Download or read book A Systematic Experimental and Analytical Investigation of the Autonomous Underwater Vehicle Design Process with Particular Regard to Power System Integration written by and published by . This book was released on 1998 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of the International Symposium on Underwater Technology written by and published by . This book was released on 1998 with total page 538 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Dissertation Abstracts International written by and published by . This book was released on 2004 with total page 854 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Technology written by Oceanic Engineering Society (U.S.) and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1998 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: A primary goal of IEEE OES is to take its symposiums around the world, where emerging technology and applications can be synthesized into solutions for the future. "Key Issues for the Global Underwater Environment" provides a thematic umbrella under which the problems and potential long term solutions which concern not only the Pacific Rim countries, but the world in general are discussed.

Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.

Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Download or read book A Systems Architecture Approach to the Design of Autonomous Underwater Vehicles and Their Servicing Platforms written by Brendan Kelly Horton and published by . This book was released on 2020 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles hold great potential in the realms of industry, military, scientific, and personal usage. The applications of intelligently applied autonomous functionality could improve work performed on subsea infrastructure, commercial shipping lane maintenance, canal and channel observation, search and rescue, military applications, as well as general scientific research. Given such potential, and supposing that existing technological barriers to progress could be overcome, what could a potential system architecture of future autonomous underwater vehicles look like? Fundamentally this thesis asks: “could novel architectures of AUV systems – specifically pairing AUVs to remote service platforms – lead to significant performance increases?” In approaching this subject, a specific case study is leveraged where autonomous underwater vehicles were extensively used: the search for Malaysian Air flight 370. This specific mission profile has been extensively documented by others laying a comprehensive framework. It represents the single largest search and rescue operation ever performed. Within this thesis, whole-system performance metrics of this search and rescue operation are compared against calculated performance metrics of systematically generated possible architectures. In decomposing the system into its functional elements, a deterministic evaluation is executed followed by a probabilistic examination of the system as modeled. The results of the probabilistic model are also interpreted via a Pareto ranking methodology where Pareto surfaces are identified in multidimensional tradespaces. These component cases which comprise the Pareto surface are subsequently removed from the dataset, and the process is run again. This iterative approach demonstrated that the top ten performing architectures were comprised entirely out of architectures with either one or four AUVs. The outputs of these models are subsequently compared against the baseline system used in the search for MH370. Following the analysis, a major fault was identified in the foundations of all of the models surrounding a figure of merit wherein the time to the seafloor was calculated for all architectures. All of the top ten performing design vectors – systems which contained one or four AUVs – were unchanged due to this error. Architectures which were affected by this error -- systems with more than four AUVs -- were impacted negatively. Several methods of re-imagining the error are presented herein as complexities that are inherent in the system, which are not handled by these models. These new emergent complexities were present in the system prior to the model construction, but unaccounted for. Discovery of this faulty assumption laid bare several architectural decisions which are unexplored in this thesis, but could provide the foundation for future work in this space. The outcome of these modeling efforts suggests that pairing an autonomous underwater vehicle with an autonomous service platform can result in increases in all performance metrics. Specific metrics which are improved include daily search area rate, calendar mission completion time, and total project cost. This improvement is specifically calibrated to the case study of MH370, but the performance metrics themselves are not exclusively applicable to search and rescue operations. This model indicates that such a system could accomplish the same mission in less time for half the cost. This thesis presents a vision of future autonomous underwater vehicle systems in which daily operational time, search area rates, calendar mission completion times, and total system costs can all be improved relative to the existing standards. Such improvements are equally applicable to commercial, industrial, military, civilian, and scientific endeavors in which autonomous underwater vehicles could be a potential tool.

Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by Springer Nature. This book was released on 2019-10-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in ​the field of underwater technologies, industrial maritime applications, and maritime science.

Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.

Download or read book Experiments with the REMUS AUV written by Matthew D. Phaneuf and published by . This book was released on 2004-06-01 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis centers on actual field operations and post-mission analysis of data acguired using a REMUS AUV operated by tbe Naval Postgraduate School center for Autonomous Underwater Vehicle Research. It was one of many platforms tbat were utilized for data collection during AOSN II, (Autonomous Oceanograpbic Sampling Network II), an ONR sponsored exercise for dynamic oceanograpnic data taking and model based analysis using adaptive sampling. Tbe vebicle's ability to collect oceanograpnic data consisting of conductivity, temperature, and salinity during tbis experiment is assessed and problem areas investigated. Of particular interest are the temperature and salinity profiles measured from long transect runs of 18 Km. length into tbe soutbern parts of Monterey Bay. Experimentation witn tne REMUS as a mine detection asset was also performed. Tbe design and development of the mine hunting experiment is discussed as well as its results and tneir analysis. Of particular interest in tbis portion of tne work is tne issue relating to repeatability and precision of contact localization, obtained from vehicle position and sidescan sonar measurements.

Download or read book Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

Download or read book Autonomous Underwater Vehicles written by Cynthia Mitchell and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gravity-gradient and magnetic-gradient inversion equations are combined to estimate the orientation and distance of an underwater object. The CKF algorithm based on EMMAF algorithm and Spherical-Radial is proposed and is applied to the fault diagnosis of slaver AUV in multi AUV collaborative positioning system. Simulation results are used to analyze the advantages and disadvantages of the three algorithms. This book looks at how a Service-Oriented Agent Architecture (SOAA) for marine robots is endowed with resilient capabilities in order to build a robust (fault-tolerant) vehicle control approach. Particular attention is paid to cognitive RCAs based on agent technologies and any other smart solution already applied or potentially applicable to UMVs. The book also presents current and future trends of RCAs for UMVs.