http://nopr.niscair.res.in/handle/123456789/11706 <b>Special Issue on Underwater System And Technology</b> Search the Channel search http://nopr.niscair.res.in/simple-search http://nopr.niscair.res.in/handle/123456789/11734 Title: Development of sea glider autonomous underwater vehicle platform for marine exploration and monitoring <br/> <br/>Authors: Sagala, Faisal; Bambang, Riyanto T. <br/> <br/>Abstract: Present study discusses prelimary design of sea glider autonomous underwater vehicle platform referred to as ITB-SGAUV. AUV is designed to be compact in size, with the purpose of exploring and monitoring marine living resources. Its hardware is designed to be reconfigurable enabling the researchers to change the placement of the sensors for testing different navigation scenarios. Hardware and software components are designed to be re-usable, which reduces the development and testing time. A low-cost sea glider has 1 degree-of-freedom utilizing buoyancy driver (glider) with fiberglass hull material that can operate up to a depth of 200 meters. Experimental result demonstrates that the sea glider works well in ascent and descent motion with maximum slope 30 degree. Maximum yaw angle is set to +3/-3 degree relative with respect to North. Thus it is expected that the sea glider can be used effectively in real environment. Future works include modeling the dynamic of the AUV and its advanced control design, along with its sea-trial. <br/> <br/>Page(s): 287-295 http://nopr.niscair.res.in/handle/123456789/11733 Title: Development of linear parameter varying control system for autonomous underwater vehicle <br/> <br/>Authors: Sutarto, HY; Budiyono, Agus <br/> <br/>Abstract: Development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented in the present study. LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and m-synthesis to form a robust LPV control system. LPV control design is applied for a pitch control of the AUV to fulfill control design criteria on frequency and time domain. The final closed-loop system is tested for robust stability throughout the operational envelope. <br/> <br/>Page(s): 275-286 http://nopr.niscair.res.in/handle/123456789/11732 Title: Development of EM simulator for sea bed logging applications using MATLAB <br/> <br/>Authors: Daud, Hanita; Yahya, Noorhana; Asirvadam, Vijanth <br/> <br/>Abstract: Present study is a 1D modeling of electromagnetic waves for sea bed environment, developed using MATLAB software. It focuses on two main areas; the first is on the simulator that is able to model plane layer modeling of the sea bed environment, by setting the deep of sea water, sediments and size and location of the hydrocarbon trap. This model shall be used as a forward modeling of sea bed environment. The second focus is on the effect of electromagnetic waves called direct waves, reflected waves and refracted waves on the sea bed environment where potential hydrocarbon is present. Present work is based on Sea Bed Logging (SBL) application that uses marine controlled source electromagnetic (CSEM) sounding technique to detect and characterize hydrocarbon bearing reservoirs in deep water areas. SBL uses a mobile horizontal electric dipole (HED) source called transmitter and an array of seafloor electric field receivers. Transmitter transmits a low frequency electromagnetic signal from 30m-40m above the sea bed into water layer and to underneath the sea bed. Array of the receivers will receive the signal in the form of direct waves, air waves, reflected waves and refracted waves and is measured in the form of amplitude and phase. These signals depend on the resistivity structure beneath the sea bed. Hydrocarbon is known to have high resistivity value of 30–500 Ωm in contrast to sea water layer of 0.5-2 Ωm and sediments of 1-2 Ω m. These signals were plotted to show the Electric Field amplitude versus offset (AVO) and comparisons were made. <br/> <br/>Page(s): 267-274 http://nopr.niscair.res.in/handle/123456789/11731 Title: A simulation based fly optimization algorithm for swarms of mini autonomous surface vehicles application <br/> <br/>Authors: Abidin, Zulkifli Zainal; Arshad, Mohd Rizal; Ngah, Umi Kalthum <br/> <br/>Abstract: Present paper intends to provide a detailed description of a new bio-inspired Metaheuristic Algorithm. Based on the detailed study of the Drosophila, the flowchart behaviour for the algorithm, code implementation, methodologies and simulation analysis, a novel Fly Optimization Algorithm (FOA) approach is presented. The optimal simulation parameters can be used for the real application. FOA is suitable for applications that need a small number of agents; in the range of 8 to 24 only. The objective of the simulation is to understand the effect of the algorithm parameter on searching pattern strategy, as well as the possibility and the effectiveness of the proposed technique for the Swarm of mini Autonomous Surface Vehicles’ (ASVs) application. <br/> <br/>Page(s): 250-266