Symposium on Autonomous Underwater Vehicle Technology

5-6 June 1990

Filter Results

Displaying Results 1 - 25 of 44
  • Proceedings of the Symposium on Autonomous Underwater Vehicle Technology. AUV '90 (Cat. No.90CH2856-3)

    Publication Year: 1990
    Request permission for commercial reuse | |PDF file iconPDF (33 KB)
    Freely Available from IEEE
  • Fault-tolerant design optimization: application to an autonomous underwater vehicle navigation system

    Publication Year: 1990, Page(s):34 - 43
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (872 KB)

    A systematic, quantitative approach to optimizing a fault-tolerant system design is presented. Sensitivity analyses are used to provide: (1) systematic guidance in selecting the design modifications that are the optimization process, (2) optimization process stopping criteria, and (3) robustness measures for the resulting design. The optimization process permits trades among a variety of free para... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Navigation of unmanned underwater vehicles for scientific surveys

    Publication Year: 1990, Page(s):194 - 198
    Cited by:  Papers (2)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (404 KB)

    Possible navigation methods for unmanned underwater vehicles are described and the limits of their accuracy are reviewed. The best approach seems to be the use of a sparse network of bottom-laid acoustic transponders giving only sporadic coverage of the area, together with a high-accuracy dead reckoning system based on a bottom-referenced acoustic log and a low-cost inertial navigator used as a pr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A generalized contingency alternative matrix for the autonomous untethered vehicle (AUV)

    Publication Year: 1990, Page(s):29 - 33
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (336 KB)

    A definitive set of the potential problem classes that will affect an autonomous untethered vehicle (AUV) is reviewed, and a generalized group of contingency alternatives is established. A matrix showing the various alternatives for solving the problems is presented. Comments are offered on the definition of the several classes of situation assessment that may relate to all AUV. The possibility of... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Enhanced mission duration for an underwater vehicle using a PEM fuel cell power source

    Publication Year: 1990, Page(s):105 - 108
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (480 KB)

    A one kilowatt (80 ampere-hour) prototype fuel cell based on proton exchange membrane (PEM) technology is being developed to replace the silver-zinc batteries of a prototype deep-ocean observation vehicle. Initial tests indicate that mission duration capabilities will be doubled and mission turn-around times decreased. The fuel cell stack, reactant storage, support systems, and microprocessor cont... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Correlation-log-based underwater navigation

    Publication Year: 1990, Page(s):186 - 193
    Cited by:  Papers (1)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (412 KB)

    A navigation system for a launch-and-forget autonomous underwater vehicle (AUV) that can be realized with commercially available components is described. The navigation system will be truly autonomous, requiring only a knowledge of the vehicle's initial position and attitude. The launch-and-forget requirement is shown to restrict navigation options to either an inertial navigation system or an arr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Obstacle avoidance sonar-an analysis of system requirements and detection performance during near-bottom operation

    Publication Year: 1990, Page(s):223 - 228
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (492 KB)

    An obstacle avoidance sonar (OAS) is designed to provide spatial information concerning the underwater environment, through an interface, to the guidance and control subsystem of an autonomous underwater vehicle (AUV). An OAS sensor system requirements analysis for near-bottom operation is presented using characteristic environmental and operational parameters. The analysis shows that higher spati... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • `New technology' magnetic attitude sensors in autonomous underwater vehicle (AUV) applications

    Publication Year: 1990, Page(s):263 - 269
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (596 KB)

    Some recent improvements in fluxgate magnetometers are described. A fluxgate compass can be made into an attitude sensor providing accurate pitch and roll outputs by the addition of coils surrounding a triaxial arrangement of gimbaled fluxgate magnetometer elements. Deviational errors due to fixed permanent and soft iron sources within vehicles and submersibles with ferrous hulls can now be precis... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Sensor fusion for AUV localization

    Publication Year: 1990, Page(s):168 - 174
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (672 KB)

    A system for the effective integration of multisensory information into the piloting operation of underwater vehicles (AUVs) and for its interpretation is presented. The operators are assisted in the localization and piloting tasks by synthetic visualization and data fusion tools. It is possible to estimate an optimal location by fusing data from log and gyroscope, or a nonoptimal location, by a c... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A system approach to navigating and piloting small UUVs

    Publication Year: 1990, Page(s):129 - 136
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (688 KB)

    A description of trade studies and analysis conducted to establish a general architecture for navigating and piloting systems for small unmanned underwater vehicles (UUVs) are presented. The criteria are derived from requirements to perform missions such as mine hunting, mine field mapping, submarine applications, and package placement and retrieval. In general these vehicles are small, possibly t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Improved underwater acoustic communication for AUVs

    Publication Year: 1990, Page(s):289 - 295
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (528 KB)

    The results of an R&D project on acoustic communication algorithms are presented, together with a design for advanced acoustic communication systems for autonomous underwater vehicles (AUVs). Results from tests in data coding indicate that convolutional data codes that provide an increase in data rate and a reduction in signal energy relative to diversity 4 can be used to combat signal fading.... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Software structure for a simple autonomous underwater vehicle

    Publication Year: 1990, Page(s):23 - 26
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (400 KB)

    The control program for an autonomous underwater vehicle is described. The design is based mainly on intelligent control, and to a lesser degree on automatic control principles. The control program enables the vehicle to follow a route determined by a number of waypoints specified in world coordinates. Obstacles are detected and avoided. The main sensor is eight single-beam sonars. The sonars are ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of a rechargeable lithium cell power source

    Publication Year: 1990, Page(s):100 - 104
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (260 KB)

    The development of a rechargeable lithium cell power source as a replacement for silver-oxide-zinc cells in naval underwater vehicles is described. Progress made for the most promising lithium system, lithium-cobalt oxide, which has 2.5 times the theoretical energy density of silver-oxide-zinc, is summarized. Initial laboratory cell studies showed cobalt oxide can meet or exceed program goals. Rec... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A collision avoidance controller for autonomous underwater vehicles

    Publication Year: 1990, Page(s):206 - 212
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (592 KB)

    A 3D collision avoidance controller for an autonomous underwater vehicle (AUV) that uses a forward-looking high-frequency active sonar is described. Multiple objects are differentiated by clustering sonar returns, and Kalman filters are then used to track both stationary and moving obstacles. A minimum safe distance must be maintained between the AUV and any obstacle, and a modified potential fiel... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Information augmentation of passive tracking for autonomous underwater vehicles

    Publication Year: 1990, Page(s):238 - 247
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (868 KB)

    The problem of localizing moving targets using platform-based passive-acoustic sensing that may be available for small autonomous underwater vehicles is considered. An approach to maintaining the robust tracking performance, based on augmenting the nominal tracking function by nonbearing types of information extracted synergistically from knowledge-based data such as motion capabilities of differe... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design, calibration and evaluation of a two axis correlation log for use on autonomous underwater vehicle

    Publication Year: 1990, Page(s):181 - 185
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (348 KB)

    The design of a specific correlation speed log system developed to meet the requirements for relatively low-cost, high-performance submersible mounted operation is presented. The installation calibration of high-performance speed logs on surface vessels is important in order to identify and minimize the effects of installation misalignments. The hardware and procedures used to reduce the amount of... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Slant range and 3D sea floor models for real-time UUV simulation

    Publication Year: 1990, Page(s):145 - 149
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (424 KB)

    Slant range and 3-D sea floor models were used in a real-time unmanned underwater vehicle (UUV) simulation with a 3-D display. Two methods were used to generate 3-D terrain models. The first method uses specified spectral characteristics, random variations, and a discrete Fourier transform to generate plausible terrain. The second method uses non-Cartesian interpolation to convert contour informat... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Description of and experimental results for a high data rate underwater acoustic telemetry link

    Publication Year: 1990, Page(s):304 - 312
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    A wideband system (40 kHz-50 kHz) whose coding is self-synchronous and is adjustable for variations in coherence and reverberation times to obtain a maximum reliable data transmission rate for any given set of conditions is presented. To maximize data rate the approach takes full advantage of system bandwidth. At its simplest level a spectral line is used to represent a bit. The major delimiters o... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A comparison of two obstacle avoidance path planners for autonomous underwater vehicles

    Publication Year: 1990, Page(s):216 - 222
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (424 KB)

    The breadth-first path planner is compared to the optimal A* path planner in terms of distance traveled and computation time. Certain modifications are added to the obstacle avoidance algorithm to increase its robustness to vehicle position uncertainties arising from the Doppler/INS system. Simulation results show that the A* path planner generates paths that are between 0.8 and 1.1 times the leng... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • High resolution broadband FFT beamformer simulation and analysis

    Publication Year: 1990, Page(s):254 - 259
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (508 KB)

    Concerns the navigation of unknown regions by autonomous underwater vehicles using high-resolution sonar beamforming. A general computer simulation that allows the analysis of a broadband fast Fourier transform (FTT) beamformer using finite wordlength arithmetic has been developed. It is possible to vary individually the wordlengths of each processor involved in the beamforming calculations, as we... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal search tactics

    Publication Year: 1990, Page(s):156 - 167
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (728 KB)

    The determination and implementation of optimal search tactics for an autonomous underwater vehicle (AUV) is discussed. Various situations are identified to demonstrate the effects of sensor range, search area size, search time, acoustic environment, and target speed. A simulation of vehicles, sensors, and acoustic environment was developed to test these effects. The optimum solution to the situat... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • At-sea testing of an unmanned underwater vehicle flight control system

    Publication Year: 1990, Page(s):65 - 73
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (596 KB)

    The design and testing of an advanced unmanned underwater vehicle (UUV) flight control system (FCS) using a nonlinear control technique known as sliding mode control (SMC) are described. SMC provides a theoretical framework for the design of controllers that are robust to uncertain or unmodeled dynamics, disturbances or bandwidth restrictions, and are able to account for varying payloads. The FCS ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A mission planning expert system for an autonomous underwater vehicle

    Publication Year: 1990, Page(s):123 - 128
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (808 KB)

    A progress report on the use of a Lisp machine and the KEE expert system shell to realize a mission planning expert system for a small autonomous underwater vehicle (AUV) is presented. The methodology adopted provides for incremental development through the modularity facilitated by object-oriented and rule-based programming as provided by KEE. In addition, the use of Lisp as the language for the ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A pixel range gated imaging system for underwater viewing and range finding

    Publication Year: 1990, Page(s):280 - 285
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (400 KB)

    A scheme called a pixel range-gated imaging system, used as underwater viewing and range finding equipment in an autonomous underwater vehicle, is presented. In this system an underwater object is lit by a pulsed blue-green laser beam performing flying spot scanning, and a particular receiver is used to implement the range gating to each light pulse returned from each of the pixels on the objects.... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Advanced autonomous underwater vehicle software architecture

    Publication Year: 1990, Page(s):9 - 22
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1340 KB)

    A novel software architecture to control autonomous underwater vehicles is described. This architecture combines the strengths of architectural approaches based on task decomposition, real-time layering, processing sequence, and behavioral subsumption. A behavioral response system is introduced between the parts of the system that perceive and analyze the situation and the parts that act on those ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.