TY  - CONF
AU  - Svishchev, Nikolai
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Rybakov, Alexsey
AU  - Lazarević, Mihailo
AU  - Azhmukhamedov Iskandar, Maratovich
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7008
AB  - To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane.
PB  - IFAC
C3  - Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan
T1  - Rouv Heading by a Fractional-Order PI Controller
IS  - TuC09.2
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7008
ER  - 

@conference{
author = "Svishchev, Nikolai and Lino, Paolo and Maione, Guido and Rybakov, Alexsey and Lazarević, Mihailo and Azhmukhamedov Iskandar, Maratovich",
year = "2023",
abstract = "To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane.",
publisher = "IFAC",
journal = "Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan",
title = "Rouv Heading by a Fractional-Order PI Controller",
number = "TuC09.2",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7008"
}

Svishchev, N., Lino, P., Maione, G., Rybakov, A., Lazarević, M.,& Azhmukhamedov Iskandar, M.. (2023). Rouv Heading by a Fractional-Order PI Controller. in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan
IFAC.(TuC09.2).
https://hdl.handle.net/21.15107/rcub_machinery_7008

Svishchev N, Lino P, Maione G, Rybakov A, Lazarević M, Azhmukhamedov Iskandar M. Rouv Heading by a Fractional-Order PI Controller. in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan. 2023;(TuC09.2).
https://hdl.handle.net/21.15107/rcub_machinery_7008 .

Svishchev, Nikolai, Lino, Paolo, Maione, Guido, Rybakov, Alexsey, Lazarević, Mihailo, Azhmukhamedov Iskandar, Maratovich, "Rouv Heading by a Fractional-Order PI Controller" in Proceedings IFAC World Congress 2023 - The 22nd World Congress of the International Federation of Automatic Control Yokohama, Japan, no. TuC09.2 (2023),
https://hdl.handle.net/21.15107/rcub_machinery_7008 .

TY  - CONF
AU  - Svishchev, Nikolai
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Rybakov, Alexsey
AU  - Lazarević, Mihailo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4080
AB  - To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class,
the interactions among mechanical, electronic and information processing elements call for an
integrated approach at all design and development stages. Different methodologies must be
combined in a multi-formalism modelling approach supported by a suitable simulation and
prototyping environment. The proposed approach involves the development of a virtual ROUV
prototype in the ROS Gazebo environment, to assess performance in the successive developing
steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital
camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to
implement and run the control algorithms in real-time. A mathematical model of the system is
derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal
plane.
The considered system is “MUVIC-Light”, which was developed by the first author to
perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of
such system are a significant elongation (the length of the hull is several times greater than its
diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows
to describe the objects and environment, to define the robot dynamics, and the TCP/IP
protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV.
The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer
vision, 3D positioning, robot path planning in a realistic environment that can be considered as
a digital twin. Namely, the developed codes can be directly used in a real scenario.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - ROUV heading by a fractional-order PI controler
EP  - 103
SP  - 103
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4080
ER  - 

@conference{
author = "Svishchev, Nikolai and Lino, Paolo and Maione, Guido and Rybakov, Alexsey and Lazarević, Mihailo",
year = "2022",
abstract = "To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class,
the interactions among mechanical, electronic and information processing elements call for an
integrated approach at all design and development stages. Different methodologies must be
combined in a multi-formalism modelling approach supported by a suitable simulation and
prototyping environment. The proposed approach involves the development of a virtual ROUV
prototype in the ROS Gazebo environment, to assess performance in the successive developing
steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital
camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to
implement and run the control algorithms in real-time. A mathematical model of the system is
derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal
plane.
The considered system is “MUVIC-Light”, which was developed by the first author to
perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of
such system are a significant elongation (the length of the hull is several times greater than its
diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows
to describe the objects and environment, to define the robot dynamics, and the TCP/IP
protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV.
The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer
vision, 3D positioning, robot path planning in a realistic environment that can be considered as
a digital twin. Namely, the developed codes can be directly used in a real scenario.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "ROUV heading by a fractional-order PI controler",
pages = "103-103",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4080"
}

Svishchev, N., Lino, P., Maione, G., Rybakov, A.,& Lazarević, M.. (2022). ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 103-103.
https://hdl.handle.net/21.15107/rcub_machinery_4080

Svishchev N, Lino P, Maione G, Rybakov A, Lazarević M. ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:103-103.
https://hdl.handle.net/21.15107/rcub_machinery_4080 .

Svishchev, Nikolai, Lino, Paolo, Maione, Guido, Rybakov, Alexsey, Lazarević, Mihailo, "ROUV heading by a fractional-order PI controler" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):103-103,
https://hdl.handle.net/21.15107/rcub_machinery_4080 .