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 System Description and Design Architecture for Multiple Autonomous Undersea Vehicles written by James Sacra Albus and published by . This book was released on 1988 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle AUV written by Bradley J. Leonhardt and published by . This book was released on 1996-03-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School Autonomous Underwater Vehicle (AUV), Phoenix, has a well developed lower level architecture (Execution level) while the upper, Strategic and especially the Tactical, levels need refinement. To be useful in the fleet an easier means of creating mission code for the Strategic level is required. A software architecture needed to be implemented at the Tactical level on-board Phoenix which can accommodate multi-processes, multi- languages, multiprocessors and control hard real time constraints existing at the Execution level. Phoenix also did not have a path replanning capability prior to this thesis. The approach taken is to provide Phoenix a user friendly interface for the autogeneration of human readable mission code and the creation and implementation of a Tactical level control architecture onboard Phoenix to include path replanning. The approach utilizes Rational Behavior Model (RBM) architectural design principles. This thesis focuses on the Officer of the Deck and replanning at the Tactical level, and refinement of the Captain at the Strategic level. While further testing is necessary, Phoenix is now capable of behaving as a truly autonomous vehicle. Results of this thesis show that nontechnical personnel can generate Prolog code to perform missions on-board Phoenix. Path replanning and obstacle avoidance software are also implemented. Most important this thesis demonstrates successful operation of all three levels of the RBM architecture on-board Phoenix.

Download or read book Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology June 2 and 3 1992 Washington DC USA written by Oceanic Engineering Society (U.S.) and published by . This book was released on 1992 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System written by Clark D. Stevens and published by . This book was released on 1993 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is implemented to compute the ascent path during transit from an object of interest to the surface. INS hardware components include miniature spin gyroscopes, a compass and a depth transducer interfaced through an analog to digital converter. Global Positioning System (GPS) is used to determine the AUV's location after reaching the surface. The reciprocal of the ascent vector is applied to the AUV's GPS position to accurately determine the location of the target of interest. A primarily object- oriented software architecture is implemented here with extensive software testing to verify the proper operation of key modules. The objective of this thesis is to quantify the adequacy of the selected components in meeting these requirements and to develop a breadboard design demonstrating the basic functions of the interim SANS. This research concludes that the components selected for the interim SANS meet the accuracy requirements provided the AUV maintains a climb angle which is equal to or steeper than 12 degrees from a typical mission depth of 20 meters.

Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.

Download or read book An Approach to Integration of Real time Software for an Autonomous Underwater Vehicle written by Brent Lee Leatherman and published by . This book was released on 1991 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School (NPS) is currently involved in a long term project to investigate and develop real-time software for command and control of Autonomous Underwater Vehicles (AUV). In support of this goal, NPS is currently designing and fabricating a testbed AUV. This thesis describes the design development, and testing of a real-time scheduling software package to act as the top layer of control software for the AUV. Also discussed are the various real-time scheduling policies available along with the features of the assigned operating systems that allow the implementation of the scheduler.

Download or read book A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System written by Clark D. Stevens and published by . This book was released on 1993 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is implemented to compute the ascent path during transit from an object of interest to the surface. INS hardware components include miniature spin gyroscopes, a compass and a depth transducer interfaced through an analog to digital converter. Global Positioning System (GPS) is used to determine the AUV's location after reaching the surface. The reciprocal of the ascent vector is applied to the AUV's GPS position to accurately determine the location of the target of interest. A primarily object- oriented software architecture is implemented here with extensive software testing to verify the proper operation of key modules. The objective of this thesis is to quantify the adequacy of the selected components in meeting these requirements and to develop a breadboard design demonstrating the basic functions of the interim SANS. This research concludes that the components selected for the interim SANS meet the accuracy requirements provided the AUV maintains a climb angle which is equal to or steeper than 12 degrees from a typical mission depth of 20 meters.

Download or read book Design Considerations for Engineering Autonomous Underwater Vehicles written by and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work was funded by the NSF Center for Subsurface Sensing and Imaging Systems (CenSSIS) Engineering Research Center (ENC) grant no. EEC-99868321.

Download or read book Adresse de la municipalit de la ville de Paris le 17 juin 1790 sur l alienation la vente des biens ecclesiastiques domaniaux written by and published by . This book was released on 1790 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Computational Design and Control of Autonomous Underwater Vehicles written by Juan A. Salazar and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of autonomous underwater vehicles (AUVs) currently relies heavily on rule-of-thumb techniques shared among those in the field, with many designs ending up with thousands of custom-made components that are not readily transferable to other designs made for different tasks. This is largely because of the complexity of designing a vehicle subject to the harsh ocean environment, which results in many interdepencies across design parameters. For the past few years, we have been developing hardware and software for SoFi, an autonomous soft robotic fish platform originally developed at MIT. Throughout our development process, we encountered a number of hardware-related obstacles concerning SoFi's many custom components, which considerably slowed down our design iteration cycle. Using an automated pipeline that can synthesize designs from a pre-defined component library relieves the design cycle from the drawbacks of rules-of-thumb and highly customized components, and enables fast computational generation and evaluation of optimal performance underwater vehicles. In this work, we first describe our design work and evaluation on the SoFi platform. Next, we present an approach in the form of a automatic graph grammar-based AUV design framework that produces locally optimal AUV designs (including structure and control) based on a task specification. Our framework randomly samples the space of AUV topologies defined by the graph grammar and simultaneously optimizes structure and control with a gradient-based method using a differentiable simulator. Finally, we summarize the results from evaluating our autonomous soft robotic platform, the results from running our AUV design framework on a simulated mission and then show that the design framework carries massive potential in accelerating the future design of SoFi and other types of AUVs, conventional or non-conventional.

Download or read book Control Systems Architecture Navigation and Communication Research Using the NPS Phoenix Underwater Vehicle written by and published by . This book was released on 2005 with total page 35 pages. Available in PDF, EPUB and Kindle. Book excerpt: While there has always been a need to determine the global position of an underwater vehicle, in some missions involving search, mapping, and intervention with objects, navigation to local area landmarks is more appropriate and precise. All aspects of autonomous search have been of interest to us for some time now, and we have recently developed and extended our robot control system architecture using Prolog as a rule based mission specification language to drive vehicle missions involving motion around targets of interest. In particular, we have studied the use of onboard scanning sonar to perform local area navigation. Additionally, we have installed a new low cost short / long baseline acoustic communications / navigation system called DiveTracker, and are developing filtering software that would combine inputs from several sources having different update rates and levels of precision to produce high update rate navigational information with the precision afforded by the low update rate reference. Also, the DiveTracker system affords a low cost acoustic communications system that can be used for low rate message sending and retrieval from autonomous vehicles.

Download or read book Design and Implementation of an Energy Aware Programming Framework for Autonomous Underwater Vehicles written by Hans Christian Woithe and published by . This book was released on 2014 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) have become an indispensable tool for studying the oceans. They allow for the prolonged presence of scientific instruments in the ocean, enabling the collection of samples for several weeks or months at a time for a fraction of the cost of research vessels. These vehicles share common characteristics and constraints with other cyber-physical systems that include concerns for vehicle safety, a limited energy supply, the optimization and trade-off of resources, sporadic communication, and operation in extremely constrained environments. One such AUV is the Slocum Electric Glider. Although AUVs like the Slocum Glider have revolutionized the field of oceanography, many are difficult to program and thus limit their overall utility. A new energy aware, domain specific programming framework for AUVs, called ALGAE (AUV Language for Greater Adaptability and Energy optimization), has been developed on the Slocum Glider. This framework enables scientists to easily create missions that use domain specific features to make trade-offs, such as sacrificing the quality at which the environment is sampled for a gain in vehicle endurance. Novel methods used in the framework make the vehicle a more effective scientific instrument. The system was specifically designed to support a mission critical platform that operates in an extremely constrained environment. In the new infrastructure, missions can be tested in simulation, but more importantly, can be compiled directly for use on the target platform. To evaluate the framework, simulations and field trials off the coast of New Jersey were performed to showcase the practicality of the system. Furthermore, because the framework was designed around a common set of constraints and characteristics, the mechanisms and approaches developed are widely applicable to many autonomous systems.

Download or read book DEPSCOR Research on ARL s Intelligent Control Architecture Hierarchical Hybrid Model Based Design Verification Simulation and Synthesis of Mission Control for Autonomous Underwater Vehicles written by and published by . This book was released on 2007 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research, our goal has been to develop hierarchical hybrid mission control architecture for autonomous systems illustrating its application to autonomous underwater vehicle (AUV), verify the logical correctness of the controller designed, look into the feasibility of simulating the operations executed by the AUV, and automate controller synthesis. The correct operation of a system we design is a requirement. The challenge to develop a hierarchical hybrid mission controller for underwater vehicle which facilitates modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).

Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2010-12-03 with total page 0 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 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 Naval Engineers Journal written by and published by . This book was released on 1991 with total page 906 pages. Available in PDF, EPUB and Kindle. Book excerpt: