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
  • 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.
  • 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»

    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.
  • 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.
  • Multimode battery [marine system applications]

    Publication Year: 1990, Page(s):109 - 112
    Cited by:  Papers (3)
    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»

    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.
  • 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.
  • 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»

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

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural network techniques for navigation of AUVs

    Publication Year: 1990, Page(s):137 - 141
    Cited by:  Papers (5)
    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»

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

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

    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.
  • 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.
  • 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.
  • A technique for autonomous underwater vehicle route planning

    Publication Year: 1990, Page(s):201 - 205
    Cited by:  Papers (8)
    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»

    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.
  • 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»

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

    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.
  • 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.
  • Gravity based navigation of AUVs

    Publication Year: 1990, Page(s):177 - 180
    Cited by:  Papers (3)
    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»

    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.
  • 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»

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