Autonomous Underwater Vehicles: Design and practice最新文献

Telemetry for AUVs auv遥测技术

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch9

J. Alves, Konstantinos Pelekanakis, R. Petroccia

引用次数: 0

Adaptive sampling and energy-efficient navigation in time-varying flows 时变流中的自适应采样与节能导航

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch18

Tahiya Salam, D. Kularatne, Eric Forgoston, M. A. Hsieh

引用次数: 1

Task specification and behavior verification for UUV behavior design UUV行为设计的任务规范和行为验证

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch14

Signe A. Redfield, Elizabeth I. Leonard, J. Lennon

{"title":"Task specification and behavior verification for UUV behavior design","authors":"Signe A. Redfield, Elizabeth I. Leonard, J. Lennon","doi":"10.1049/sbra525e_ch14","DOIUrl":"https://doi.org/10.1049/sbra525e_ch14","url":null,"abstract":"The robotics community is deeply interested in both platform design and behavior design, but we lack tools to connect the two. The platform, the behavior design, and the environment work together to determine the robot's actions, but our tools visualize the design of the hardware and the design of the behaviors separately. We lack tools that allow us to visualize the relationship between the platform and the behavior. To address this gap, we introduce a new design method based on a tabular representation called Capability Analysis Tables. The Capability Analysis Table enables the designer to define the constraints on a behavior design based on the platform it will be used on, and to define the constraints on the platform based on the behavior design. It gives the customer and the designer an opportunity to more clearly specify the desired behavior. Environmental factors are implicit in the platform interface definitions -sensory perception filters environmental inputs (colored objects can only be seen by sensors that produce color information) and actuators filter environmental outputs. Communications are handled explicitly as outputs and as either operator inputs or remotely gathered sensory data.","PeriodicalId":126968,"journal":{"name":"Autonomous Underwater Vehicles: Design and practice","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133163069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Summary, conclusions, and future work 总结、结论和未来工作

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch19

F. Ehlers

引用次数: 0

MONSUN: a swarmAUV for environmental monitoring and inspection MONSUN:用于环境监测和检查的群auv

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch12

E. Maehle, Benjamin Meyer, Cedric Isokeit, Ulrich Behrje

引用次数: 1

Data compression, data association and reduced complexity SLAM techniques for UUVs during transit uuv在传输过程中的数据压缩、数据关联和降低复杂性SLAM技术

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch7

A. Sarma

{"title":"Data compression, data association and reduced complexity SLAM techniques for UUVs during transit","authors":"A. Sarma","doi":"10.1049/sbra525e_ch7","DOIUrl":"https://doi.org/10.1049/sbra525e_ch7","url":null,"abstract":"In the transiting stage of an unmanned undersea vehicle (UUV) mission, it is of interest to minimize platform localization error with minimal processing. Earlier work [1] derived a simultaneous localization and map building (SLAM) -inspired estimator of platform location and velocity, dubbed \"velocity -over -ground\" (VOG)-SLAM, that provides virtually identical performance in transit scenarios as conventional SLAM. The method lends itself to simple real-time operation as map building is not required. The \"VOG\" simplification was devised based on (a) the observation that the second measurement of a persistent contact was required for potential performance improvement in SLAM and (b) the intuitive idea that SLAM is providing velocity information since contact measurements can only be relative to the platform. We provide here a direct argument by arguing its optimality properties via connection to the maximum likelihood estimator (MLE). In addition, techniques for sonar data processing, measurement generation and data association methodologies to determine proper assignments between measurements and persistent bottom features are discussed. These further extend concepts found in [2]. The process can be currently completed before the next ping arrives suggesting near real-time SLAM performance in complex undersea environments","PeriodicalId":126968,"journal":{"name":"Autonomous Underwater Vehicles: Design and practice","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122597828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Back Matter 回到问题

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_bm

引用次数: 0

Adaptive–robust control of autonomous underwater vehicle with unknown system dynamics 未知系统动力学下自主水下航行器的自适应鲁棒控制

Autonomous Underwater Vehicles: Design and practice Pub Date : 2020-07-08 DOI: 10.1049/sbra525e_ch4

Spandan Roy, S. Roy, I. Kar

{"title":"Adaptive–robust control of autonomous underwater vehicle with unknown system dynamics","authors":"Spandan Roy, S. Roy, I. Kar","doi":"10.1049/sbra525e_ch4","DOIUrl":"https://doi.org/10.1049/sbra525e_ch4","url":null,"abstract":"This chapter introduces a new class of ARC tracking control framework for AUV without any knowledge of the system dynamics parameters. Conventional ARC strategies either require complete/partial knowledge of the systems dynamics parameters or presume the overall uncertainty (or its time derivative) is upper bounded by a constant. However, such presumption is restrictive for systems like AUV which has explicit presence of states in its structure of system uncertainty.Besides, many of the existing AR-based designs suffer from the over-and underestimation problems of switching gains. In such regards, the proposed ASRC law not only avoids restrictive presumptions of system uncertainty being upper bounded by a constant, it simultaneously alleviates the over-and underestimation problems of switching gain. Futher, the effectiveness of the ASRC law is verified in simulation in comparison with the existing ASMC law under the scenario of uncertain system dynamics. An important future work would be to formulate an ARC for AUV considering input/output delay since data acquisition and localization in underwater scenario is always challenging and a controller needs to take care of such circumstances.","PeriodicalId":126968,"journal":{"name":"Autonomous Underwater Vehicles: Design and practice","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130704984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0