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Symposium on Autonomous Underwater Vehicle Technology

5-6 June 1990

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

    Publication Year: 1990
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    Freely Available from IEEE
  • 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»

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  • Interleaver performance for FSK transmission on the acoustic fading channel

    Publication Year: 1990, Page(s):313 - 317
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (188 KB)

    The performance advantages provided by the use of a symbol interleaver in a frequency shift keying (FSK) autonomous underwater vehicle (AUV) data communications link are demonstrated. The communication system is a digital FSK data link. It is well known that a Rayleigh fading medium introduces significant bit-error-rate (BER) degradations with respect to the additive noise channel due to the corre... View full abstract»

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  • Evaluation methodology for AUV energy systems analysis

    Publication Year: 1990, Page(s):113 - 120
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    An evaluation methodology is developed and applied to the analysis of heat engines, primary and secondary batteries, and fuel cells in an effort to evaluate energy systems for autonomous underwater vehicles (AUVs). The evaluation methodology reduced the number of independent variables to four, while the balance of 11 variables were shown to be dependent on the former. This generic method permits t... View full abstract»

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  • Autonomous interpretation of side scan sonar returns

    Publication Year: 1990, Page(s):248 - 253
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The automatic interpretation of side scan sonar (SSS) returns is addressed. The proposed system combines signal detection techniques, feature extraction using SSS geometry, and a neural network classification algorithm for real-time detection and classification. Preliminary results were obtained by experimenting with actual SSS data. Applying the automated system to the data, the detection subsyst... View full abstract»

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  • 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»

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  • Adaptive underwater target tracking via a generalized Kalman filter

    Publication Year: 1990, Page(s):275 - 279
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    An underwater target tracking scheme is presented. A model relating the target states to time delay and bearing measurements is reviewed. This provides linearized measurement models which are discussed. One of the problems associated with Kalman filters is difficulties in maintaining the lateral continuity of received data. This is due to the fact that in most published results each trace is analy... View full abstract»

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  • 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»

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  • Multimode battery [marine system applications]

    Publication Year: 1990, Page(s):109 - 112
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (184 KB)

    A novel aluminum-based seawater battery for marine applications is described. The battery is operable at multiple power levels. The low power is derived from an aluminum-inert cathode bipolar battery by flow of seawater through the cells. The high power is derived by online mixing of hydrogen peroxide with the seawater electrolyte. The low/high power switching is reversible, and the power level ca... View full abstract»

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  • 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»

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  • 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»

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  • 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»

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  • 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»

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  • Obstacle avoidance using neural networks

    Publication Year: 1990, Page(s):213 - 215
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    A neural network that limits the closest point of approach of an autonomous underwater vehicle (AUV) with respect to a navigation obstacle is described. Neural network inputs consist of beam outputs from a forward-looking sonar, and differences between current and desired values for AUV course and speed are inputs to normal navigation and control. The neural network outputs are AUV rudder angle an... View full abstract»

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  • A technique for autonomous underwater vehicle route planning

    Publication Year: 1990, Page(s):201 - 205
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    An algorithm that uses artificial potential fields to aid in the path planning of autonomous underwater vehicles is presented. The planning consists of applying potential fields around the obstacles and using the field to select a safe path for the robot to follow. In the method presented, a trial path is chosen and then modified under the influence of the potential field until an appropriate path... View full abstract»

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  • The TV-trackmeter: an underwater noncontact position sensor

    Publication Year: 1990, Page(s):270 - 274
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The TV-trackmeter is an underwater position sensor. Two TV cameras with parallel optical axes and known inter-axis distance are used to get two images of the same scene; a point in the space is projected into two separate points, one in each of the images. Through triangulation it is possible to identify the position of the image point in space. A powerful digital processor automatically performs ... View full abstract»

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  • High data rate acoustic telemetry for moving ROVs in a fading multipath shallow water environment

    Publication Year: 1990, Page(s):296 - 303
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    A compact telemetry system for digital data telemetry at rates up to 10 kb/s over 1 to 10 km is presented. The system is designed for worst-case ocean acoustic channel conditions, and operates in the presence of source/receiver motion, fading, and multiple transmission paths. In addition, the system incorporates spatial diversity by utilizing multiple hydrophones and data processing subsystems. Th... View full abstract»

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  • 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»

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  • Optimal routing of multiple autonomous underwater vehicles through evolutionary programming

    Publication Year: 1990, Page(s):44 - 47
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    Evolutionary programming is all inductive reasoning process wherein randomness is selectively incorporated to build a logic that meets the challenges posed by the environment. A demonstration of evolutionary optimization in the domain of routing multiple autonomous underwater vehicle (AUVs) is indicated. A series of experiments of increasing complexity were designed to evaluate the potential of ev... View full abstract»

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  • Correlation-log-based underwater navigation

    Publication Year: 1990, Page(s):186 - 193
    Cited by:  Papers (1)  |  Patents (1)
    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»

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  • Development of motion control system for AUV using neural nets

    Publication Year: 1990, Page(s):81 - 86
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    A self-organizing neural-net-controller system is developed as an adaptive motion control system for AUVs (autonomous underwater vehicles). The system can generate autonomously an appropriate controller according to some evaluations of motion of the vehicle. To construct the system in practical environment, an organizing process of the controller is proposed, which is initiated by a premature fuzz... View full abstract»

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  • 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»

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  • Optimization of acoustic sensors for autonomous underwater vehicle applications

    Publication Year: 1990, Page(s):231 - 237
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    The design of optimal acoustic sensors for autonomous underwater vehicles (AUVs) is studied. Specifications for a typical AUV sensor package are discussed and a qualitative performance objective is developed. A technique for designing optimum projector and hydrophone arrays for a given size aperture is outlined. A brief discussion on how to use the results of the array design study to find the bes... View full abstract»

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  • 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»

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  • 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»

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