Download or read book Demonstration of a High performance Low cost Autonomous Underwater Vehicle written by James Gladen Bellingham and published by . This book was released on 1993 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 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 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 Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators written by Bo Li and published by . This book was released on 2016 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontal plane motion. The demand for high-performance AUVs are growing in the eld of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative flows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coefficients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real uid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling effects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.

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 Autonomous Underwater Vehicles AUVs A Look at Coast Guard Needs to Close Performance Gaps and Enhance Current Mission Performance written by and published by . This book was released on 2006 with total page 14 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Coast Guard has declared its intentions to exploit emerging technologies as it moves toward its vision of the Coast Guard in the year 2020. Attaining this vision requires the appropriate integration of technology as part of the solution to close gaps in mission performance. For this to happen, the Coast Guard must make concerted and deliberate efforts to exploit technology, moving effectively from ideation through development, acquisition, implementation, and life-cycle support. The role of the Research and Development (R & D) Center in exploiting technology is to anticipate future needs, create ideas, and insert new technologies. As a platform for various sensors, the Autonomous Underwater Vehicle (AUV) is one such technology with the potential to close the gaps in Coast Guard performance as well as enhance current mission capabilities. This paper addresses the Coast Guard's AUV needs for specific mission areas. The variety and unique nature of Coast Guard missions add a high degree of complexity to technological solutions. In a world where high complexity often equals high cost, development does not always follow a path that resolves the issues encountered by the Coast Guard. By working to articulate its needs now, the Coast Guard hopes to influence AUV development in such a way that off-the-shelf items eventually can meet its operational needs. Several areas show that AUV developments are already taking this path. AUV complexity can be addressed through the ever-reducing costs of computing ability, modularization, sensor packaging, communication networking, and miniaturization. The following mission areas are addressed in this paper: Fisheries Management, Port Safety and Security, and Law Enforcement. For each mission area, an AUV application is described that could meet Coast Guard needs for that particular mission.

Download or read book Small High Performance Autonomous Underwater Vehicles written by James G. Bellingham and published by . This book was released on 2001 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Sea Grant Abstracts written by and published by . This book was released on 1995 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Execution Level Java Software and Hardware for the NPS Autonomous Underwater Vehicle written by Miguel A. Ayala and published by . This book was released on 2002-09-01 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) have a great potential use for the United States Marine Corps and United States Navy. When performing amphibious operations, underwater mines present a danger for he forces going ashore. The use of underwater vehicles for the detection of this mines and signaling to the Amphibious Ready Group is very attractive. With advancements in hardware and object oriented language technology, more complicated and robust software can be developed. The Naval Postgraduate School Center for AUV Research has been designing, building, operating, and researching AUVs since 1987. Each generation of vehicles has provided substantially increased in operational capabilities and level of sophistication in the hardware and software respectively. With the advancement in real-time computer languages support, object oriented technology, and cost efficient and high performance hardware, this thesis lays the foundations to develop a software system for the execution level using the Java language. We look into the Java Real-Time specifications and extension to familiarize with the capabilities of Java for real-time support, and study Java boards and its application for embedded real-time systems. We developed an object-oriented design for the execution level control software and implemented the design in Java. A testing phase is still under work.

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 175 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 Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Download or read book Towards Combined Task and Motion Planning for Autonomous Underwater Vehicles written by James William McMahon and published by . This book was released on 2016 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: In oceanic research and development, autonomous underwater vehicles (AUVs) provide scientists with the ability to augment expensive manned operations at a lower cost while simultaneously exploring regions that were previously inaccessible to scientists. While the cost of these AUVs is often nontrivial, the ability to autonomously sample data from varying regions over extended time periods removes the necessity of human operations which require much higher overhead costs. Scientists are now leveraging the unique abilities of AUVs to explore new environments, scientists are now starting to use AUVs to perform sophisticated missions in deep ocean environments, under the polar ice caps, or throughout dangerous minefields in the littoral. The success of these missions, however, depends on the ability of the AUV to autonomously perform complex tasks. Toward this goal, this dissertation seeks to enhance the capabilities of AUVs so that they are able to autonomously plan the high-level actions and the low-level motions needed to accomplish complex missions. A framework is developed which makes it possible to specify such missions in a structured language resembling English, and it automatically plans the actions and motions that the AUV needs to execute in order to accomplish the mission. The mission-specification language is grounded in well-established logical formalisms such as Regular Languages and Linear Temporal Logic. The inherent structure of the mission-specification language makes it possible to construct sophisticated mission such as exploring unknown areas, searching for objects of interest, or collecting data. In doing so, the framework alleviates the burden imposed on human operators who currently need to manually input highly detailed mission specifications into multiple configuration files, which increases the risk for mission failure due to human error. Instead, the framework makes it possible for the human operators to specify the missions in an easy-to-use, structured language. The technical contribution of the dissertation stems from a novel treatment of the combined mission and motion-planning problem as a hybrid search over discrete and continuous layers. Leveraging advances in AI and Robotics, a hybrid-planning framework is developed which combines high-level AI mission planning with low-level sampling-based motion planning. High-level planning, which operates over a discrete and abstract layer, breaks down the overall mission into a sequence of tasks. Sampling-based motion planning conducts a search over the feasible motions of the AUV in order to compute a trajectory that enables the AUV to accomplish each task. When sampling-based motion planning fails to make progress it requests another high-level plan from the AI planning layer. This interplay between high-level discrete planning and sampling-based motion planning is crucial to the success of the framework. The hybrid framework can be used with any AUV. Extensive experiments have been conducted with high-fidelity simulators and real AUVs, such as OceanServer Iver2 AUV and Reliant Bluefin-21 AUV. The experimental results show the ability of the approach to effectively plan collision-free and dynamically-feasible trajectories that enable the AUV to carry out sophisticated missions, such as inspection of numerous areas, data collection, and reacquisition and identification in Mine Countermeasures. The success of the hybrid framework highlight the potential of the approach to enhance the autonomy of AUVs, making it possible to carry out sophisticated missions at a lower operational cost.

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 Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

Download or read book Underwater Vehicles written by George M. Roman and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--