Inhalt

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   Abstract
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   Zusammenfassung
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   Acknowledgements
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   Contents
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   List of Figures
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   List of Abbreviations
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   Chapter 1 - Amphibious Vehicles
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   1.1 State of the Art
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   1.2 Research Areas in AAR Development
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   1.3 Motivation and Research Objectives
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   1.4 Main Contribution
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   1.5 Organisation of the Dissertation
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   1.6 Publications
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  Chapter 2 - Control Systems in Amphibious Vehicles
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   2.1 Introduction
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   2.2 Control System Design
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   2.3 Control System Design Steps
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   2.4 Digital Control System
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   2.5 Amphibious Vehicles Propulsion Control Systems
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   Chapter 3 - Hydrostatic Transmission Control System
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   3.1 Petroleum Internal Combustion Engine
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   3.2 Microcontroller
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   3.3 Motor Driver
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   3.4 Limit Switches
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   3.5 Variable Displacement Pump
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   3.6 DC Motors
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   3.7 Feedback Sensors
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   3.8 Angular Position Sensors
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   3.9 Hydraulic Motors
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   3.10 Throttle Engine Servomotor
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   3.11 Arduino Board
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   3.12 MD Motor Driver
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   3.13. Control System Circuit
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   3.14 Hydrostatic Transmission System
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   3.15 Hydraulic Transmission System Model
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   3.16 Tire Model
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   3.17 Simulation Results
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   3.18 Swash Plate Torque
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   3.19 Swash Plat Angle
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  Chapter 4 - Position control of swash plate Angle
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   4.1 System Mathematical Model
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   4.2 PID Controller
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   4.3 Speed Control of a DC Motor
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   4.4 Graphical Display Interface
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   4.5 Dead-Beat Controller
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   4.6 Experimental results
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  Chapter 5 - Steering Control System
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   5.1 Analysis of Skid Steering
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   5.2 Fuzzy Logic Controller Description
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   5.3 Fuzzy Steering Strategy Design
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   5.4 Fuzzy Logic Inference System Design
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   5.5 Coupled Control System
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   5.6 Experiments and Results
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   Chapter 6 - Tele-Operation and Communication System
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   6.1 ROS
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   6.2 Major Components of the Tele-Operation System
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   6.3 Software
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   6.4 The Nodes
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   6.5 Network Communication
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   6.6 Experiments and Results
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   Chapter 7 - Obstacle Avoidance using Fuzzy Logic Control System
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   7.1 Steering Fuzzy Logic Controller Design
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   7.2 Strategy of Obstacle Detection
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   7.3 Laser Scanner
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   7.4 Experiments and Results
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  Chapter 8 - Water Jet Control System
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   8.1 Combustion-Hydraulic Propulsion System
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   8.2 Water Jet Layout
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   8.3 Modelling of Water Jet Control System
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   8.4 Speed control system
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   8.5 Steering control system
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   8.6 Experiment and Results
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  Chapter 9 - Conclusion and Further Work
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   9.1 Conclusion
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   9.2 Principal Contributions
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   9.3 Research Objectives Answers
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   9.4 Further Work
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   References