Browsing by Author "Lu, Yu"

Now showing 1 - 5 of 5
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    Efficient path planning algorithms for Unmanned Surface Vehicle
    (Elsevier, 2016-11-01) Niu, Hanlin; Lu, Yu; Savvaris, Al; Tsourdos, Antonios
    The C-Enduro Unmanned Surface Vehicle (USV) is designed to operate at sea for extended periods of time (up to 3 months). To increase the endurance capability of the USV, an energy efficient path planning algorithm is developed. The proposed path planning algorithm integrates the Voronoi diagram, Visibility algorithm, Dijkstra search algorithm and takes also into account the sea current data. Ten USV simulated mission scenarios at different time of day and start/end points were analysed. The proposed approach shows that the amount of energy saved can be up to 21%. Moreover, the proposed algorithm can be used to calculate a collision free and energy efficient path to keep the USV safe and improve the USV capability. The safety distance between the USV and the coastline can also be configured by the user.
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    An energy-efficient path planning algorithm for unmanned surface vehicles
    (Elsevier, 2018-05-25) Niu, Hanlin; Lu, Yu; Savvaris, Al; Tsourdos, Antonios
    The sea current state affects the energy consumption of Unmanned Surface Vehicles (USVs) significantly and the path planning approach plays an important role in determining how long the USV can travel. To improve the endurance of the USV, an energy efficient path planning approach for computing feasible paths for USVs that takes the energy consumption into account based on sea current data is proposed. The approach also ensures that the USV remains at a user-configurable safety distance away from all islands and coastlines. In the proposed approach, Voronoi diagram, Visibility graph, Dijkstra's search and energy consumption function are combined, which allows USVs to avoid obstacles while at the same time using minimum amount of energy. The Voronoi-Visibility (VV) energy-efficient path and the corresponding shortest path were simulated and compared for ten missions in Singapore Strait and five missions for islands off the coast of Croatia. Impact of parameters such as mission time, the USV speed and sea current state on the results were analysed. It is shown that the proposed VV algorithm improves the quality of the Voronoi energy efficient path while keeping the same level of computational efficiency as that of the Voronoi energy efficient path planning algorithm.
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    Towards the automated verification of Weibull distributions for system failure rates
    (Springer , 2016-09-13) Lu, Yu; Miller, A. A.; Hoffmann, R; Johnson, C. W.
    Weibull distributions can be used to accurately model failure behaviours of a wide range of critical systems such as on-orbit satellite subsystems. Markov chains have been used extensively to model reliability and performance of engineering systems or applications. However, the exponentially distributed sojourn time of Continuous-Time Markov Chains (CTMCs) can sometimes be unrealistic for satellite systems that exhibit Weibull failures. In this paper, we develop novel semi-Markov models that characterise failure behaviours, based on Weibull failure modes inferred from realistic data sources. We approximate and encode these new models with CTMCs and use the PRISM probabilistic model checker. The key bene t of this integration is that CTMC-based model checking tools allow us to automatically and e ciently verify reliability properties relevant to industrial critical systems.
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    Verifying collision avoidance behaviours for unmanned surface vehicles using probabilistic model checking
    (Elsevier, 2016-09-30) Lu, Yu; Niu, Hanlin; Savvaris, Al; Tsourdos, Antonios
    Collision avoidance is an essential safety requirement for unmanned surface vehicles (USVs). Normally, its practical verification is non-trivial, due to the stochastic behaviours of both the USVs and the intruders. This paper presents the probabilistic timed automata (PTAs) based formalism for three collision avoidance behaviours of USVs in uncertain dynamic environments, which are associated with the crossing situation in COLREGs. Steering right, acceleration, and deceleration are considered potential evasive manoeuvres. The state-of-the-art prism model checker is applied to analyse the underlying models. This work provides a framework and practical application of the probabilistic model checking for decision making in collision avoidance for USVs.
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    Vibration energy harvesters for wireless sensor networks for aircraft health monitoring
    (Cranfield University, 2015-10) Lu, Yu; Savvaris, Al
    Traditional power supply for wireless sensor nodes is batteries. However, the application of batteries in WSN has been limited due to their large size, low capacity, limited working life, and replacement cost. With rapid advancements in microelectronics, power consumption of WSN is getting lower and hence the energy harvested from ambient may be sufficient to power the tiny sensor nodes and eliminate batteries completely. As vibration is the widespread ambient source that exists in abundance on an aircraft, a WSN node system used for aircraft health monitoring powered by a piezoelectric energy harvester was designed and manufactured. Furthermore, simulations were performed to validate the design and evaluate the performance. In addition, the Z-Stack protocol was migrated to run on the system and initial experiments were carried out to analyse the current consumption of the system. A new approach for power management was reported, the execution of the operations were determined by the amount of the energy stored on the capacitor. A novel power saving interface was also developed to minimise the power consumption during the voltage measurement.