Underwater Acoustically Guided Docking Method Based on Multi-Stage Planning

A vision based system for underwater docking

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems by underwater recharging and data transfer for AUVs. In this work, we propose a vision based framework for underwater docking following these systems. The pr...

Two-stage method for protein-ligand docking.

A two-stage method for the computational prediction of the structure of protein-ligand complexes is proposed. Given an experimentally determined structure of the protein, in the first stage a large number of plausible ligand conformations is generated using the fast docking algorithm FlexX. In the second stage these conformations are minimized and reranked using a method based on a classical fo...

Underwater navigation based on passive electric sense: New perspectives for underwater docking

In underwater robotics, several homing and docking techniques are currently being investigated. They aim to facilitate the recovery of underwater vehicles, as well as their connection to underwater stations for battery charging and data exchange. Developing reliable underwater docking strategies is a critical issue especially in murky water or/and in confined and cluttered environments. Commonl...

Development of Test-Bed AUV ‘ISiMI’ and Underwater Experiments on Free Running and Vision Guided Docking

Multi-Stage Fuzzy Load Frequency Control Based on Multi-objective Harmony Search Algorithm in Deregulated Environment

A new Multi-Stage Fuzzy (MSF) controller based on Multi-objective Harmony Search Algorithm (MOHSA) is proposed in this paper to solve the Load Frequency Control (LFC) problem of power systems in deregulated environment. LFC problem are caused by load perturbations, which continuously disturb the normal operation of power system. The objectives of LFC are to mini small size the transient deviati...