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Plataforma solar autónoma
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Plataforma solar autónoma

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Plataforma experimental autónoma solar para misiones de larga duración

Plataforma experimental autónoma solar para misiones de larga duración

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  • The trajectory tracking control without obstacles is implemented by the SODMN. The SODMN learns to control the robot through a sequence of spontaneously generated random movements. The random movements enable the neural network to learn the relationship between angular velocities applied at the propellers and the incremental displacement that ensues during a fixed time step. The nature of the proposed kinematic adaptive neuro-controller is that continuously calculates a vectorial difference between desired and actual velocities, the robot can move to arbitrary distances and angles even though during the initial training phase it has only sampled a small range of displacements. Furthermore, the online error-correcting properties of the proposed architecture endow the controller with many useful properties, such as the ability to reach targets in spite of drastic changes of robot’s parameters or other perturbations.
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    • 1. DESIGN OF THE POWER SYSTEM OF A SOLARAUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKS Antonio Guerrero González1, Víctor Moreno Oropesa1, Napoli Gómez Ramírez1,http://www.campusmarenostrum.es Inocencio González Reolid1 and José García Morales1 Underwater Vehicles Lab Departments of: System Engineering and Automation1 Chemistry and Environmental Engineering2 Ships and Seas Technology3 Universidad Politécnica de Cartagena (UPCT) Cartagena, 18 de abril de 2012
    • 2. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCT Introdución y objectivosEs una plataforma experimental autónoma, destinada a realizar labores de navegación para el suministroenergético y apoyo a un submarino robótico, para exploraciones marinas de larga duración.La Plataforma experimental dispone de módulos solares fotovoltaicos como principal fuente suministradora deenergía, que es almacenada en baterías, para cuando no hay radiación solar.Como apoyo utiliza un generador de biodiesel, para evitar la descarga de las baterías, en caso de unademanda excesiva de todo el sistema o por falta continuada de radiación solar.La plataforma experimental lleva un sistema automático de recogida y colocación de los módulos solares.El submarino autónomo es recogido y puesto en el agua mediante un sistema totálmente automático yautónomo, de manera que permite subir al submarino e introducirlo dentro de la plataforma, para su seguridady traslado.
    • 3. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKS UPCT Sistema energéticoEn la Fig. se representa el esquema eléctrico del sistema energético de la plataforma experimental, donde seobservan los módulos solares fotovoltaicos, que están conectados al regulador de carga, a través de un cuadrode protección, desde el regulador pasa la energía eléctrica a las baterías para su carga, por otro lado hay ungenerador que utiliza como combustible biodiesel, el cual proporciona tensión a 230/400Vac, que tras serconvertidos a 48VDC, con el cargador, permite alimentar la embarcación y cargar las baterías en caso de faltade energía solar.
    • 4. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCT Componentes del sistema energéticoMódulos FOTOVOLTAICOS ENECOM ITALIAN S.R.L. DE 130 Wp, de células de siliciomonocristalino son flexibles e impermeables.Empleo de un regulador de carga solar FLEXmaxd, con PPM.Utilización de un generador diesel adaptado a BIODISEL, de 7,2KVA. 230/400 Vac.Convertidor de 230/400 Vac a 48Vdc, de 7,2KVA.Baterías de Gel estancas Vitron energy.
    • 5. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCT Sistema de control de la plataforma experimental Esquema de los principales elementos del sistema de control
    • 6. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCT Sistema de navegación de la plataforma experimental Trayectoria de la plataforma experimental
    • 7. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCTTrayectoria seguida de la plataforma experimental en presencia un obstáculo
    • 8. DESIGN OF THE POWER SYSTEM OF A SOLAR AUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKSUPCT Trayectoria seguida en presencia de varios obstáculos
    • 9. DESIGN OF THE POWER SYSTEM OF A SOLARAUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKS Antonio Guerrero González1, Víctor Moreno Oropesa1, Napoli Gómez Ramírez1,http://www.campusmarenostrum.es Inocencio González Reolid1 and José García Morales1 Underwater Vehicles Lab Departments of: System Engineering and Automation1 Chemistry and Environmental Engineering2 Ships and Seas Technology3 Universidad Politécnica de Cartagena (UPCT) Cartagena, 18 de abril de 2012
    • 10. DESIGN OF THE POWER SYSTEM OF A SOLARAUTONOMOUS SURFACE VEHICLE FOR UNDERWATER INSPECTION WORKS Antonio Guerrero González1, Víctor Moreno Oropesa1, Napoli Gómez Ramírez1,http://www.campusmarenostrum.es Inocencio González Reolid1 and José García Morales1 Underwater Vehicles Lab Departments of: System Engineering and Automation1 Chemistry and Environmental Engineering2 Ships and Seas Technology3 Universidad Politécnica de Cartagena (UPCT) Cartagena, 18 de abril de 2012

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