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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
  • 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 (1)
    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»

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  • 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»

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  • Gravity based navigation of AUVs

    Publication Year: 1990, Page(s):177 - 180
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    A class of autonomous navigators, termed gravity gradiometer navigation systems (GGNS), is introduced. These systems use measurements of the spatial gradients of the local gravity field and compare them with a presurveyed gravity gradient map. The convergence problem is easily solved because, unlike the terrain data, the gravity signal has significant low-frequency (geological) content. Hence, wit... 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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  • 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»

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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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  • 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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  • 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»

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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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  • 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»

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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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  • 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»

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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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  • 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»

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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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  • 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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  • 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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  • `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»

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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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  • Heat source integration of CBS powerplants for UUV missions

    Publication Year: 1990, Page(s):89 - 99
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1032 KB)

    Thermal power system concepts are studied for emerging unmanned underwater vehicle (UUV) applications to obtain extended mission capability within the smallest possible vehicle size. To achieve this objective, all elements of prospective power systems, particularly all propulsive-related subsystems, must be capable of highly integrated packaging. The application of closed Brayton cycle (CBC) power... 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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  • 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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