Proceedings of Symposium on Autonomous Underwater Vehicle Technology最新文献_第5页

A pragmatic software architecture for UUVs 一个实用的uuv软件架构

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532418

K. Ganesan, S.M. Smith, K. White, T. Flanigan

引用次数: 20

Non-linear controller with switched control law for tracking control of non-cruising AUV 基于切换控制律的非线性非巡航AUV跟踪控制

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532403

W. Lam, T. Ura

{"title":"Non-linear controller with switched control law for tracking control of non-cruising AUV","authors":"W. Lam, T. Ura","doi":"10.1109/AUV.1996.532403","DOIUrl":"https://doi.org/10.1109/AUV.1996.532403","url":null,"abstract":"Noncruising AUVs have to be controlled directly by thrusters placed in suitable directions. Some of the problems for controlling noncruising AUVs in precise maneuver are: nonlinear dynamics of AUV, uncertain output from thruster in nonsteady condition, slow response during thruster reversal, and substantial noise in sensor data when the quantity to be measured is small. Practically when plant parameters are uncertain, tracking performance deteriorates significantly when the output is corrupted by noise for most controller design methods. Based on sliding control methodology, a nonlinear, robust controller with switched control law is proposed for the tracking control of noncruising AUV. Controller design can be done with only rudimentary knowledge of the dynamics of the system, without the need of accurate parameter identification. In this system output error feedback is switched on and off by looking at the measurement output and its derivatives. Since the derivatives are not used directly in the feedback, chattering can be reduced. Position tracking is possible in realistic conditions with noisy measurement data. Although identification model is not necessary for the design, performance can be further improved by including such model as feed forward controller. To fine tune the performance of the controller, methods of successfully using identification model and digital filters is discussed. The controller is implemented on the noncruising AUV 'Twin-Burger' of the University of Tokyo and experiments are carried out to verify the performance of the controller.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"62 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":"129464649","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 color texture based visual monitoring system for automated surveillance 一种基于彩色纹理的自动监控视觉监控系统

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532435

G. Paschos, K. Valavanis

引用次数: 37

Miniaturized and reconfigurable instrumentation for multipurpose survey with a Mini Autonomous Underwater Vehicle MAUVE-project 小型自主水下航行器mauve项目用于多用途测量的小型化和可重构仪器

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532397

A. H. Carof

引用次数: 6

Autonomous legged underwater vehicles for near land warfare 用于近地作战的自主腿式水下航行器

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532399

H. Greiner, A. Shectman, Chikyung Won, R. Elsley, P. Beith

引用次数: 61

Video mosaicking along arbitrary vehicle paths 视频拼接沿着任意车辆路径

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532427

S. D. Fleischer, H.H. Wang, S. Rock, M.J. Lee

引用次数: 45

Gradient search with autonomous underwater vehicles using scalar measurements 基于标量测量的自主水下航行器梯度搜索

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532404

E. Burian, D. Yoerger, A. Bradley, Hanumant Singh

{"title":"Gradient search with autonomous underwater vehicles using scalar measurements","authors":"E. Burian, D. Yoerger, A. Bradley, Hanumant Singh","doi":"10.1109/AUV.1996.532404","DOIUrl":"https://doi.org/10.1109/AUV.1996.532404","url":null,"abstract":"We examine how AUVs can be used to locate features of interest from scalar measurements without exhaustive search. It is first shown how the Autonomous Benthic Explorer (ABE) was used to successfully locate the deepest part of a pond. ABE computed the total water depth by combining the computed vehicle depth with the return of a single beam sonar altimeter. While moving in a straight line, ABE was able to estimate the gradient of total water depth along the vehicle track. By executing circular maneuvers, ABE was further able to estimate the 2D horizontal slope of the bathymetry. These two functions were combined to produce a procedure to locate the deepest point in the search region. This was accomplished without the need for a global navigation system. It is discussed how a vehicle with the capabilities of ABE could be used to locate hydrothermal vents using temperature, optical backscatter or chemical tracers as the search parameter. Data from an actual preprogrammed survey conducted by ABE in an area of sea-bed hydrothermal activity is illustrated. This data has been combined with measurements conducted by moorings, towed vehicles and the manned deep submersible Alvin to create a mathematical model of a vent field as might be seen by an AUV maneuvering through the region. Using this model we will show techniques for locating hydrothermal vents based on gradient following and other optimization methods that exploit the current understanding of the structure and physics of hydrothermal plumes.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"24 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":"114652225","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: 121

Performance results of a fuzzy behavioral altitude flight controller and rendezvous and docking of an autonomous underwater vehicles with fuzzy control 模糊行为高度飞行控制器与模糊自主水下航行器交会对接性能分析

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532407

K. White, S.M. Smith, K. Ganesan, D. Kronen, G.J.S. Rae, R.M. Langenbach

引用次数: 18

Turbulence and optics sampling from an autonomous underwater vehicle 自主水下航行器的湍流和光学采样

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532442

E. Levine, R. Lueck, P. Donaghay, D. Conners, T. Gagliardi, R. C. Hanson, R. Shell

{"title":"Turbulence and optics sampling from an autonomous underwater vehicle","authors":"E. Levine, R. Lueck, P. Donaghay, D. Conners, T. Gagliardi, R. C. Hanson, R. Shell","doi":"10.1109/AUV.1996.532442","DOIUrl":"https://doi.org/10.1109/AUV.1996.532442","url":null,"abstract":"The adaptation of synergistic sensor technologies to AUV platforms enables a new class of sampling strategies not available with older technologies. The combined turbulence, optics, and hydrographic data acquisition capabilities can be utilized for near-synoptic horizontal mapping in a variety of estuarine and continental shelf process studies. Horizontal profiles of turbulence are obtained using two piezoceramic shear probes orthogonally to the direction of motion, a single ultrafast thermistor, and three orthogonal accelerometers, mounted on a sting. Horizontal profiles of optical absorption and attenuation are obtained with a WET Labs AC-9 instrument mounted in a wet well, with the proper flow rate provided by a pump. Field trials in the Narragansett Bay tidal estuary in January 1996 resulted in obtaining turbulence and optical data from the UUV during near-spring ebb tide. UUV-based observations were made in the deep pycnocline, as well as in the ocean surface layer during wind row occurrences. A portion of the data has been examined for evaluation of noise effects on the turbulence data. In general, this analysis that meaningful estuarine turbulence data can be obtained from an autonomous underwater vehicle, and its relation to the optics data can be studied.","PeriodicalId":274258,"journal":{"name":"Proceedings of Symposium on Autonomous Underwater Vehicle Technology","volume":"30 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":"121047880","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

Design of a small, cheap UUV for under-ship inspection and salvage 设计一种小型、廉价的水下无人潜航器，用于船下检查和打捞

Proceedings of Symposium on Autonomous Underwater Vehicle Technology Pub Date : 1996-06-02 DOI: 10.1109/AUV.1996.532395

D.P. Miller

引用次数: 18