Download or read book Phoenix Autonomous Underwater Vehicle Recovery Software Reference written by Duane Davis and published by . This book was released on 1996-09-01 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies convert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This report contains source code implemented on the Phoenix AUV in support of recovery in a small stationary tube. Implementation involves the development of low-level behaviors for sonar and vehicle control, mil-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 include 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.
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 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 Merging Virtual and Real Execution Level Control Software for the Phoenix Autonomous Underwater Vehicle written by Michael L. Burns and published by . This book was released on 1996-09-01 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School (NPS) is developing an AUV, Phoenix. The Phoenix has the capability of precise navigation, however too much time is needed to validate a new section of code. NPS is also developing a virtual AUV, which has the capability of being networked, having flexible missions, and having a quick feedback of results when validating new portions of code. The virtual AUV has a drawback of never being tested for real world precision. This thesis discusses the steps taken to combine these two sets of control code to obtain the maximum functionality that will drive either the virtual or actual AUV and produce a faster feedback response to newly developed code. As a result of this effort, the newly developed control code has successfully driven both the actual and virtual AUVs and provides a means for readily validating new code. Also this new control code has given the AUV research group the ability to perform distributed software development, test all AUV hardware from either the onboard or offboard computers, conduct flexible missions, and test missions in the virtual world prior to conducting them with the AUV.
Download or read book Deterministic Artificial Intelligence written by Timothy Sands and published by BoD – Books on Demand. This book was released on 2020-05-27 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Kirchhoff’s laws give a mathematical description of electromechanics. Similarly, translational motion mechanics obey Newton’s laws, while rotational motion mechanics comply with Euler’s moment equations, a set of three nonlinear, coupled differential equations. Nonlinearities complicate the mathematical treatment of the seemingly simple action of rotating, and these complications lead to a robust lineage of research culminating here with a text on the ability to make rigid bodies in rotation become self-aware, and even learn. This book is meant for basic scientifically inclined readers commencing with a first chapter on the basics of stochastic artificial intelligence to bridge readers to very advanced topics of deterministic artificial intelligence, espoused in the book with applications to both electromechanics (e.g. the forced van der Pol equation) and also motion mechanics (i.e. Euler’s moment equations). The reader will learn how to bestow self-awareness and express optimal learning methods for the self-aware object (e.g. robot) that require no tuning and no interaction with humans for autonomous operation. The topics learned from reading this text will prepare students and faculty to investigate interesting problems of mechanics. It is the fondest hope of the editor and authors that readers enjoy the book.
Download or read book Software Reference written by Donald P. Brutzman and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Software Reference documents and summarizes all source code produced for a Ph. D. dissertation constructing an underwater virtual world for an Autonomous Underwater Vehicle (AUV). A critical bottleneck exists in Autonomous Underwater Vehicle design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counterintuitive. An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three- dimensional real-time computer graphics are our window into that virtual world. Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately look over the robot's shoulder or even see through the robot's eyes to intuitively understand sensor- environment interactions. Extending the theoretical derivation of a set of six degree-of-freedom hydrodynamics equations has provided a fully general physics- based model capable of producing highly nonlinear yet experimentally-verifiable response in real time.
Download or read book Real Time Modeling of Cross Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle AUV written by Kevin Michael Bryne and published by . This book was released on 1998-03-01 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: A virtual world provides an exceptional resource for the testing and development of an Autonomous Underwater Vehicle (AUV). The difficulties associated with the underwater environment are numerous and complex. In order to properly verify vehicle results in the laboratory such a world must accurately model the physics associated with the vehicle, its submerged hydrodynamics characteristics, and interactions with the environment. Environmental effects such as wave motion, currents, and flow forces created by bodies moving through the water can cause unpredicted performance variations and failures in the ocean environment. The current Phoenix AUV virtual world includes steady state ocean currents, but does not take into account the environmental effects of waves and flow forces induced by adjacent vehicles (such as a moving submarine docking target). This work provides a thorough real time simulation of these complex factors using physically based models. The problem is broken down into wave motion effects, submarine induced flow fields, and virtual sensors to improve AUV motion control. Simulated testing is performed across a range of easy to worst case scenarios in order to justify assumptions. Extensive testing using virtual sensors is used to develop adequate control algorithms in the presence of turbulent cross body flow. The result of this research is an enhanced virtual world which more accurately depicts the ocean environment, along with the models and control algorithms required to design and operate an AUV during submarine launch and recovery. A platform independent approach to virtual environment simulation is presented through the use of the Virtual Reality Modeling Language (VRML) and Java. Finally, simulation test results provide strong evidence that AUV control with actual cross body flow sensors can enable stable navigation, first through a turbulent flow field and then for subsequent docking with
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1996 with total page 694 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Fourth International Workshop on Object Oriented Real Time Dependable Systems written by and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1999 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Naval Engineers Journal written by and published by . This book was released on 1996 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Computer Control Abstracts written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Department of Defense Dictionary of Military and Associated Terms written by United States. Joint Chiefs of Staff and published by . This book was released on 1979 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Download or read book X3D written by Don Brutzman and published by Elsevier. This book was released on 2010-07-19 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the early days of the Web a need was recognized for a language to display 3D objects through a browser. An HTML-like language, VRML, was proposed in 1994 and became the standard for describing interactive 3D objects and worlds on the Web. 3D Web courses were started, several best-selling books were published, and VRML continues to be used today. However VRML, because it was based on HTML, is a stodgy language that is not easy to incorporate with other applications and has been difficult to add features to. Meanwhile, applications for interactive 3D graphics have been exploding in areas such as medicine, science, industry, and entertainment. There is a strong need for a set of modern Web-based technologies, applied within a standard extensible framework, to enable a new generation of modeling & simulation applications to emerge, develop, and interoperate. X3D is the next generation open standard for 3D on the web. It is the result of several years of development by the Web 3D Consortium's X3D Task Group. Instead of a large monolithic specification (like VRML), which requires full adoption for compliance, X3D is a component-based architecture that can support applications ranging from a simple non-interactive animation to the latest streaming or rendering applications. X3D replaces VRML, but also provides compatibility with existing VRML content and browsers. Don Brutzman organized the first symposium on VRML and is playing a similar role with X3D; he is a founding member of the consortium. Len Daly is a professional member of the consortium and both Len and Don have been involved with the development of the standard from the start. - The first book on the new way to present interactive 3D content over the Web, written by two of the designers of the standard - Plentiful illustrations and screen shots in the full color text - Companion website with extensive content, including the X3D specification, sample code and applications, content creation tools, and demos of compatible Web browsers
Download or read book Ocean News Technology written by and published by . This book was released on 2003 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt:
