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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    Freely Available from IEEE
  • 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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  • Integrated simulation for rapid development of autonomous underwater vehicles

    Publication Year: 1992, Page(s):3 - 10
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (940 KB)

    The autonomous underwater vehicle (AUV) integrated simulator has been designed to support complete scientific visualization of AUV vehicle performance. High-resolution 3D graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sonar processing and object classification. Use of well-defined, user-readable mission log files as the ... View full abstract»

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  • Local-remote telerobotics for underwater vehicles

    Publication Year: 1992, Page(s):11 - 15
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    An operational local-remote telerobot system which provides interactive supervisory control of robots which are spatially and/or temporally remote from the local operator station is described. The system has been implemented for the NASA Space Station Freedom engineering prototype development program as a technology prototype dual-arm local-remote system for space telerobotics. The system has two ... 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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  • Autonomous vehicle software taxonomy

    Publication Year: 1992, Page(s):49 - 64
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1272 KB)

    A survey of software architectures for 12 autonomous underwater vehicles has been made. The analysis is performed in the context of an evaluation framework which focuses on each architecture's important features, including its control distribution strategy, its use of modeling, and the types and representations of knowledge that it uses. A classification scheme has been developed which helps to as... 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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  • 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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  • A distributed launch and recovery system for an AUV and a manned submersible

    Publication Year: 1992, Page(s):267 - 278
    Cited by:  Papers (2)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (784 KB)

    The launch and recovery (L&R) of an autonomous underwater vehicle (AUV) by a manned submersible (MS) is required for joint AUV/MS missions. The authors consider L&R as a distributed artificial intelligence (DAI) task. The approach has been taken to provide assistance in definition of subtasks, allocation of task responsibility, and specification of required data acquisition, processing, an... View full abstract»

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  • An acoustic lens sonar using micromechanical hydrophones for unmanned undersea vehicles

    Publication Year: 1992, Page(s):224 - 227
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    The system design of an acoustic lens sonar using micromechanical hydrophones is examined for a mission as the forward-looking sonar on an autonomous underwater vehicle (AUV). Micromechanical hydrophone technology combined with an acoustic lens system can provide a high sensitivity, high resolution imaging sonar system. As the micromachining technology matures, more electronic functions can be int... View full abstract»

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  • Experimental verification of mission planning by autonomous mission execution and data visualization using the NPS AUV II

    Publication Year: 1992, Page(s):65 - 72
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    The authors describe recent results in mission execution and post-mission data analysis from the NPS autonomous underwater vehicle (AUV) II testbed underwater vehicle. Ongoing research is focused on control technology to meet the needs of future naval autonomous underwater vehicles. These vehicles are unmanned untethered free-swimming robotic submarines to be used for naval missions including sear... 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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  • 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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  • 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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  • 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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  • 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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  • Dynamic simulation tools for the analysis and design of AUVs

    Publication Year: 1992, Page(s):105 - 108
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    The general characteristics of a dynamic simulator for advanced robotics are discussed. The features of a dynamic simulator, ARS, for advanced robotic applications, currently under development at the University of Genova, are outlined. The flexibility of ARS makes it suitable for the simulation of underwater vehicles and robots. With this objective, simple models of the hydrodynamic effects are pr... View full abstract»

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  • User interface design strategies for AUVC software development

    Publication Year: 1992, Page(s):152 - 157
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    The authors describe useful strategies with respect to autonomous underwater vehicle controller (AUVC) software development as used on the AUVC project at the Texas A&M University. Graphical user interface programs (GUIs) have been developed to ease many aspects of system development, integration, and testing as well as mission specification and system initiation, monitoring, shutdown, and ana... 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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  • 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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  • 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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  • Multi-sensor based AUV with distributed vehicle management architecture

    Publication Year: 1992, Page(s):73 - 78
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    The authors introduce a project to build a multisensor-based autonomous underwater vehicle (AUV) named the Twin-Burger, which is the newest vehicle of the Institute of Industrial Science, the University of Tokyo. The Twin-Burger is being designed as a versatile testbed on which the techniques as represented by software architectures can be implemented and tested. The first in-water experiment is e... 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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