Search for: All records

Improvements to ArduSub for the BlueROV2 (BROV2) Heavy, necessary for accurate simulation and autonomous controller design, were implemented and validated in this work. The simulation model was made more accurate with new data obtained from real-world testing and values from the literature. The manual control algorithm in the BROV2 firmware was replaced with one compatible with automatic control. In a Robot Operating System (ROS), a proportional–derivative (PD) controller to assist augmented reality (AR) pilots in controlling angular degrees of freedom (DOF) of the vehicle was implemented. Open-loop testing determined the yaw hydrodynamic model of the vehicle. A general mathematical method to determine PD gains as a function of the desired closed-loop performance was outlined. Testing was carried out in the updated simulation environment. Step response testing found that a modified derivative gain was necessary. Comparable real-world results were obtained using settings determined in the simulation environment. Frequency response testing of the modified yaw control law discovered that the bandwidth of the nonlinear system had a one-to-one correspondence with the desired closed-loop natural frequency of a simplified linear approximation. The control law was generalized for angular DOF and linear DOF were operated with open-loop control. A full six-DOF simulated dive demonstrated excellent tracking. 

Abstract The Alliance of Genome Resources (the Alliance) is a combined effort of 7 knowledgebase projects: Saccharomyces Genome Database, WormBase, FlyBase, Mouse Genome Database, the Zebrafish Information Network, Rat Genome Database, and the Gene Ontology Resource. The Alliance seeks to provide several benefits: better service to the various communities served by these projects; a harmonized view of data for all biomedical researchers, bioinformaticians, clinicians, and students; and a more sustainable infrastructure. The Alliance has harmonized cross-organism data to provide useful comparative views of gene function, gene expression, and human disease relevance. The basis of the comparative views is shared calls of orthology relationships and the use of common ontologies. The key types of data are alleles and variants, gene function based on gene ontology annotations, phenotypes, association to human disease, gene expression, protein–protein and genetic interactions, and participation in pathways. The information is presented on uniform gene pages that allow facile summarization of information about each gene in each of the 7 organisms covered (budding yeast, roundworm Caenorhabditis elegans, fruit fly, house mouse, zebrafish, brown rat, and human). The harmonized knowledge is freely available on the alliancegenome.org portal, as downloadable files, and by APIs. We expect other existing and emerging knowledge bases to join in the effort to provide the union of useful data and features that each knowledge base currently provides.