Proceedings of Symposium on Autonomous Underwater Vehicle Technology最新文献

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An integrated environment for fast development and performance assessment of sonar image processing algorithms - SSIE 用于快速开发和性能评估声纳图像处理算法的集成环境- SSIE
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532432
Lars Henriksen
{"title":"An integrated environment for fast development and performance assessment of sonar image processing algorithms - SSIE","authors":"Lars Henriksen","doi":"10.1109/AUV.1996.532432","DOIUrl":"https://doi.org/10.1109/AUV.1996.532432","url":null,"abstract":"The sonar simulator integrated environment (SSIE) is a tool for developing high performance processing algorithms for single or sequences of sonar images. The tool is based on MATLAB providing a very short lead time from concept to executable code and thereby assessment of the algorithms tested. SSIE utilizes the graphical user interface facilities readily available in MATLAB making it conceptually easy and fast to operate. These two properties, short implementation time and swiftness of operation, lead to high speed algorithm development. A problem related to testing and hence optimization of the algorithms is the availability of sonar images. To accommodate this problem the SSIE has been equipped with a simulator capable of generating high fidelity sonar images for a given scene of objects, sea-bed AUV path, etc. In the paper the main components of the SSIE is described and examples of different processing steps are given.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115165636","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
Control surface and actuator design for a low drag, laminar flow AUV 低阻力层流水下航行器的控制面和驱动器设计
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532401
S. Merry, M. J. Large, T. Whitten, M. Wilkinson, R. Babb
{"title":"Control surface and actuator design for a low drag, laminar flow AUV","authors":"S. Merry, M. J. Large, T. Whitten, M. Wilkinson, R. Babb","doi":"10.1109/AUV.1996.532401","DOIUrl":"https://doi.org/10.1109/AUV.1996.532401","url":null,"abstract":"The design process for the control surfaces and actuators of the long distance AUV DOLPHIN (UK \"Autosub\" project) is described. The main design criteria are low drag, reliability, robustness and energy-efficiency. The aerodynamic characteristics of four NACA foil sections and various stabiliser/moveable fin geometries are compared, in order to reach the final design, which incorporates a NACA 66-009 wing section with a partial span trailing edge flap. The actuator is located in a wing-tip pod, which also houses the sensors for oceanographic data logging. Preliminary analysis of wind tunnel tests on a full-scale model of the control surfaces confirms that the lift force required to achieve the specified manoeuvrability for DOLPHIN is easily generated. Measured drag data is lower than expected and this requires further analysis.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124465028","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: 6
Autonomous underwater vehicle AQUA EXPLORER 1000 for inspection of underwater cables 用于检查水下电缆的自主水下航行器AQUA EXPLORER 1000
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532834
K. Asakawa, J. Kojima, Y. Ito, S. Takagi, Y. Shirasaki, N. Kato
{"title":"Autonomous underwater vehicle AQUA EXPLORER 1000 for inspection of underwater cables","authors":"K. Asakawa, J. Kojima, Y. Ito, S. Takagi, Y. Shirasaki, N. Kato","doi":"10.1109/AUV.1996.532834","DOIUrl":"https://doi.org/10.1109/AUV.1996.532834","url":null,"abstract":"This paper describes the outline and the summary of an autonomous underwater robot \"AQUA EXPLORER 1000\" (AE1000) for inspection of underwater telecommunication cables. AE1000 can find and track buried underwater cables with a cable tracking sensor, and record the view of the seafloor on a built in video cassette recorder (VCR). A high-bit-rate acoustic link for video-signal transmission is also newly developed, that enables the operator to monitor the seafloor in real-time. Five sea trials have been carried out since 1992, in which we succeeded in the continuous tracking of real underwater telecommunication tables over 2.6 kilometers. The object of the project, basic design, performance, and the results of sea trials are discussed.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114673789","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: 39
Sonar image interpretation and modelling 声纳图像解释和建模
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532430
G. Russell, J. Bell, P. O. Holt, S. Clarke
{"title":"Sonar image interpretation and modelling","authors":"G. Russell, J. Bell, P. O. Holt, S. Clarke","doi":"10.1109/AUV.1996.532430","DOIUrl":"https://doi.org/10.1109/AUV.1996.532430","url":null,"abstract":"The problem addressed is that of providing a model-based system to interpret sonar data from an autonomous or remotely controlled vehicle instrumentation, to aid navigation, improve sea floor mapping techniques, identify objects, simulate acoustic images for survey and analysis, or to aid the design of sonar systems. Analytic tools have been developed to segment and classify sea-bed and shallow seismic image textures, remove multiple reflections and detect objects on or close to the sea-bed. The sonar interpretation problem is placed within a model-based framework. Three dimensional surfaces are modelled to represent accurately natural seabed and sedimentary layers, so that the model parameters can provide a confident measure of the real data characteristics. Realistic synthetic sonar images are generated using the model-based simulation. In addition, new analytic tools can be developed and evaluated in a controlled experimental environment. This paper presents the conceptual sonar simulation system architecture, outlines the visualisation of the 3D sea floor model, describes the sonar system simulation and references image analysis tools available for texture segmentation and object detection.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125379234","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: 4
A side scan sonar system for autonomous underwater vehicles 用于自主水下航行器的侧扫声纳系统
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532412
J. Glynn, M. Buffman
{"title":"A side scan sonar system for autonomous underwater vehicles","authors":"J. Glynn, M. Buffman","doi":"10.1109/AUV.1996.532412","DOIUrl":"https://doi.org/10.1109/AUV.1996.532412","url":null,"abstract":"A side scan sonar architecture optimized for use in the Naval Undersea Warfare Center, Newport, Rhode Island (NUWCNPT) 21\" diameter autonomous underwater vehicle (AUV) is presented. The system design is based on an enhanced version of the Klein System 2000 side scan sonar. The primary goal of this sonar development program was to produce a high performance dual frequency side scan sonar, with associated recording and power systems, that is optimized for use in small, autonomous vehicle applications. A key requirement in the sonar design was the mitigation of the electronic interference frequently observed in multi-sensor vehicle applications. The developments of new balanced impedance transducers, very low noise differential input transceiver electronics, specialized interface electronics, and the application of low noise power and ground distribution methods are presented. The role that each of these technologies plays in an overall noise mitigation strategy is discussed. System level performance criteria, including sonar operating range, system resolution, storage media, endurance, and power/weight/volume requirements are also presented. Finally, laboratory test data of the system is presented.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116557186","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: 1
Clustering and feature extraction in a 3D real-time echo management framework 三维实时回波管理框架中的聚类与特征提取
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532428
P. G. Auran, Kjell, E., Llalvig
{"title":"Clustering and feature extraction in a 3D real-time echo management framework","authors":"P. G. Auran, Kjell, E., Llalvig","doi":"10.1109/AUV.1996.532428","DOIUrl":"https://doi.org/10.1109/AUV.1996.532428","url":null,"abstract":"The on-board perception process is a fundamental part of the autonomous underwater vehicle (AUV) expert system. The possibility of using the sonar to build a real-time mental image of the environment is specially interesting in this perspective. This paper describes the research using a real-time framework for autonomous sonar based 3D perception. A spherically organised map is used to continuously keep track of the spatial relationships between echoes. This local map is intended to support several of the AUV processes with sonar based information, for example collision avoidance at the low level and feature extraction for object modelling and identification at a higher level. Experiments in the Trondheim fjord has resulted in promising cluster maps where the majority of 3D sonar returns corresponds to the target objects. An approach for real-time feature extraction and object modelling within this framework is presented. It is specially illustrated that when this sonar image is made at the time of echo acquisition, real-time echo clustering and surface modelling becomes feasible using inexpensive hardware.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129161638","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: 5
A simplified dynamics model for autonomous underwater vehicles 自主水下航行器的简化动力学模型
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532437
M. Nahon
{"title":"A simplified dynamics model for autonomous underwater vehicles","authors":"M. Nahon","doi":"10.1109/AUV.1996.532437","DOIUrl":"https://doi.org/10.1109/AUV.1996.532437","url":null,"abstract":"This paper deals with the derivation and validation of a simplified dynamics model for streamlined underwater vehicles. The model is derived in a form which only requires the specification of the vehicle's geometry, and the lift and drag characteristics of its constituent elements. The vehicle is decomposed into these elements, including hull, individual control surfaces, and propulsion system. The forces and moments acting on the vehicle are determined through a summation of the component effects, with correction factors to account for interference effects. Because the model is not linearized, it retains the vehicle's fundamental nonlinear behaviour. The approach is validated by comparing the model results to those measured on an existing AUV.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"371 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123491839","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: 89
AUV test using real/virtual synthetic world 使用真实/虚拟合成世界的AUV测试
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532436
Y. Kuroda, K. Aramaki, T. Ura
{"title":"AUV test using real/virtual synthetic world","authors":"Y. Kuroda, K. Aramaki, T. Ura","doi":"10.1109/AUV.1996.532436","DOIUrl":"https://doi.org/10.1109/AUV.1996.532436","url":null,"abstract":"This paper proposes a method for the research of underwater robots using technique of testing real/virtual synthetic world. The world which is virtually created using the sensory information of both the real and a virtual world is called \"synthetic world.\" In this world, the robots behave as if they were swimming in the underwater-world even in the case they are deployed in a simple shaped testing-pool. By testing in the synthetic world, the efficiency of underwater systems' development is improved because the software can be developed directly on the embedded computer system and the hardware and software cross-checking can be easily conducted. This paper shows the detailed descriptions and unique characteristics of the proposed testing method and the practical example for underwater robots.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116503814","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: 32
Multi-sensor data fusion for seafloor mapping and ordnance location 海底测绘与军械定位的多传感器数据融合
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532414
J. Wright, K. Scott, T. Chao, B. Lau, J. Lathrop, J. Mccormick
{"title":"Multi-sensor data fusion for seafloor mapping and ordnance location","authors":"J. Wright, K. Scott, T. Chao, B. Lau, J. Lathrop, J. Mccormick","doi":"10.1109/AUV.1996.532414","DOIUrl":"https://doi.org/10.1109/AUV.1996.532414","url":null,"abstract":"Results of ongoing work in developing methods for performing multi-sensor fusion for the purpose of locating unexploded ordnance in shallow water and creating models of the sea-floor for visualization are presented. The sensor suite includes a forward-looking sonar, a low LF side-looking sonar, a HF side-looking sonar, a magnetic field gradiometer, and an electro-optic laser-scanning sensor. Data fusion techniques discussed include an iterative method of performing automatic target recognition processing (ATRP) on individual sensor channels, correlating the individual sensor channels for a single pass using the target locations to assist the process, performing correlations on multiple passes over the same target area, and returning the correlated data to the ATRP algorithms. The second pass of the ATRP algorithms on the correlated data provides an additional method for locating and identifying targets while rejecting clutter. Correlated sensor data, along with GPS information, is used to create 3D models of the sea floor. The sea-floor models are used for visualization of the area around an item of unexploded ordnance.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121973364","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: 12
Detecting linear motion of an object in a sequence of monocular underwater images 在单目水下图像序列中检测物体的线性运动
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532433
P. Lagstad
{"title":"Detecting linear motion of an object in a sequence of monocular underwater images","authors":"P. Lagstad","doi":"10.1109/AUV.1996.532433","DOIUrl":"https://doi.org/10.1109/AUV.1996.532433","url":null,"abstract":"A method of determining the egomotion of an autonomous underwater vehicle from a sequence of monocular underwater images is described. The algorithm is robust, fast, insensitive to noise and requires no exact knowledge of the camera parameters. The algorithm builds up a scale space pyramid of each of the images. The edges of the observed structures are determined using gradient-based methods. In the subsequent images, correlation-based methods are used to determine motion.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114572550","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: 5
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