Download or read book Development of a Semi Autonomous Underwater Vehicle for Intervention Missions written by and published by . This book was released on 2002 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary research objective is to develop a Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM). Unlike the fly-by autonomous underwater vehicles (AUV), SAUVIM will have a manipulator work package. It will require an advanced control system and a precise sensory system to maintain high accuracy in station keeping and navigation.

Download or read book Development of a Semi Autonomous Underwater Vehicle for Intervention Missions SAUVIM Phase III B written by and published by . This book was released on 2009 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Missions) involves the design and fabrication of an underwater vehicle that it is capable of autonomous interventions on the subsea installations, a task usually carried out by ROVs or human divers.

Download or read book Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

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 Autonomous Underwater Vehicles Hybrid Control of Mission and Motion written by and published by . This book was released on 1996 with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures. The functionalities required of such vehicles and their relation to 'intelligent control' technology is discussed. In particular, the use of Prolog as a computer language for the specification of the discrete event system (DES) aspects of the mission control is proposed. The connections between a Prolog specification and the more common Petri Net graphical representation of a DES are made Links are made between activation commands, transitioning signals. and the continuous state dynamic control system (DC S) responsible for vehicle stabilization. Details are given of the NPS Phoenix vehicle implementation at the present time, together with experimental validation of the concepts outlined using a simplified example mission. The paper ends with a listing of questions and concerns for the evaluation of software controllers A list of references is given for readers interested in this subject.

Download or read book Experiments in Intervention Autonomous Underwater Vehicles written by Howard H. Wang and published by . This book was released on 1996 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Download or read book Initial Development and Testing of an Adaptive Mission Planner for a Small Unmanned Underwater Vehicle written by and published by . This book was released on 2003 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Adaptive Mission Planner (AMP) was developed for the REMUS Unmanned Underwater Vehicle (UUV) in order to have the vehicle react to real-time sensor data and alter course for the purpose of chemical plume tracing. In order for a UUV to track a plume autonomously, it must implement search strategies in an intelligent manner as dictated by environmental circumstances without human intervention. Throughout the mission, the UUV will combine the sensed flow and concentration information to construct a map of likely source or plume locations. This AMP has been designed and tested in simulation at the University of California, Riverside, and has now been installed on the SPAWARSYSCEN-SD REMUS UUV. This paper will describe the search strategies and initial field tests which use the AMP to break away from the vehicle's pre-programmed missions. Two sets of experiments are described herein. The first uses bathymetry as the environmental driving input. The second uses chemical concentration as the primary input.

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 Experimental Robotics VII written by Daniela Rus and published by Springer. This book was released on 2007-09-04 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: Experimental robotics is at the core of validating robotics research for both its system science and theoretical foundations. Robotics experiments serve as a unifying theme for robotics system science and theoretical foundations. This book collects papers on the state of the art in experimental robotics. The papers were presented at the 2000 International Symposium on Experimental Robotics.

Download or read book Modeling and Guidance of an Underactuated Autonomous Underwater Vehicle written by Ali H M Wadi and published by . This book was released on 2017 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous Underwater Vehicles (AUVs) have become an indispensable tool that is employed by an array of fields. From the inspection of underwater cables and pipelines, to the monitoring of fish pens and coral reefs, to the detection and disposal of mines, and to the executing search and rescue operations, AUV research and development has received a lot of attention. This thesis is concerned with the mathematical modeling of an underactuated AUV to execute its missions. The modeling task entails identification of the numerous parameters of the vehicle. A finite element analysis software was used to estimate the parameters describing drag and hydrodynamic mass phenomena. While the proposed underactuated configuration promotes the deployment of more energy-efficient vehicles, this configuration imposes complications on the guidance and motion control tasks as the vehicle becomes constrained in the way it can reach certain positions or perform certain motions (anholonomy). To tackle this trajectory tracking guidance problem, a model-based controller that overcomes the underactuated nature of the vehicle was designed. This controller was further enhanced by the novel development and application of a Universal Adaptive Stabilizer-based adaptation law that aims to minimize controller effort, reject noise, and provide robust trajectory tracking. The adaptation is governed by a statistical management system to ensure proper operation in a noisy underwater environment. Moreover, the navigation problem is touched upon by implementing a sensor fusion algorithm to estimate the vehicle state in its noisy environment. The algorithm investigates an Extended Kalman Filter as well as an Unscented Kalman Filter to fuse the available information from sensors with the modeled dynamics of the vehicle and provide better estimates of the vehicle state. Additionally, the hardware and software was integrated in a Robot Operating System setting, and a Gazebo-based simulation environment that enables the visual depiction and testing of algorithms on the considered AUV was developed. The parameter identification methodology compared well to published analytical and empirical forms, the proposed adaptation law outperformed traditional techniques like Adaptive Proportional Controllers, and the gain management system demonstrated excellent potential at maintaining stable operation of the vehicle in very noisy environments."--Abstract.

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 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.

Download or read book Autonomous Underwater Vehicles Technology and Applications written by Noah Carter and published by . This book was released on 2015-03-25 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The technology of autonomous underwater vehicles and their various applications are elucidated in a sophisticated and comprehensive way in this book. Autonomous Underwater Vehicles are robotic engines which travel underwater in order to study underwater activities. The successful developments of parallel research and technological studies that were underway; helped to conquer the challenges associated with autonomous operation in tough conditions. The ultimate aim behind all these advancements was to procure accurate data through economical means in lesser time using accurate geo locations. Some new models are already being employed to extract the best out of the present technology by making decisions according to the interpretation of the sensor data. This book is the comprehensive compilation of various aspects of AUV technology and its applications. Vehicle designing, navigation & control techniques and mission preparation & analysis are some of the topics that this book covers. It provides an overview of brighter prospects of vehicle technology and application.

Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Science & Business Media. This book was released on 2010-10-27 with total page 794 pages. Available in PDF, EPUB and Kindle. Book excerpt: The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.