Polish Hyperbaric Research

<abstract><title style='display:none'>Abstract</title>This article addresses the practical aspects of the synthesis of an automatic control system for the thrust allocation strategy in the propulsion system of an unmanned underwater vehicle. The vehicle under consideration is a robot submarine equipped with a multi-propulsion system providing four degrees of freedom of movement. The power distribution algorithms are based on limited optimisation methods that allow the determination, on the basis of generalised torques and forces, of how much thrust is required to be produced by individual propulsors. Considering the issue of power distribution as a task of square and linear programming, two algorithms of thrust allocation were proposed and compared. The conducted model tests made it possible to evaluate their quality and efficiency in relation to speed and computational complexity.</abstract>

Abstract

Faculty of Mechanical and Electrical Engineering, Polish Naval Academy Gdynia

Keywords

<article-title>The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot</article-title>

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Polish Hyperbaric Research is covered by the following services: <UL> <LI>Arianta </LI> <LI>Baidu Scholar </LI> <LI>BazTech </LI> <LI>Cabell's Journalytics </LI> <LI>CEEAS (Central &amp; Eastern European Academic Source) </LI> <LI>CNKI Scholar (China National Knowledge Infrastructure) </LI> <LI>CNPIEC - cnpLINKer </LI> <LI>Dimensions </LI> <LI>EBSCO </LI> <LI>ExLibris </LI> <LI>Google Scholar </LI> <LI>Index Copernicus </LI> <LI>Japan Science and Technology Agency (JST) </LI> <LI>J-Gate </LI> <LI>JournalTOCs </LI> <LI>KESLI-NDSL (Korean National Discovery for Science Leaders) </LI> <LI>MyScienceWork </LI> <LI>Naver Academic </LI> <LI>Naviga (Softweco) </LI> <LI>Polish Medical Bibliography/Polish Medical Library </LI> <LI>Polish Scientific Journals Database </LI> <LI>QOAM (Quality Open Access Market) </LI> <LI>ReadCube </LI> <LI>SCILIT </LI> <LI>Semantic Scholar </LI> <LI>TDNet </LI> <LI>TEMA Technik und Management </LI> <LI>Ulrich's Periodicals Directory/ulrichsweb </LI> <LI>WanFang Data </LI> <LI>Web of Science - Emerging Sources Citation Index </LI> <LI>WorldCat (OCLC) </LI> <LI>X-MOL </LI></UL>

Polish Hyperbaric Research ist in den folgenden Services indiziert: <UL> <LI>Arianta </LI> <LI>Baidu Scholar </LI> <LI>BazTech </LI> <LI>Cabell's Journalytics </LI> <LI>CEEAS (Central &amp; Eastern European Academic Source) </LI> <LI>CNKI Scholar (China National Knowledge Infrastructure) </LI> <LI>CNPIEC - cnpLINKer </LI> <LI>Dimensions </LI> <LI>EBSCO </LI> <LI>ExLibris </LI> <LI>Google Scholar </LI> <LI>Index Copernicus </LI> <LI>Japan Science and Technology Agency (JST) </LI> <LI>J-Gate </LI> <LI>JournalTOCs </LI> <LI>KESLI-NDSL (Korean National Discovery for Science Leaders) </LI> <LI>MyScienceWork </LI> <LI>Naver Academic </LI> <LI>Naviga (Softweco) </LI> <LI>Polish Medical Bibliography/Polish Medical Library </LI> <LI>Polish Scientific Journals Database </LI> <LI>QOAM (Quality Open Access Market) </LI> <LI>ReadCube </LI> <LI>SCILIT </LI> <LI>Semantic Scholar </LI> <LI>TDNet </LI> <LI>TEMA Technik und Management </LI> <LI>Ulrich's Periodicals Directory/ulrichsweb </LI> <LI>WanFang Data </LI> <LI>Web of Science - Emerging Sources Citation Index </LI> <LI>WorldCat (OCLC) </LI> <LI>X-MOL </LI></UL>

Why subscribe and read In the journal one can find a wide range of original, high-value scientific articles from fields unpublished in other journals, which are hyperbaric technology and hyperbaric medicine. Through the publication of a broad base of results of research on major and related research fields of the magazine, Polish Hyperbaric Research provides an excellent platform for the exchange of ideas between scientists, experts and users of the technology. This is particularly valuable idea with the extremely scarce representation of magazines dealing with this issue in Europe (2) and around the world. A multi Scientific Council representing both the main directions of scientific interest of the magazine and related fields, with affiliations in many countries of the world, whose members are employed in scientific centers, institutes and research centers guarantees a high level of knowledge, but above all an opportunity to present the results of multicenter multidisciplinary research. The contents of each new issue of the magazine, in addition to original research papers is complemented by descriptions of cases and general outlook works -which is an excellent source of systematic knowledge for recipients - practitioners, students, etc. The Polish Hyperbaric Research also publishes messages about events relevant to the research community. Polish Hyperbaric Research is the journal owned and published by the Polish Hyperbaric Medicine and Technology Society. Why submit Our magazine prides itself on the fact that the priority of the Editorial Board is a quick and constructive process of reviewing and short deadlines between sending of the article, approval for publication and print. Editing is possible for both English-speaking and non-English speaking authors. The degree of rejection of work of the mainstream topic, which the PHR is engaged in is not more than 25%. The articles accepted for printing can contain colorful illustrations and charts as well as the publications of large volume, not accepted in most scientific journals. Publication fee is 120 PLN per two pages A4, in special cases it is possible to skip the fee. Payment in PHR is charged only from authors after they'r article is alredy publicated. We dont charge fee for the act of processing the article. The amount of payment changes every year. The articles we order are free of charge. In addition, PHR as the only Polish and one of the few scientific journals in the world gives annual award for science students for successful debut on the pages of the quarterly. This prize is awarded to the author who first published the material in a scientific journal which has achieved good marks in reviews. It is an encouragement to further fruitful activity for young scientists, who begin their adventure with science. The prize is awarded annually by the decision of the members of the Editorial Committee and the Scientific Council in the form of a commemorative statuette and a promise of free publication of the following article. The award ceremony takes place during the inauguration of the annual scientific conference of the publisher i.e. Polish Society of Hyperbaric Medicine and Technology. Archiving Sciendo archives the contents of this journal in <A href="https://www.portico.org/">Portico</A> - digital long-term preservation service of scholarly books, journals and collections. Plagiarism Policy The editorial board is participating in a growing community of <A href="https://www.crossref.org/services/similarity-check/">Similarity Check System's</A> users in order to ensure that the content published is original and trustworthy. Similarity Check is a medium that allows for comprehensive manuscripts screening, aimed to eliminate plagiarism and provide a high standard and quality peer-review process.

Editor-in-Chief Piotr Siermontowski Md PhD Associate Professor, Polish Hyperbaric Medicine and technology Society, Poland Deputy/ Managing Editor Małgorzata Samborska, institution, Poland Editorial Advisory Board prof. Andrzej Buczyński, M.D., Ph.D, Poland prof. Ugo Carraro, M.D., Ph.D. , Italy prof. Grzegorz Cieślar, M.D., Ph.D, Poland prof. Adam Charchalis, D.Sc., Eng. Didier Chollet Ph.D. associate prof., France prof. Krzysztof Chomiczewski, M.D., Ph.D., Poland prof. Mario J. Costa Ph.D., Portugal prof. Claude Cuvelier, M.D., Ph.D., Belgium John T. Fitter, M.D., Ph.D., Australia Tadeusz Graczyk, D.Sc., Eng. associate prof., Poland prof Siergiej Gulyar, M.D., Ph.D., Ukraine Grzegorz Kowalski, D.Sc., Eng. prof Arvils Lielvards, Ph.D., Latvia prof. Sam Mesiano, USA prof Igor Murawow, Ph.D., Ukraine prof. Motomu Nakashima, D.Sc., Eng., Japan P h . D . ; Katarzyna Ostapowicz, M.D., Ph.D. associate prof., Poland prof. Agnieszka Pedrycz, M.D., Ph.D., Poland prof Manny Radomski, Canada Marek Rejman, Ph.D. associate prof., Poland prof. Yoshimitsu Shimoyama, Ph.D., Japan prof. Aleksander Sieroń, M.D. ,Ph.D., Poland prof. António J. Silva, Ph.D., Portugal prof Roger Smith, M.D., Ph.D., Australia prof. Robert Keig Stallman Ph D., Norway Wojciech Wiesner, Ph.D. associate prof., Poland Ikuta Yasushi, Ph.D. associate prof., Japan Paweł Zarzycki, Ph.D., associate prof., Poland Editors Section editor: technical sciences Ryszard Kłos PhD eng. Associate Professor, NAVAL Academy in Gdynia, Poland Section editor: medical sciences Professor Romuald Olszański Md Phd, Military Medicine Institute , Poland Statistical editor Adam Olejnik PhD eng., NAVAL Academy, Poland Translator Anna Wójtowicz, institution, Poland Website Editor Łukasz Kreftt, institution, Poland Archival Editor Joanna Siermontowska, AGH University of Science and Technology, Poland Language Editors Stephen Burke, institution, UK, Elena Lakomov, Russia Technical Editors Małgorzata Samborska, institution, Poland Publisher De Gruyter Poland Bogumiła Zuga 32A Str. 01-811 Warsaw, Poland T: +48 22 701 50 15

<DIV align=left> Submit your manuscripts to the journal via email to <A href="mailto:phr@hyperbarex.nazwa.pl">phr@hyperbarex.nazwa.pl</A> Open Access Statement The journal is an Open Access journal that allows a free unlimited access to all its contents without any restrictions upon publication to all users. <A href="https://sciendo-parsed-data-feed.s3.eu-central-1.amazonaws.com/PHR/Open_Access_License.pdf">Open Access License</A> </DIV>

Polish Hyperbaric Research

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Jerzy Garus oraz
Jerzy Garus oraz
Bogdan Żak
Bogdan Żak

Data publikacji: 29 Mar 2019

Tom & Zeszyt: Tom 65 (2018) - Zeszyt 4 (December 2018)

Zakres stron: 39 - 48

Otrzymano: 24 Aug 2018

Przyjęty: 19 Oct 2018

Dziennik i szczegóły wydania

Polish Hyperbaric Research

Podgląd PDF

Referencje

Najnowsze artykuły

Polish Hyperbaric Research

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Jerzy Garus orazJerzy Garus orazBogdan ŻakBogdan Żak

Data publikacji: 29 Mar 2019

Tom & Zeszyt: Tom 65 (2018) - Zeszyt 4 (December 2018)

Zakres stron: 39 - 48

Otrzymano: 24 Aug 2018

Przyjęty: 19 Oct 2018

Dziennik i szczegóły wydania

Polish Hyperbaric Research

Podgląd PDF

Referencje

Najnowsze artykuły

Jerzy Garus oraz
Jerzy Garus oraz
Bogdan Żak
Bogdan Żak