Kyle L. Walker

Kyle L. Walker

Robotics Engineer

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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Pages

Posts

Future Blog Post

less than 1 minute read

Published:

This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.

Blog Post number 4

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 3

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 2

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 1

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

portfolio

publications

Experimental validation of wave induced disturbances for predictive station keeping of a remotely operated vehicle

Published in IEEE Robotics and Automation Letters, 2021

Experiments were undertaken in a wave tank with an ROV to validate the use of Linear Wave Theory (LWT) to capture the time history of surge, heave and pitch wave induced forces and moments. Validation is performed for various sea states, and the effectiveness of employing real-time wave disturbance forecasting for the purpose of anticipatory control is then assessed by incorporating the predicted loads within a Model Predictive Controller.

Recommended citation: K. L. Walker et al, "Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle", IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5421-5428, 27th April 2021. https://ieeexplore.ieee.org/abstract/document/9416843

Hydrodynamic loads on a restrained ROV under waves and current

Published in Ocean Engineering, 2021

The paper presents the analysis of load cell data as forces and moments acting on a BlueROV2 when subject to different hydrodynamic disturbances. In addition to active propelled cases, a variation of current speeds as well as different regular waves were tested.

Recommended citation: R. Gabl, T. Davey, Y. Cao, Q. Li, B. Li, K. L. Walker et al, "Hydrodynamic loads on a restrained ROV under waves and current", Ocean Engineering, vol. 234, pp. 1-11, 15th Aug. 2021. https://www.sciencedirect.com/science/article/abs/pii/S0029801821006995

Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments

Published in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

This paper presents a Nonlinear Model Predictive Controller with an integrated Deterministic Sea Wave Predictor for trajectory tracking of underwater vehicles. The strategy is compared to a similar feed-forward disturbance mitigation scheme, showing mean performance improvements of 51\% in positional error and 44.5\% in attitude error.

Recommended citation: K. L. Walker et al. "Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 01-05 Oct. 2023. https://arxiv.org/abs/2307.14834

talks

IROS 2023 - Detroit 📃

Published:

Had the pleasure of attending IROS and presenting a portion of my work completed during my Ph.D. - “Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments”.

ICRA 2024 - Yokohama 🔧

Published:

Our workshop proposal “(Re)designing the tree of robotic life: a game of alternative timelines” has been accepted to ICRA 2024!

teaching