Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology

2-3 June 1992

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  • Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology. AUV '92 (Cat. No.92CH3170-8)

    Publication Year: 1992
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  • A low frequency high resolution sonar for AUVs

    Publication Year: 1992, Page(s):215 - 218
    Cited by:  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (324 KB)

    The authors present the design of a sonar for autonomous underwater vehicles (AUVs) which can be operated as a conventional high-frequency forward-looking sonar or as parametric low-frequency sonar for buried mine detection and as an enhanced target classifier through the use of wideband low-frequency waveforms. The system provides high area coverage rates in conventional high-frequency mode when ... View full abstract»

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  • High-resolution monopulse piezopolymer sonar sensor

    Publication Year: 1992, Page(s):209 - 214
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (468 KB)

    A novel sonar sensor is described which utilizes two coincident, distributed, shaded polyvinylidene fluoride (PVDF) piezopolymer sensors to provide high-resolution target bearing estimates. Sensor shading is accomplished by suitably shaping the charge collection electrodes deposited on the sensing layer. When these two sensor shadings are matched via a derivative in space, the ratio of their signa... View full abstract»

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  • Weight, volume, and power consumption reductions in side look sonar systems for autonomous underwater vehicles

    Publication Year: 1992, Page(s):246 - 258
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1068 KB)

    The author describes research to increase the capability of autonomous underwater vehicles (AUVs) for search applications. Reducing the hotel load contribution of the side-looking sonar (SLS) system increases the endurance of the AUV. A detailed analysis of a state-of-the-art SLS system was performed to obtain a baseline for the study. The relative contributions of transducer, electronics, and int... View full abstract»

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  • Use of laser scanning system on mobile underwater platforms

    Publication Year: 1992, Page(s):202 - 205
    Cited by:  Papers (7)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (316 KB)

    An underwater laser-based synchronous scanning system which produces high quality images through turbid waters is described. A prototype system has been developed to demonstrate the operational feasibility of the synchronous line scan architecture. This prototype system incorporated an argon ion laser operating at 488 and 514.5 nm. Operational systems could incorporate a frequency doubled Nd:YAG s... View full abstract»

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  • Synthetic aperture beamforming with automatic phase compensation for high frequency sonars

    Publication Year: 1992, Page(s):236 - 245
    Cited by:  Papers (31)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (892 KB)

    The author discusses a phase compensation technique suitable for both high- and low-frequency sonars using displaced phase center receive elements to compute phase corrections directly from the acoustic scene. The phase compensation corrects ping-to-ping incoherence due to both medium and vehicle motion instabilities over the integration period of the synthetic aperture, thereby improving image qu... View full abstract»

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  • A new jet propulsion device for small subsea robots

    Publication Year: 1992, Page(s):112 - 115
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (276 KB)

    The authors are developing a propulsion device for short duration positioning of small subsea robots that mimics the jet mechanism used by squid. The water jet is generated by a gas-operated hydraulic actuator. The authors describe the concept of the device and some control tests soon to be conducted on a simple configuration in a wave tank facility View full abstract»

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  • Automatic camera control for AUVs: a comparison of image assessment methods

    Publication Year: 1992, Page(s):191 - 201
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1024 KB)

    The authors compare the performance of a spatial domain and a spatial frequency domain control method used to assess image content information from charge coupled device (CCD) camera imagery. Sample underwater images were processed using the developed techniques and are used to illustrate comparative levels of control for different water qualities, object contrasts, and ranges. The implementation ... View full abstract»

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  • Semi-autonomous underwater vehicles for shallow water mine-clearing

    Publication Year: 1992, Page(s):22 - 28
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    The authors present an intelligent control architecture which promises to be useful for controlling a semi-autonomous undersea robot for shallow water mine hunting. The architecture integrates reaction plans and layered competences, providing for reactive behaviors and goal-oriented sequencing of tasks. Control theoretic techniques can be smoothly integrated into the architecture, providing for ro... View full abstract»

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  • 3D reconstruction of small underwater objects using high-resolution sonar data

    Publication Year: 1992, Page(s):228 - 235
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (856 KB)

    A high-resolution, very compact acoustic lens sonar was used to investigate how well small underwater objects can be reconstructed in 3D. The purpose was to develop an acoustic snapshot approaching photographic quality in turbid water where cameras and lens are ineffective. In-water experiments have provided data from an 8-by-8 array of acoustical beams with 1.5 degree conical resolution. Algorith... View full abstract»

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  • An improved acoustic communications system for autonomous underwater vehicles

    Publication Year: 1992, Page(s):167 - 174
    Cited by:  Papers (2)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (596 KB)

    Applied Remote Technology has recently concluded a two-year research and development program to extend the performance of the adjustable diversity acoustic telemetry system (ADATS), which was designed as an acoustic command and control link for autonomous underwater vehicles (AUVs). The result of this program was a second-generation ADATS design, called ADATS II, that uses digital signal processin... View full abstract»

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  • A simple approach to planning and executing complex AUV missions

    Publication Year: 1992, Page(s):95 - 102
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (540 KB)

    The authors have implemented a simple solution to mission planning for an autonomous underwater vehicle (AUV) which, together with a layered control architecture due to Zheng (1992), results in a reliable and flexible AUV control system. Extending the concept of a highly configurable control system, the solution is to provide the capability for user-defined mission scripts to specify AUV missions.... View full abstract»

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  • FTMP: a protocol for distributed fault tolerant operating system services

    Publication Year: 1992, Page(s):148 - 151
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (324 KB)

    The authors discuss the design of a highly redundant distributed fault-tolerant environment based on the fault-tolerant monitor protocol (FTMP). An implementation of this protocol was developed on a 16-node 4-by-4 planar-2 mesh of Sun Sparcstations running UNIX. The implementation provided fully distributed reliability services to applications in a highly redundant, loosely coupled, distributed ne... View full abstract»

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  • Robot crane for underwater vehicles automatic launching and retrieval

    Publication Year: 1992, Page(s):282 - 290
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (532 KB)

    The authors describe a handling system for automatically launching and recovering remotely operated vehicles (ROVs), or autonomous underwater vehicles (AUVs). They address the basic concept of the patented design, the system configuration, the operational concepts, and the development history. The system consists of the ROV/AUV interface, the handling unit, the crane unit, and the electronic remot... View full abstract»

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  • AUV's trends over the world in the future decade

    Publication Year: 1992, Page(s):116 - 127
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1084 KB)

    The author describes autonomous underwater vehicle (AUV) developments and applications world-wide, AUV development in China, and AUV trends. Besides developments in China, those in the USA, Canada, the United Kingdom, France, Germany, Japan, and Russia are discussed, such as deep ocean modelling, ocean bottom exploration, ocean bottom sampling, deep ocean work platform, underwater survey, and so o... View full abstract»

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  • Fuel cell power system development for submersibles

    Publication Year: 1992, Page(s):184 - 188
    Cited by:  Papers (4)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (364 KB)

    DARPA is sponsoring programs at International Fuel Cells (IFC) to develop proton exchange membrane (PEM) fuel cell power systems for marine application. One program is focused on a fuel cell power system for use in an unmanned underwater vehicle (UUV). Another program, part of DARPA's advanced submarine technology (Subtech) efforts, is developing and demonstrating the technology to generate hydrog... View full abstract»

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  • Self-powered underwater vehicle for MCM operations (MIN MK2 system)

    Publication Year: 1992, Page(s):29 - 45
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (924 KB)

    The design of the MIN MK2 system, a mine identification and neutralization system, was aimed at developing a system offering the highest kill-probability against hostile mines laid near the approaches to harbors, in coastal waters, and shipping lanes. A concept was derived for a system consisting of a wire-guided underwater vehicle being able to approach a submerged target to identify it on the ba... View full abstract»

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  • A shaped PVDF hydrophone for producing low sidelobe beampatterns

    Publication Year: 1992, Page(s):219 - 223
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (272 KB)

    The authors determine if a multi-wavelength continuous hydrophone, shaped to achieve low sidelobes, can produce desired sidelobes and beamwidths. Polyvinylidene fluoride (PVDF) was selected as the sensor material. Theoretical beampatterns are calculated for three different hydrophone shapes (or weighting functions). They are the rectangular aperture, the modified linear taper, and a -40 dB, 26-poi... View full abstract»

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  • Aluminum silver oxide reserve primary battery for small submersibles

    Publication Year: 1992, Page(s):181 - 183
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (244 KB)

    A simple modular aluminum/silver oxide reserve primary battery has been designed for small submersibles. The battery is capable of delivering high power output from a small volume. The cathodes were made of chemically prepared silver oxide powder supported by a silver-plated reticulated nickel matrix. This cathode had a higher energy density than a cathode made from electrochemically charged silve... View full abstract»

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  • A new adaptive signal detector in the noises

    Publication Year: 1992, Page(s):259 - 263
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (224 KB)

    An adaptive signal detector applicable to a noise environment is described. A method for obtaining the reference signal is presented for the adaptive noise canceler. An adaptive algorithm is also presented which can be used for the adaptive signal detector, the adaptive noise canceler, and the adaptive main frequency interference canceler. The main features of this adaptive algorithm are: (1) both... View full abstract»

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  • Hydrodynamics of simple robot arm/body configurations

    Publication Year: 1992, Page(s):109 - 111
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (184 KB)

    The authors present hydrodynamics data for simple robot arm/body configurations. The long-term goal is to understand the hydrodynamics of subsea robots with multiple link arms undergoing arbitrary motions far from and close to subsea structures while being subjected to wave/current disturbances. For the present exploratory work, attention has been restricted to the drag torque on a single link arm... View full abstract»

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  • Naval architectural and power system selection for underwater vessels

    Publication Year: 1992, Page(s):16 - 21
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (420 KB)

    An algorithm was developed to enable the tradeoffs between a vessel's hydrodynamic design, its mission requirements, and the chosen power system to be identified. Attention was especially focused on developing, within the overall algorithm, a method for the selection of an appropriate power system from a menu of alternatives. The outcome of the first phase of the study was the development of a com... View full abstract»

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  • Adaptive testing of controllers for autonomous vehicles

    Publication Year: 1992, Page(s):158 - 164
    Cited by:  Papers (1)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    The authors discuss techniques for the evaluation of complex software systems, and for the identification of classes of vehicle faults that are most likely to impact negatively on the performance of a proposed autonomous vehicle controller. The approach involves subjecting a controller to an adaptively chosen set of fault scenarios within a vehicle simulator, and searching for combinations of faul... View full abstract»

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  • Three-dimensional path planning for AUV

    Publication Year: 1992, Page(s):91 - 94
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (260 KB)

    The authors present a method of 3-D path planning for AUVs (autonomous underwater vehicles). It combines vertical planning and horizontal planning. Thus, a relatively good path among 3-D obstacles can be found directly in the original environment. The authors present some strategies, including static and dynamic cutoff, characteristic plane, and learning and evolving, to raise the efficiency. Expe... View full abstract»

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  • Layered control of a practical AUV

    Publication Year: 1992, Page(s):142 - 147
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (592 KB)

    Following a brief explanation of ISER's layered control theory, the author gives working examples of layered control on the existing ARCS vehicle. In the process of implementing a control system for the ARCS vehicle, ISER has incorporated hierarchical and cooperative elements into the subsumption architecture. Vehicle control functions are defined as independent behaviors that share the use of act... View full abstract»

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