Download or read book Magnetic Source Estimation Based on Field Measurements from Autonomous Underwater Vehicles written by David R. Schipf and published by . This book was released on 2013 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Navigation and Localization of an Autonomous Underwater Vehicle Fleet for Magnetic Field Measurements written by Jordan Stringfield and published by . This book was released on 2012 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Navigation and Collaboration of Autonomous Underwater Vehicles when Measuring Magnetic Fields written by Jesse Pentzer and published by . This book was released on 2010 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Field Measurement of Surface Ship Magnetic Signature Using Multiple AUVs written by and published by . This book was released on 2009 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: An effort has been initiated to develop a portable system capable of measuring the magnetic signature of a surface ship. The system will employ a formation of multiple AUVs, each equipped with a magnetometer. The objective is to measure total magnetic field at specified locations relative to the surface ship. In the first step of system development, an Autonomous Underwater Vehicle (AUV) has been equipped with a tri-axial fluxgate magnetometer and used to perform preliminary magnetic field measurements. Measurements of this type will be used to calibrate an individual AUV/magnetometer system. Initial measurements appear to meet necessary measurement requirements on noise floor as the standard deviation of the indicated total magnetic field was observed to be 21nT while the AUV proceeded on a straight, level path. Extended Kalman Filters (EKF) are being developed for on-board AUV navigation and post-processing a best estimate for AUV vehicle position. Navigation experiments were conducted to evaluate AUV navigation and position estimation. In these experiments, an independent high-accuracy topside-track system was used to provide ground-truth for comparison. The average error in the on-board estimated position of the AUV used for navigation was 1.84m. The post processing EKF was designed to use all available sensor data. This EKF had an average position error of 0.74m when compared to the ground-truth. Overall, the AUV was able to navigate to an average distance of 1.95m from its desired waypoint track.
Download or read book Magnetic Sensors and Devices written by Laurent A. Francis and published by CRC Press. This book was released on 2017-10-18 with total page 275 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents in-depth coverage of magnetic sensors in industrial applications. It is divided into three sections: devices and technology for magnetic sensing, industrial applications (automotive, navigation), and emerging applications. Topics include transmission speed sensor ICs, dynamic differential Hall ICs, chopped Hall switches, programmable linear output Hall sensors, low power Hall ICs, self-calibrating differential Hall ICs for wheel speed sensing, dynamic differential Hall ICs, uni- and bipolar Hall IC switches, chopped mono cell Hall ICs, and electromagnetic levitation.
Download or read book State Estimation Strategies for Autonomous Underwater Vehicle Fish Tracking Applications written by Jun Jay Zhou and published by . This book was released on 2007 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the largest unexplored area on earth, the underwater world has unlimited at traction to marine scientists. Due to the complexity of the underwater environment and the limitations of human divers, underwater exploration has been facilitated by the use of submarines, Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs). In recent years, use of autonomous control systems being integrated with visual sensors has increased substantially, especially in marine applications involving guidance of AUVs. In this work, autonomous fish-tracking via AUV with vision servoing control system is studied with the purpose of assisting marine biologists in gathering detailed information about the behaviors, habits, mobility, and local and global distributions of particular fish species. The main goal of this work in this thesis is to develop an AUV sensing system, including both video and auxiliary sonar, which has the ability to carry out visually guided autonomous tracking of a particular species of fish, Large Mouth Bass.
Download or read book The Self Potential Method written by André Revil and published by Cambridge University Press. This book was released on 2013-07-11 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: The self-potential method enables non-intrusive assessment and imaging of disturbances in electrical currents of conductive subsurface materials. It has an increasing number of applications, from mapping fluid flow in the subsurface of the Earth to detecting preferential flow paths in earth dams and embankments. This book provides the first full overview of the fundamental concepts of this method and its applications in the field. It discusses the historical perspective, laboratory investigations undertaken, the inverse problem and seismoelectric coupling, and concludes with the application of the self-potential method to geohazards, water resources and hydrothermal systems. Chapter exercises, online datasets and analytical software enable the reader to put the theory into practice. This book is a key reference for academic researchers and professionals working in the areas of geophysics, environmental science, hydrology and geotechnical engineering. It will also be valuable reading for related graduate courses.
Download or read book Magnetic Anomaly Guidance System for Mine Countermeasures Using Autonomous Underwater Vehicles written by and published by . This book was released on 2003 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper describes a magnetic anomaly guidance system that, with support from the Office of Naval Research, is being developed for fully autonomous detection, localization and classification of ferrous mines in Very Shallow Water/Surf Zone (VSW/SZ) environments. The magnetic guidance system's hardware configurations and magnetic target signature processing methods specifically have been developed for autonomous guidance of small, maneuverable sensing platforms, such as Underwater Bottom Vehicles, (UBVs), to magnetic targets. The prototype magnetic anomaly guidance is a three-axis magnetometer-gradiometer comprised by an array of triaxial fluxgate magnetometers and triaxial accelerometers. This design allows development of magnetic gradient tensor contraction scalars that provide the basis for a unique method for magnetic guidance of UBVs to underwater and buried mines. The triaxial accelerometer array can be used for mitigation of the target-detection-range-reducing effects of large changes in sensor platform orientation. Field test results indicate that a simple magnetic guidance algorithm based on comparison of the magnitudes of contractions of gradient tensor subsets measured by "primary guidance axes" of the sensor array will provide a robust and practical method for fully autonomous guidance of high-mobility UBVs to magnetic targets. Target detection range can be enhanced by using rotationally invariant tensor contractions for robust proximity sensing and "pseudo-robust" scalar total field quantities for "homing in on" magnetic targets. Sensor system stability and DLC performance also would be improved by the use of better, temperature-compensated magnetometers. The results indicate that the magnetic anomaly guidance system and its method for target localization are particularly appropriate for homing in on magnetic targets from high-mobility sensing platforms such as small UBVs or Navy Divers.
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 Treatise on Geophysics written by and published by Elsevier. This book was released on 2015-04-17 with total page 5604 pages. Available in PDF, EPUB and Kindle. Book excerpt: Treatise on Geophysics, Second Edition, is a comprehensive and in-depth study of the physics of the Earth beyond what any geophysics text has provided previously. Thoroughly revised and updated, it provides fundamental and state-of-the-art discussion of all aspects of geophysics. A highlight of the second edition is a new volume on Near Surface Geophysics that discusses the role of geophysics in the exploitation and conservation of natural resources and the assessment of degradation of natural systems by pollution. Additional features include new material in the Planets and Moon, Mantle Dynamics, Core Dynamics, Crustal and Lithosphere Dynamics, Evolution of the Earth, and Geodesy volumes. New material is also presented on the uses of Earth gravity measurements. This title is essential for professionals, researchers, professors, and advanced undergraduate and graduate students in the fields of Geophysics and Earth system science. Comprehensive and detailed coverage of all aspects of geophysics Fundamental and state-of-the-art discussions of all research topics Integration of topics into a coherent whole
Download or read book Exploration and Monitoring of the Continental Shelf Underwater Environment written by Iftikhar B. Abbasov and published by John Wiley & Sons. This book was released on 2018-09-12 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dedicated to the unique developments of hydroacoustical equipment to monitor the sea coastal shelf environment, this groundbreaking unique study presents a survey of modern methods and technical monitoring facilities, including the diagnostics of underwater engineering when monitoring offshore. There is still so much about the oceans that scientists do not know, and exploring the continental shelves of the world is a huge part of finding out more about these underwater environments. Further to that, it is extremely important that, while scientists and engineers explore and monitor the continental shelf, no damage is done to these precious environments. That is the needle that this study intends to thread, giving scientists and engineers a better method and processes for exploring these underwater mysteries, while protecting the environment and wildlife thriving beneath. Written by a proven scientist in this area, this book is dedicated to the unique developments of hydroacoustical equipment to monitor the coastal shelf. The results of the original experimental sonar studies with application of the parametric antenna are presented. The book presents a survey of the modern methods and technical monitoring facilities of the coastal aqueous environment. The basic characteristics of the parametric antennas are given considering propagation of the acoustic waves in the environments with dispersion and acoustical absorption. The author and his colleagues consider the questions of formation of the parametric antenna field in layered-heterogeneous media and the peculiarities of sounding of the interfaces and bottom sediments. Ecological monitoring methods of the basic parameters of quality and condition of the aqueous environment are analyzed. The peculiarities of diagnostics of the underwater engineering constructions when monitoring the offshore strips are described. For both veteran engineers and students in the field alike, this breakthrough study is a must-have for any scientific library concerned with studying the oceans and especially the continental shelf.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Underwater Vehicles written by Nuno Cruz and published by BoD – Books on Demand. This book was released on 2011-10-21 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are remarkable machines that revolutionized the process of gathering ocean data. Their major breakthroughs resulted from successful developments of complementary technologies to overcome the challenges associated with autonomous operation in harsh environments. Most of these advances aimed at reaching new application scenarios and decreasing the cost of ocean data collection, by reducing ship time and automating the process of data gathering with accurate geo location. With the present capabilities, some novel paradigms are already being employed to further exploit the on board intelligence, by making decisions on line based on real time interpretation of sensor data. This book collects a set of self contained chapters covering different aspects of AUV technology and applications in more detail than is commonly found in journal and conference papers. They are divided into three main sections, addressing innovative vehicle design, navigation and control techniques, and mission preparation and analysis. The progress conveyed in these chapters is inspiring, providing glimpses into what might be the future for vehicle technology and applications.
Download or read book Advances in Guidance Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Download or read book Springer Handbook of Ocean Engineering written by Manhar R. Dhanak and published by Springer. This book was released on 2016-07-23 with total page 1344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook is the definitive reference for the interdisciplinary field that is ocean engineering. It integrates the coverage of fundamental and applied material and encompasses a diverse spectrum of systems, concepts and operations in the maritime environment, as well as providing a comprehensive update on contemporary, leading-edge ocean technologies. Coverage includes an overview on the fundamentals of ocean science, ocean signals and instrumentation, coastal structures, developments in ocean energy technologies and ocean vehicles and automation. It aims at practitioners in a range of offshore industries and naval establishments as well as academic researchers and graduate students in ocean, coastal, offshore and marine engineering and naval architecture. The Springer Handbook of Ocean Engineering is organized in five parts: Part A: Fundamentals, Part B: Autonomous Ocean Vehicles, Subsystems and Control, Part C: Coastal Design, Part D: Offshore Technologies, Part E: Energy Conversion
Download or read book Mobile Robots Navigation written by Alejandra Barrera and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.
