Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Marine vehicle
Reexamination Certificate
2011-01-11
2011-01-11
Zanelli, Michael J. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Marine vehicle
C440S013000
Reexamination Certificate
active
07869910
ABSTRACT:
A system is provided to control maneuvering flapping foils of an underwater vehicle. An oscillator generates periodic signals in which effects of external disturbances are minimized or amplified as required; the periodic signal can be either sinusoidal or can depart significantly from a sinusoid; the amplitude and frequency are varied by changing the oscillator parameters and the phase between the signals are varied by changing the parameters. The oscillator restores the parameters after a disturbance. Since the oscillator functions without external sensors, the oscillator serves as an inner-loop controller with a centralized control. An open loop control architecture for the controller, results in a motion where the vehicle maneuvers execute as force and moment commands. The non-linear, auto-catalytic oscillator can be realized using a variety of second-order differential equations. An oscillator model is added to a conventional motor control, where the outputs of the oscillator control the foils in real-time.
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Annaswamy Amuradha
Bandyopadhyay Promode R.
Beal David N.
Menozzi Alberico
Thivierge Daniel P.
Kasischke James M.
Nasser Jean-Paul A.
Stanley Michael P.
The United States of America as represented by the Secretary of
Zanelli Michael J.
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