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 .

TY  - CONF
AU  - Maione, Guido
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3171
AB  - This paper proposes a two steps indirect approach to obtain rational transfer functions (TFs) for implementing the fractional-order Tustin operator (FTO). The coefficients of the rational discrete TF approximation of the FTO are given by closed-form expressions. The proposed coefficients expressions are the basis for proving the zero-pole interlacing of the discrete FTO. The interlaced zero-pole pattern shows a symmetrical configuration on the z-plane.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
T1  - On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator
EP  - 2583
SP  - 2578
VL  - 2019-October
DO  - 10.1109/SMC.2019.8914260
ER  - 

@conference{
author = "Maione, Guido and Lazarević, Mihailo",
year = "2019",
abstract = "This paper proposes a two steps indirect approach to obtain rational transfer functions (TFs) for implementing the fractional-order Tustin operator (FTO). The coefficients of the rational discrete TF approximation of the FTO are given by closed-form expressions. The proposed coefficients expressions are the basis for proving the zero-pole interlacing of the discrete FTO. The interlaced zero-pole pattern shows a symmetrical configuration on the z-plane.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
title = "On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator",
pages = "2583-2578",
volume = "2019-October",
doi = "10.1109/SMC.2019.8914260"
}

Maione, G.,& Lazarević, M.. (2019). On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Institute of Electrical and Electronics Engineers Inc.., 2019-October, 2578-2583.
https://doi.org/10.1109/SMC.2019.8914260

Maione G, Lazarević M. On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2019;2019-October:2578-2583.
doi:10.1109/SMC.2019.8914260 .

Maione, Guido, Lazarević, Mihailo, "On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator" in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2019-October (2019):2578-2583,
https://doi.org/10.1109/SMC.2019.8914260 . .