Download or read book Full Scale Manoeuvring Trials with the Remus Autonomous Underwater Vehicle written by Daniel E. Sgarioto and published by . This book was released on 2008 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Analysis of Full scale Sea trials Manoeuvring Data and Development and Validation of a Motion simulation Model for the AUV MUN Explorer written by Manoj Thomas Issac and published by . This book was released on 2011 with total page 794 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Verification of a 6 degree of Freedom Simulation Model for the REMUS AUV written by Timothy Jason Prestero and published by . This book was released on 2001 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge. Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. This thesis describes the derivation of these coefficients in detail. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Christopher D. Chuhran and published by . This book was released on 2003-09 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the Navy continues its development of unmanned underwater vehicles, the need for total autonomous missions grows. Autonomous Underwater Vehicles (AUV) allow for advances in mine warfare, harbor reconnaissance, undersea warfare and more. Information can be collected from AUVs and downloaded into a ship or battle group's network. As AUVs are developed it is clear forward-look sonar will be required to be able to detect obstacles in front of its search path. Common obstacles in the littoral environment include reefs and seawalls which an AUV will need to rise above to pass. This thesis examines the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane. Hydrodynamic modeling of a REMUS vehicle enables a series of equations of motion to be developed to be used in conjunction with a sliding mode controller to control the elevation of the AUV. A two-dimensional, 24 deg. vertical scan forward look sonar with a range of 100 m is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for use in MATLAB simulations. The sonar 'image' of the vertical obstacle allows for an increasing altitude command that forces the AUV to pass safely over the obstacles at a reasonable rate of ascent and pitch angle. Once the AUV has passed over the obstacle, the vehicle returns to its regular search altitude. This controller is simulated over different types of obstacles.

Download or read book Manoeuvring an Autonomous Underwater Vehicle written by Paul Desmond McLeish and published by . This book was released on 2004 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube written by Duane T. Davis and published by . This book was released on 1996-09-01 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.

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 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 Measures of Effectiveness and Performance for the Remus Autonomous Underwater Vehicle written by Daniel E. Sgarioto and published by . This book was released on 2010 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn R. Fodrea and published by . This book was released on 2002-12 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward- looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two- dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Reactive Obstacle Avoidance for the REMUS Autonomous Underwater Vehicle Utilizing a Forward Looking Sonar written by and published by . This book was released on 2006 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: One day fully autonomous AUV's will no longer require human interactions to complete its missions. To make this a reality, the AUV must be able to safely navigate in unfamiliar environments with unknown obstacles. This thesis builds on previous work conducted at NPS's Center for AUV Research to improve the autonomy of the REMUS class of AUVs with an implemented FLS. The first part of this thesis deals with accurate path following with the use of look-ahead pitch calculations. With the use of a SIMULINK model, constraints surrounding obstacle avoidance path planning are then explored, focusing on optimal sensor orientation issues. Two path planning methods are developed to address the issues of a limited sonar field of view and uncertainties brought on by an occlusion area. The first approach utilizes a pop-up maneuver to increase the field of view and minimize the occlusion area, while the second approach creates a path with the addition of a spline. Comparing the two methods, it was concluded that spline addition planner provided a robust optimal obstacle avoidance path and along with the look-ahead pitch controller completes the design of a back-seat driver to improve REMUS s survivability in an unknown environment. REMUS, AUV, UUV, Autonomous Underwater Vehicle, Reactive Obstacle Avoidance, Forward Looking Sonar, Vertical Plane, Pitch Controller, Spline, Gaussian, Occlusion, Optimal Sensor Orientation.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn Fodrea and published by . This book was released on 2002 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2004 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will also be required to map and avoid obstacles such as sunken ships and reefs. Following previous work on steering control, this work examines collision avoidance behaviors in bottom following using a hypothetical forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop diving equations that model REMUS behaviors. A two-dimensional forward-looking sonar model with a 20 vertical scan and a 40 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAB simulations. REMUS is a highly responsive vehicle and care has taken to balance pitch and heave response to keep the obstacle to be avoided in sight during the response behavior.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2002 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Biomimetic Improvement of the Maneuvering Qualities of Unmanned Underwater Vehicles written by Yuri Trakht and published by . This book was released on 2019 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, biomimetics has been used as a source of inspiration to improve the performance of engineered systems in several disciplines. In this thesis, we emulate the function of the retractable dorsal fins in tunas to improve the maneuvering performance of a typical autonomous underwater vehicle, the REMUS 100 AUV. We are introducing dorsal-like fins on the AUV that can be erected to alter its maneuvering hydrodynamic coefficients, and hence affect the transient and steady-state turning response. In order to study systematically the effect of adding dorsal fins, we built a six degrees of freedom simulation model of the REMUS AUV. The model included body and rudder lift forces and moments, added mass forces and moments, gyroscopic and centrifugal forces, drag forces and moments, and body forces and moments such as buoyancy and gravity terms. To target the horizontal plane maneuvering characteristics, we reduced the model to a 3 DOF simulation, allowing the dorsal fin to vary in area, location along the length of the AUV, as well as having a turning angle with respect to the REMUS x-axis. We find that the addition of the fin can improve the performance, as measured by the radius of turning and rate of turning, moderately only when placed ahead of the center of gravity. However, when the dorsal fin is also allowed to rotate in the opposite direction that the rudder, substantial improvement in maneuvering performance is noted, increasing the turning rate up to 25%.