A STUDY ON AN ACCURATE UNDERWATER LOCATION OF HYBRID UNDERWATER GLIDERS USING MACHINE LEARNING
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Cited 2 time in
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Title
- A STUDY ON AN ACCURATE UNDERWATER LOCATION OF HYBRID UNDERWATER GLIDERS USING MACHINE LEARNING
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Author(s)
- Jeong, Sang Ki; Hyeung-sik Choi; Ji, Dae Hyeong; Mai The Vu; Joon-young Kim; Sung Min Hong; Hyun Joon Cho
- KIOST Author(s)
- Jeong, Sang Ki(정상기); Ji, Dae Hyeong(지대형)
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Alternative Author(s)
- 정상기; 지대형
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Publication Year
- 2020-12
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Abstract
- A hybrid underwater glider (HUG) is marine observation equipment that consumes a small amount of energy and offers greater range and navigation times. To achieve reduced energy consumption, however, the HUG uses imprecise navigation sensors, such as mems-type GPS and AHRS, resulting in inaccurate coordination. This study makes a new attempt on the application of machine learning algorithms in a way that complements sensor data errors to improve navigation performance. The proposed algorithm was used to a simulation of the HUG's navigation and control system, after which the updated heading angle was decided by using the previous position data and environmental data, such as ocean current and external forces. The learning algorithm was designed using three layers. Also, the Leaky ReLU activation function was used to solve the problems of gradient vanishing and dying ReLU of machine learning. And to improve the learning efficiency, active functions and the number of layers were changed. The simulation results show the excellent performance of the proposed learning algorithm.
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ISSN
- 1023-2796
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URI
- https://sciwatch.kiost.ac.kr/handle/2020.kiost/39534
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DOI
- 10.6119/JMST.202012_28(6).0007
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Bibliographic Citation
- JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN, v.28, no.6, pp.518 - 527, 2020
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Publisher
- NATL TAIWAN OCEAN UNIV
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Subject
- Energy utilization; Machine learning; Marine navigation; Activation functions; Environmental data; Imprecise navigations; Learning efficiency; Marine observations; Navigation and control; Navigation performance; Underwater gliders; Learning algorithms
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Keywords
- hybrid underwater gliders; neural network algorithm; machine learning; multi-layer structure
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Type
- Article
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Language
- English
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Document Type
- Article
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