发布求助
文献互助 智能选刊 最新文献

Proceedings of Symposium on Autonomous Underwater Vehicle Technology最新文献

筛选
英文 中文
Visualization for AUV non-traditional navigation algorithm development 面向水下航行器非传统导航算法的可视化开发
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532438
S. Tuohy, D. Bruening, N. Patrikalakis
{"title":"Visualization for AUV non-traditional navigation algorithm development","authors":"S. Tuohy, D. Bruening, N. Patrikalakis","doi":"10.1109/AUV.1996.532438","DOIUrl":"https://doi.org/10.1109/AUV.1996.532438","url":null,"abstract":"In this paper, we describe a system called, NAVVIEWER, a visualization tool for the development and utilization of a map based autonomous underwater vehicle (AUV) navigation algorithm. NAVVIEWER allows a developer and subsequently a user of the navigation system to visualize the performance of the algorithm. As a development tool, it enables the user to interactively modify critical components of the algorithm and to test configurations so that real missions can be performed with a high level of confidence. In this paper, we will briefly outline the navigation algorithm and describe fully the visualization system. It will be shown how a visualization tool can be developed such that it not only aids the development of such algorithms, but also enhances their utility and operational use.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"288 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":"122002312","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
Strategic level mission control - an evaluation of CORAL and PROLOG implementations for mission control specifications 战略级任务控制——对任务控制规范的CORAL和PROLOG实现的评估
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532408
A. Healey, D. Marco, P. Oliveira, A. Pascoal, V. Silva, C. Silvestre
{"title":"Strategic level mission control - an evaluation of CORAL and PROLOG implementations for mission control specifications","authors":"A. Healey, D. Marco, P. Oliveira, A. Pascoal, V. Silva, C. Silvestre","doi":"10.1109/AUV.1996.532408","DOIUrl":"https://doi.org/10.1109/AUV.1996.532408","url":null,"abstract":"This paper presents the use of the software programming environments PROLOG and CORAL for the implementation of the strategic level of the NPS Phoenix vehicle. Whereas PROLOG provides a rule-based mission control specification language, CORAL builds on a graphical interface to describe mission programs using Petri nets. The paper describes the interfacing of CORAL with the tactical level of the vehicle, and details the programming and execution of a vehicle mission that was run in the NPS test tank.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"45 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":"122267802","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: 9
Organization and reorganization of autonomous oceanographic sampling networks 自主海洋采样网络的组织和重组
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532441
R. M. Turner, E. H. Turner, D. Blidberg
{"title":"Organization and reorganization of autonomous oceanographic sampling networks","authors":"R. M. Turner, E. H. Turner, D. Blidberg","doi":"10.1109/AUV.1996.532441","DOIUrl":"https://doi.org/10.1109/AUV.1996.532441","url":null,"abstract":"Systems such as autonomous oceanographic sampling networks (AOSNs) that have multiple autonomous or semi-autonomous components must have an organization which specifies the interactions between the components to allow them to distribute and accomplish the system's tasks. AOSNs present a special challenge. They will be deployed for long periods of time, and they are open systems whose composition will change over time. Such systems require the ability to autonomously organize and reorganize in response to changes in its composition, the environment, or the mission. In this paper, we present preliminary results from a project whose goal is to develop mechanisms to allow AOSNs to self-organize and reorganize. We discuss characteristics of AOSNs which impact their organization and give an overview of an approach which addresses their special requirements. We discuss a simulation methodology designed to simulate the aggregate properties of the protocols developed, and we describe preliminary results obtained using that simulator.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"131 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":"114898735","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
NPS Phoenix AUV software integration and in-water testing NPS Phoenix AUV软件集成及水中测试
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532405
D. Brutzman, M. Burns, M. Campbell, D. Davis, T. Healey, M. Holden, B. Leonhardt, D. Marco, D. McClarin, B. McGhee, R. Whalen
{"title":"NPS Phoenix AUV software integration and in-water testing","authors":"D. Brutzman, M. Burns, M. Campbell, D. Davis, T. Healey, M. Holden, B. Leonhardt, D. Marco, D. McClarin, B. McGhee, R. Whalen","doi":"10.1109/AUV.1996.532405","DOIUrl":"https://doi.org/10.1109/AUV.1996.532405","url":null,"abstract":"The NPS Phoenix autonomous underwater vehicle (AUV) is a student research testbed for shallow-water minefield mapping missions. We discuss implementation of the execution, tactical and strategic levels of the rational behavior model robot architecture. Simulation-based design using an underwater virtual world has been a crucial advantage permitting rapid development of disparate software and hardware modules. Details are provided on process coordination, navigation, real-time sonar classification, path replanning around detected obstacles, networking, sonar and hydrodynamics modeling, and distributable computer graphics rendering. In-water experimental results are presented and evaluated.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"26 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":"132826757","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: 20
Ocean flow measurement using an autonomous underwater vehicle 使用自主水下航行器进行洋流测量
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532443
K. Holappa, M. Dhanak, S. Smith, E. An
{"title":"Ocean flow measurement using an autonomous underwater vehicle","authors":"K. Holappa, M. Dhanak, S. Smith, E. An","doi":"10.1109/AUV.1996.532443","DOIUrl":"https://doi.org/10.1109/AUV.1996.532443","url":null,"abstract":"In this paper, we discuss making flow measurements in a shallow-water ocean environment using Florida Atlantic University's 2.2 m long autonomous underwater vehicle (AUV). An AUV has the advantage over tethered vehicles in that its self motion is not coupled to the motion of the sea surface and that of a mother ship, and it can potentially operate in stormy conditions. Two high-wavenumber shear probes and a Pitot tube, housed in a pressure-vessel mounted on the nose of the AUV, allow measurements, in the dissipation range, of all three components of velocity. Salinity, temperature, mean velocity gradients and possible body vibrations are monitored using auxiliary local probes. The AUV allows surveying 3-5 mile square regions at a speed of 3-4 knots. The influence of the self motion of the AUV on the flow measurements is discussed.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"10 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":"116900579","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: 22
A motion planning method for an AUV 一种水下机器人运动规划方法
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532450
S. Arinaga, S. Nakajima, H. Okabe, A. Ono, Y. Kanayama
{"title":"A motion planning method for an AUV","authors":"S. Arinaga, S. Nakajima, H. Okabe, A. Ono, Y. Kanayama","doi":"10.1109/AUV.1996.532450","DOIUrl":"https://doi.org/10.1109/AUV.1996.532450","url":null,"abstract":"The authors have been developing an underwater vehicle \"Umihico\" that autonomously plans and executes given missions. This paper discusses the problem of finding an optimal motion plan for an AUV. The proposed motion planning algorithm is divided into two steps, the global path planning and the local motion planning steps. In the global path planning step, we first define a connectivity graph to evaluate the cost of each path class. Next we apply the Dijkstra's algorithm or the all-pairs cost algorithm to the graph to find the optimal (minimum cost) path class. In the local motion planning step, a smooth path segment which connects two configurations in the optimal path class in each region is computed. If there are any obstacles, the local motion planning algorithm will plan and execute an obstacle avoiding action. The effectiveness and robustness of the solution algorithm are verified through simulation.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"28 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":"126780553","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: 22
The development of an integrated GPS/INS/sonar navigation system for autonomous underwater vehicle navigation 用于自主水下航行器导航的综合GPS/INS/声纳导航系统的发展
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532423
Bennamoun, B. Boashash, F. Faruqi, M. Dunbar
{"title":"The development of an integrated GPS/INS/sonar navigation system for autonomous underwater vehicle navigation","authors":"Bennamoun, B. Boashash, F. Faruqi, M. Dunbar","doi":"10.1109/AUV.1996.532423","DOIUrl":"https://doi.org/10.1109/AUV.1996.532423","url":null,"abstract":"The need to successfully navigate in an underwater environment is rapidly becoming an important concern in the 1990's. This paper presents the development of an integrated navigation system for autonomous underwater vehicles (AUV) using GPS, INS and sonar. This paper discusses the existing problems with sub-sea navigation, the motivation for an integrated system, the mathematical derivation for an integrated GPS/INS/sonar system, and the results obtained from extensive testing.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"4 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":"133424763","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: 21
Solid lithium hydride as a hydrogen source for fuel cells 固体氢化锂作为燃料电池的氢源
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532447
G. K. Pitcher
{"title":"Solid lithium hydride as a hydrogen source for fuel cells","authors":"G. K. Pitcher","doi":"10.1109/AUV.1996.532447","DOIUrl":"https://doi.org/10.1109/AUV.1996.532447","url":null,"abstract":"Hydrogen is produced by the hydrolysis reaction of solid lithium hydride and water. The hydrolysis reaction proceeds naturally with excess water. The reaction product, lithium hydroxide, is dissolved and removed from the reaction site by the excess water and steam. Two research test series conducted at the Naval Undersea Warfare Center are described. The first series were tests run at atmospheric pressure (0.1 MPa) in a transparent test fixture. The reaction was controllable. The reaction runs with seawater. The second series of tests were run at pressures from 0.25 to 1.50 MPa. The reaction runs at higher pressures with the hydrogen generation rate decreasing about one-third at 1.50 MPa. The water supply rate is the key determining factor. The surface area of solid lithium hydride plays only a minor role in determining the hydrogen generation rate. The process can be configured as a compact fuel source for multi-kilowatt, underwater propulsion systems.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"211 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113953228","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
A survey and experimental study of neural network AUV control 神经网络水下航行器控制综述与实验研究
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532406
J. Lorentz, J. Yuh
{"title":"A survey and experimental study of neural network AUV control","authors":"J. Lorentz, J. Yuh","doi":"10.1109/AUV.1996.532406","DOIUrl":"https://doi.org/10.1109/AUV.1996.532406","url":null,"abstract":"This paper presents a survey of neural network controllers for AUVs. A direct adaptive neural net controller incorporating integral action was designed for the heave motion of the ODIN underwater vehicle. The neural net controller is trained online by parallel recursive error prediction method and the critic equation. The influence of the various design parameters of the neural net controller was investigated by computer simulation and the controller was also experimentally tested using the ODIN. Results of the computer simulation and experiment are discussed in this paper.","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":"115069776","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: 40
Validation of the installation of CTD sensors on an AUV 验证在AUV上安装CTD传感器
Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532444
J. Bales
{"title":"Validation of the installation of CTD sensors on an AUV","authors":"J. Bales","doi":"10.1109/AUV.1996.532444","DOIUrl":"https://doi.org/10.1109/AUV.1996.532444","url":null,"abstract":"Autonomous underwater vehicles (AUVs) will allow oceanographers to collect more data, at lower cost, than traditional means. To achieve widespread acceptance within the oceanographic community, AUVs must deliver data of comparable quality to that collected by conventional means. The fundamental measurements for physical oceanography are the pressure, temperature and electrical conductivity of water over a range of locations and depths, measurements that are usually referred to as \"CTD\" for conductivity, temperature, and depth. This paper discusses the accuracies required for measuring water conductivity, temperature, and pressure for physical oceanographic applications and describes the method used to validate the CTD package on a specific AUV. Temperature measurements made in the deep ocean with the Odyssey-II AUV agreed to within 0.001 degrees Celsius to those made with a standard oceanographic CTD package. This work represents a first step in the process of defining protocols for validating CTD in an AUV. The approach used allow us to place a quantitative upper bound in the perturbation of the CTD measurements by the Odyssey II AUV.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"19 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":"134275783","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: 3
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信