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Autonomous Underwater Vehicle Technology, 1990. AUV '90., Proceedings of the (1990) Symposium on

Date 5-6 June 1990

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  • 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
  • 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»

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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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  • 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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  • Keeping layered control simple [autonomous underwater vehicles]

    Publication Year: 1990, Page(s):3 - 8
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    The status of research on adapting layered control to fully autonomous underwater vehicles (AUVs) is described. Handling vehicle dynamics, communication between layers, sensor processing, mission configuration, resolving conflict between layers, and avoiding states in which the vehicle becomes trapped are studied. The complex nonlinear dynamics and large sensor processing requirements inherent in ... 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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  • 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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  • 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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  • Design, calibration and evaluation of a two axis correlation log for use on autonomous underwater vehicle

    Publication Year: 1990, Page(s):181 - 185
    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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  • Robustness analysis method for underwater vehicle control systems

    Publication Year: 1990, Page(s):74 - 80
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    Current stability and performance robustness techniques are surveyed and evaluated for application to the underwater vehicle control system design problem. These robustness techniques have been classified into the following five categories: matrix perturbation techniques, characteristic equation methods, structured singular value techniques, input-output methods, and Lyapunov methods for nonlinear... 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 (3)
    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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  • Development of motion control system for AUV using neural nets

    Publication Year: 1990, Page(s):81 - 86
    Cited by:  Papers (26)
    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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  • 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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  • Correlation-log-based underwater navigation

    Publication Year: 1990, Page(s):186 - 193
    Cited by:  Papers (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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  • AUV control using geometric constraint-based reasoning

    Publication Year: 1990, Page(s):150 - 155
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    The geometric constraint approach to motion planning with moving obstacles for autonomous underwater vehicles (AUVs) is reviewed. The authors discuss how constraints for optimizing sensor operation, nonuniform obstacle avoidance and predictable nonlinear obstacle motion can be generated by the system. The process of generating and combining the following diverse constraint types is explained: sens... 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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  • Neural network techniques for navigation of AUVs

    Publication Year: 1990, Page(s):137 - 141
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    A neural net approach is considered as a nonlinear controller for precise navigation and positioning of an autonomous underwater vehicle (AUV) around and about fixed and/or moving objects. The network can be trained to operate within various noise conditions consisting of current fields or other constraints. A neural net uses sensor position and velocity information as the inputs and relative posi... View full abstract»

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  • A robust depth and speed control system for a low-speed undersea vehicle

    Publication Year: 1990, Page(s):51 - 58
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    Aspects of low-speed unmanned undersea vehicle (UUV) dynamics are described, including features relevant to depth and speed control. A robust multivariable approach to the control of UUV depth and speed is described. The design approach, μ-synthesis, allows the designer to treat the fundamental issues of stability, performance requirements, and model variation within a single unified framework.... 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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  • 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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  • 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 collision avoidance controller for autonomous underwater vehicles

    Publication Year: 1990, Page(s):206 - 212
    Cited by:  Papers (7)
    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»

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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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  • 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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  • 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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