Proceedings of Symposium on Autonomous Underwater Vehicle Technology最新文献_第2页

Development efforts in rechargeable batteries for underwater vehicles 水下航行器可充电电池的开发工作

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532445

P.H. Smith, S. D. James, P.B. Keller

引用次数: 5

Conditional sequencing for land, space and sea 陆地、空间和海洋的有条件排序

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532836

E. Gat

{"title":"Conditional sequencing for land, space and sea","authors":"E. Gat","doi":"10.1109/AUV.1996.532836","DOIUrl":"https://doi.org/10.1109/AUV.1996.532836","url":null,"abstract":"Conditional sequencing is a software technology for robust control of autonomous vehicles. It has been applied to terrestrial vehicles, and is currently being developed for use in spacecraft. Although it has not yet been applied to subsurface vehicles, we believe that the technology may prove useful under water as well as on land and in space. Conditional sequencing is a framework for implementing autonomous control algorithms that respond intelligently to unexpected contingencies. Because of the potential complexity of such algorithms, a key part of the technology is the use of high-level languages to express these algorithms. We are currently using Firby's RAPs language (1989), which was designed for mobile robots, and are developing a second language, CSL, whose design is tailored more towards spacecraft. The differences between RAPs and CSL are a reflection of the differences in the underlying structure of the problem in the terrestrial and space domains. For mobile robots, most of the contingencies arise from unexpected interactions between the robot and its environment. On spacecraft, most contingencies arise from hardware failures. We describe how RAPs and CSL meet the unique demands of their respective domains, and speculate on how the approach could be adapted for use under water.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"89 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":"131349517","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

Development and validation of the Texas A&M University autonomous underwater vehicle controller 德州农工大学自主水下航行器控制器的开发与验证

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532417

E. Nelson, S. McClaran, D. Barnett, M. McDermott, G. Williams

引用次数: 6

Local area navigation using sonar feature extraction and model based predictive control 基于声纳特征提取和模型预测控制的局部导航

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532402

D. Marco, A. Healey

{"title":"Local area navigation using sonar feature extraction and model based predictive control","authors":"D. Marco, A. Healey","doi":"10.1109/AUV.1996.532402","DOIUrl":"https://doi.org/10.1109/AUV.1996.532402","url":null,"abstract":"This paper demonstrates a method to navigate an autonomous underwater vehicle in a local area using an acoustic sensor for position information derived from feature detection. A dynamic model of the vehicle response is used for control between location updates. Favorable results have been found using this approach, and precision positioning of the vehicle to centimeters has been accomplished. Another part of the problem is the need to provide a high frequency update of vehicle position in order to close the positioning servo loops. Using sonar image feature extraction is necessarily time consuming and therefore is performed in a tactical level process providing asynchronous data to the tactical navigator. It follows that some form of fast dead reckoning must be performed in the execution level either by INS/Doppler or by water speed and heading data or by a model based predictor. This paper deals with the use of a model based predictor technique where knowledge of the dynamic model of the vehicle provides state information to the vehicle positioning control function. The model uncertainty provides errors of course, but these are corrected through asynchronous updates from the feature extracted positions in the tactical level sonar manager. This concept has been verified by both simulation studies and by experimental validation with the NPS Phoenix vehicle.","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":"121471230","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: 17

Exploratory development minehunting sensors for unmanned vehicles 探索性开发用于无人驾驶车辆的猎雷传感器

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532409

S. Castelin, R. Manning, C. J. Robertson, L.J. Tubridy, P. Bernstein

引用次数: 5

Mosaicking of the ocean floor in the presence of three-dimensional occlusions in visual and side-scan sonar images 在视觉和侧扫声纳图像中存在三维遮挡的海底镶嵌

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532429

S. Tiwari

引用次数: 16

Autonomous operation of the Explosive Ordnance Disposal Robotic Work Package using the CETUS untethered underwater vehicle 使用CETUS无系绳水下航行器自主操作爆炸物处理机器人工作包

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532396

G. Trimble

引用次数: 2

Architecture of the Texas A&M Autonomous Underwater Vehicle Controller 德州农工大学自主水下航行器控制器的架构

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532420

D. Barnett, S. McClaran, E. Nelson, M. McDermott, G. Williams

引用次数: 24

Optimizing AUV oceanographic surveys 优化AUV海洋调查

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532439

J. Bellingham, J. S. Willcox

{"title":"Optimizing AUV oceanographic surveys","authors":"J. Bellingham, J. S. Willcox","doi":"10.1109/AUV.1996.532439","DOIUrl":"https://doi.org/10.1109/AUV.1996.532439","url":null,"abstract":"The objective of an oceanographic survey is to obtain the best understanding of the phenomena under study for a given amount of expended effort. This problem is complicated by the fact that the ocean usually evolves on a time scale comparable to (or faster than) the survey time. The ideal survey would be accomplished instantaneously and with infinite resolution. However, as platform limitations preclude such synoptic surveys, compromises between resolution, total survey time, and vehicle speed must be made. This paper presents a framework for optimizing uniform surveys of temporally evolving scalar fields under platform introduced constraints. Knowledge of the statistical characteristics of the ocean and the dominant physical processes are assumed. Advection is assumed to be negligible as a driving factor in temporal variations. The survey error, given by the squared difference between the true and reconstructed field, is determined as a function of the survey parameters. These in turn are subject to the physical limitations of the vehicle. Combining these constraints, we arrive at a tool which can be used to maximize survey efficiency and to assess relative efficiencies of various adaptive sampling techniques.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"141 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":"128819450","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: 72

Electronically steered and focused forward-looking scan sonar 电子控制和聚焦前视扫描声纳

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532411

L. LeBlanc, J. Cuschieri, M. Singer, P. Beaujean

引用次数: 5