Dibyendu Pal

Central Mechanical Engineering Research Institute, Durgāpur, Mahārāshtra, India

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Publications (11)0.63 Total impact

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    ABSTRACT: Present study consists the overall development aspects of an Autonomous Underwater Vehicle (AUV) such as mechanical design, modelling, software architecture, controllers and navigation in combination with the lake experiments conducted on the vehicle at a shallow depth. AUV prototype in discussion is designated, AUV-150 and is designed to operate at a depth of 150 meters. It is a cylindrical-shaped carrier with streamlined fairing to reduce hydrodynamic drag. It is embedded with active propulsion, navigation, and control systems. Propulsion system comprises thrusters for generating motion in different directions to control surge, sway, heave, pitch, and yaw. Two arrays of cross-fins have also been fixed at the two ends to provide additional stability to the AUV against roll. A lithium polymer battery powers the vehicle and a pressure hull contains its electronics and energy system. Equipped with a camera, CTD and side scan sonar as payload sensors the AUV-150 is perfectly designed for performing underwater terrain mapping as well as oceanographic survey activities. The experimental results obtained from the shallow depth operation are quite satisfactory from the operational point of view.
    Indian Journal of Geo-Marine Sciences 09/2014; 42(5):565-572. · 0.31 Impact Factor
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    ABSTRACT: The aim in the present paper remains to describe a system identification method for unmanned marine vehicles using interval analysis in order to come up with estimation of parameter intervals instead of real values, such that the actual dynamics of the system shall remain confined within guaranteed bounds. The bounds are propagated through the system equations using such interval based parameters. The proposed method exploits guaranteed error bounds for the state variables as observed by different sensors. Unlike conventional Kalman estimators the adopted method rules out the requirement for determining covariance matrices and approximated Jacobians. Interval based variables are used in constructing interval matrices. Principle of Least Squares is used in solving the system equation involving such non-punctual (interval) matrices. In this context a sophisticated interval matrix inversion technique is employed within the least squares framework in finally determining the parameter intervals.
    IEEE/MTS Oceans 2014; 04/2014
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    ABSTRACT: Paper introduces extensive application of a state-of-the-art Autonomous Underwater Vehicle (AUV-150) capable of operating up to a depth of 150 meters, without any human intervention. Considering navigational and guidance issues relating AUV-150 as well as the images obtained on an account of underwater terrain mapping done employing the payload sensors as the pioneer space; the paper also includes the plots generated as a result of post-processing algorithms applied on the raw data obtained from the scanning sensors used typically for seabed mapping.
    Indian Journal of Geo-Marine Sciences 01/2014; 43(1):106-110. · 0.31 Impact Factor
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    [Show abstract] [Hide abstract]
    ABSTRACT: Present study consists of the overall development aspects of an Autonomous Underwater Vehicle (AUV) such as mechanical design, modelling, software architecture, controllers and navigation in combination with the lake experiments conducted on the vehicle at a shallow depth. AUV prototype in discussion is designated, AUV-150 and is designed to operate at a depth of 150 meters. It is a cylindrical-shaped carrier with streamlined fairing to reduce hydrodynamic drag. It is embedded with active propulsion, navigation, and control systems. Propulsion system comprises thrusters for generating motion in different directions to control surge, sway, heave, pitch, and yaw. Two arrays of cross-fins have also been fixed at the two ends to provide additional stability to the AUV against roll. A lithium polymer battery powers the vehicle and a pressure hull contains its electronics and energy system. Equipped with a camera, CTD and side scan sonar as payload sensors the AUV-150 is perfectly designed for performing underwater terrain mapping as well as oceanographic survey activities. The experimental results obtained from the shallow depth operation are quite satisfactory from the operational point of view.
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    Subhra Kanti Das · Dibyendu Pal
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    ABSTRACT: the paper presents a detailed discussion on the structural organization of a Fuzzy Inference System Planner (FISPLAN) for Autonomous Underwater Vehicles (AUVs), including elaboration of membership functions for the inputs as well as outputs. The inference mechanism is detailed with discussions on the rule base, which in essence incorporates the planning logic. In order to assess the effectiveness of the planner as a means of reactive escape under critical situations, a case study is studied with reference to a state of the art AUV. An approximate sub sea current model is developed from field observations, and residual energy is estimated by referring to a typical Lithium-polymer cell discharge characteristic together with data recorded in actual field trials. Situations are simulated by considering different combinations of sea-currents as well as status of resident energy. Results reveal that the simulated system, by virtue of the planner, is capable of perceiving situations, thereby realizing their imminence and making a decisive action thereupon. In concise, the fuzzy planner may be considered to provide human-like perception of situations on the basis of crisp observations. Furthermore dynamics of the system are modeled with actual parameters, and subsequently controller responses for pitching and velocity correction are illustrated. Choice of planning interval is also expressed as a function of the controllers’ response.
    International Journal of Intelligent Systems Technologies and Applications 08/2013; 1(9):45-57. DOI:10.5815/ijisa.2013.09.06
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    ABSTRACT: In view of their operational ease, autonomous underwater vehicles (AUVs) find wide applications in different sub-sea operations, and the range encompasses bathymetry, seabed mapping, collection of marine data as well as strategic and commercial applications like underwater surveillance and reconnaissance, recovery and monitoring of submerged installations. A modular shallow water AUV having five degrees of freedom—christened AUV-150—has been designed and developed by CSIR-CMERI, Durgapur, India for operating up to a depth of 150 m. A fully functional AUV has been tested at various conditions in accordance to test protocols. This paper relates to the developmental issues, the hurdles faced during various phases of development of the AUV-150 and discusses the experimental results obtained during trials of the AUV in lake and sea.
    07/2012; 93(3). DOI:10.1007/s40032-012-0026-0
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    S. K. Das · S. N. Shome · S. Nandy · D. Pal
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    ABSTRACT: Among all existing computational architecture adopted for controlling the behavior of Autonomous Underwater Vehicles (AUVs), the combined deliberative-reactive methodology is the most effective and significant approach towards behavioral control of the vehicle. Much work has been put into it and is available with literature. However, little work has been done in the scope of modeling the system with a view towards simulating and analyzing the dynamic behavior of the system as governed by the hybrid control architecture. This attempt is quite significant at the design stage, wherein fault-diagnosis can be easily done and rectified for. The aim of this paper is to present such a model for the adopted architecture and simulate the dynamic behavior of the system. Discussion regarding the logical organization and integrity between various modules has been presented, including abstraction between device layer and the controlling sub-systems. Overall dynamic behavior of the system has been realized through a hybrid finite system machine (FSM), thereby exhibiting the essential combination between a continuous reactive layer and discrete event-based deliberative sub-system. The required modeling of FSM and control-subsystems has been done with Stateflow/Simulink from Matlab.
    Procedia Computer Science 05/2010; 1(1):259-268. DOI:10.1016/j.procs.2010.04.029
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    ABSTRACT: This paper describes the various development phases and the associated hurdles faced during the design, fabrication, sub-system level testing, assembly, integration and overall system testing of an Autonomous Underwater Vehicle (AUV). This AUV has been designed for a depth of 150 m with multi-thruster actuation for shallow water applications. The AUV is having onboard power, electronics and advanced control module, navigation and payload sensors and modular software architecture. During the development of AUV various hurdles like how to power on AUV from outside, loose connections, isolation and grounding, water leakage, battery tripping, etc. have been faced and resolved. The present paper describes the complete development aspects in brief and highlights the various hurdles with remedies throughout the development. The AUV has been tested successfully for various missions at Idukki Lake, Cochin, India up-to a depth of 5m.
    Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Bangalore, India, September 15-17, 2010. Proceedings; 01/2010
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    ABSTRACT: The aim of this paper remains to introduce the various design and runtime aspects of a state-of-the-art control architecture adopted for the development of an autonomous underwater vehicle (AUV-150), capable of operating up to a depth of 150 meters to perform sea-bed mapping and collecting oceanographic data. The system control architecture has been presented as an ensemble of both hardware and software modules organized in a well-connected framework for effective operation. Various specifications, harnessing layout and design issues have been discussed in this paper. KeywordsAUV-Autonomous-Underwater-Vehicle-Control-Architecture-Hardware-Software-Emergency
    Trends in Intelligent Robotics, 12/2009: pages 41-48;
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    ABSTRACT: This paper describes the design aspects of an Autonomous Underwater Vehicle (AUV). The description includes detail mechanical design, software architecture, controllers and integration of various sensors. This AUV has been designed for a depth of 150 m with multi-thruster actuation for shallow water applications. Several sensors are used as feedback devices for the navigation, guidance and control of the vehicle. The AUV is also equipped with camera, CTD and side scan sonar as payload sensors. The simulation results have been discussed along with preliminary trial of the system.
    International Offshore (Ocean) and Polar Engineering Conference, ISOPE-2008, Canada; 07/2008