A saliency-based quantization control algorithm is proposed to reduce the bitrate. Finally, the simulation results demonstrate that the proposed perceptual coding scheme shows its superiority in objective and subjective tests, achieving up to a 9.46% bitrate reduction with negligible subjective and objective quality loss. The advantage of the proposed method is the high quality adapted for a high-definition video application.

Observer-Based Adaptive Neural Network Trajectory Tracking Control for Remotely Operated Vehicle.

This paper focuses on the adaptive trajectory tracking control for a remotely operated vehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent neural network (local RNN) structure with fast learning speed is proposed for online identification. To estimate the unmeasured states, an adaptive terminal sliding-mode state observer based on the local RNN is proposed, so that the finite-time convergence of the trajectory tracking error can be guaranteed. Considering the problem of inaccurate thrust model, an adaptive scale factor is introduced into thrust model, and the thruster control signal is considered as the input of the trajectory tracking system directly. Based on the local RNN output, the adaptive scale factor, and the state estimation values, an adaptive trajectory tracking control law is constructed. The stability of the trajectory tracking control system is analyzed by the Lyapunov theorem. The effectiveness of the proposed control scheme is illustrated by simulations.

Multi-AUV Target Search Based on Bioinspired Neurodynamics Model in 3-D Underwater Environments.

Target search in 3-D underwater environments is a challenge in multiple autonomous underwater vehicles (multi-AUVs) exploration. This paper focuses on an effective strategy for multi-AUV target search in the 3-D underwater environments with obstacles. First, the Dempster-Shafer theory of evidence is applied to extract information of environment from the sonar data to build a grid map of the underwater environments. Second, a topologically organized bioinspired neurodynamics model based on the grid map is constructed to represent the dynamic environment. The target globally attracts the AUVs through the dynamic neural activity landscape of the model, while the obstacles locally push the AUVs away to avoid collision. Finally, the AUVs plan their search path to the targets autonomously by a steepest gradient descent rule. The proposed algorithm deals with various situations, such as static targets search, dynamic targets search, and one or several AUVs break down in the 3-D underwater environments with obstacles. The simulation results show that the proposed algorithm is capable of guiding multi-AUV to achieve search task of multiple targets with higher efficiency and adaptability compared with other algorithms.

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace.

For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

Recurrent upper quadrant pain: a fish bone secondary to gastric perforation and liver abscess.

A 60-year-old male patient was admitted to our hospital for recurrent upper quadrant pain for 1 month. He had a past history of coronary artery disease. After admission, he repeatedly suffered from high-grade fever, chills and upper quadrant pain. Computed tomography (CT) showed a round hypodense mass in the left lobe of the liver, approximately 2.7 × 2.2 cm in size, and a fish bone was confirmed by surgery in the left lobe of liver. The patient was cured completely after surgical removal of the fish bone and liver abscess. CT scan 1 month after discharge showed that the liver abscess had disappeared completely.

A multi-fault diagnosis method for sensor systems based on principle component analysis.

A model based on PCA (principal component analysis) and a neural network is proposed for the multi-fault diagnosis of sensor systems. Firstly, predicted values of sensors are computed by using historical data measured under fault-free conditions and a PCA model. Secondly, the squared prediction error (SPE) of the sensor system is calculated. A fault can then be detected when the SPE suddenly increases. If more than one sensor in the system is out of order, after combining different sensors and reconstructing the signals of combined sensors, the SPE is calculated to locate the faulty sensors. Finally, the feasibility and effectiveness of the proposed method is demonstrated by simulation and comparison studies, in which two sensors in the system are out of order at the same time.