2012 IEEE/OES Autonomous Underwater Vehicles (AUV)最新文献

Collaborative control of multiple AUVs for improving the estimation of flow field dependent variables 多auv协同控制改进流场因变量估计

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380754

P. A. Hackbarth, E. Kreuzer, A. Gray, J. Hedrick

{"title":"Collaborative control of multiple AUVs for improving the estimation of flow field dependent variables","authors":"P. A. Hackbarth, E. Kreuzer, A. Gray, J. Hedrick","doi":"10.1109/AUV.2012.6380754","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380754","url":null,"abstract":"This paper presents a control framework for creating a 3D map of flow field dependent physical ocean variables by controlling multiple AUVs to maximize information gain. In this framework a nonlinear Kalman Filter is used to update the noisy measurements from multiple sensors at uncertain positions. First, the area of interest is discretized into a 3D grid. Each grid point has an associated estimate or measurement of the physical variable as well as its uncertainty. Multiple AUVs make measurements to update the value and uncertainty of the grid point at their current location. When this information is communicated between AUVs an updated 3D map is then propagated forward through time. To determine how to control the AUVs, a Nonlinear Model Predictive Controller (NMPC) is developed to generate paths for the AUVs which will minimize the overall uncertainty of the estimates in the 3D map of physical ocean variables. Simulations are shown with multiple AUVs to illustrate the utility and application of this approach. Various fluid dynamic environments, e.g. vortex flow, are initialized, and the AUVs are controlled to optimally measure a temperature distribution. The results show this method improves the estimation of the ocean variables as well as decreases mission time when compared to naive search methods.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121043614","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

Numerical investigation of the drag of twin prolate spheroid hulls in various longitudinal and transverse configurations 双长球形船体在不同纵向和横向构型下阻力的数值研究

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380731

P. Rattanasiri, P. Wilson, A. Phillips

{"title":"Numerical investigation of the drag of twin prolate spheroid hulls in various longitudinal and transverse configurations","authors":"P. Rattanasiri, P. Wilson, A. Phillips","doi":"10.1109/AUV.2012.6380731","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380731","url":null,"abstract":"The purpose of this paper is to provide guidance for operators on suitable spacings for multiple vehicle missions. This paper then investigates the combined drag of a pair of towed prolate spheroids for the length-Reynolds Number of 3.2×106. The model has a length-diameter ratio of 6:1. A series of configuration of a pair of spheroids is simulated by varying both longitudinal and transverse spacing. Three-dimensional simulations are performed using a commercial Reynolds Averaged Navier Stokes (RANS) Computational Fluid Dynamics code ANSYS CFX 12.1 with the SST turbulence closure model. In each case, the fluid domain has a mesh size of approximately nine million cells including inflated prism layers to capture the boundary layer. Mesh convergence is tested and then validated with wind tunnel test results. The drag of each spheroid is compared against the benchmark drag of a single hull. The results show that the transverse separations and longitudinal offsets determine the interaction drag between both hulls. Increasing of spacing results in lower the interference drag. Five zones have been suggested based on the characteristics of the combined drag and individual drags. These are Parallel Region, Echelon Region, Low Interaction Region, Push Region and Drafting Region. Based on the results, operators can determine the optimal configurations based on energy considerations.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124551943","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

Real-time side scan image generation and registration framework for AUV route following AUV航路跟踪的实时侧扫图像生成与配准框架

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380758

P. King, A. Vardy, P. Vandrish, B. Anstey

引用次数: 11

Kinematics study and implementation of a biomimetic robotic-fish underwater vehicle based on Lighthill slender body model 基于Lighthill细长体模型的仿生机器鱼水下航行器运动学研究与实现

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380721

A. Roy Chowdhury, B. Prasad, V. Vishwanathan, R. Kumar, S. K. Panda

{"title":"Kinematics study and implementation of a biomimetic robotic-fish underwater vehicle based on Lighthill slender body model","authors":"A. Roy Chowdhury, B. Prasad, V. Vishwanathan, R. Kumar, S. K. Panda","doi":"10.1109/AUV.2012.6380721","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380721","url":null,"abstract":"Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency (TBF), the propulsive wavelength, and the caudal amplitude are studied under this framework. Yaw angle study for the underwater robotic fish vehicle is also carried out as it describes the course of the robotic fish vehicle. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude variations are also shown and discussed.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121648807","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: 13

AUV observations of surface mixing and bubble entrainment in the Clyde estuary, Scotland 苏格兰克莱德河口水面混合和气泡夹带的AUV观测

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380739

M. Inall, Tim Boyd, M. Toberman, Chris Old, E. Dumont, Bernard Hagan

{"title":"AUV observations of surface mixing and bubble entrainment in the Clyde estuary, Scotland","authors":"M. Inall, Tim Boyd, M. Toberman, Chris Old, E. Dumont, Bernard Hagan","doi":"10.1109/AUV.2012.6380739","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380739","url":null,"abstract":"Most of the mixing throughout the world ocean is driven by wind forcing of the ocean surface, which also exerts a controlling influence of the rate of exchange of gases between the atmosphere and the ocean. As part of the UK NERC-funded surface boundary layer consortium “OSMOSIS” we conducted AUV-based observations of near-surface turbulent mixing and bubble entrainment in the Clyde estuary, Scotland, in conjunction with a program of ship-, mooring, and glider-based measurements. A Hydroid REMUS 600m AUV equipped with a forward-mounted microstructure sensing package designed by Rockland Scientific was instrumented for this experiment with an upward-looking 1.1 MHz echo sounder, in order to measure bubbles that are injected into the near surface by breaking waves and often organized into quasi-linear vertical curtains by Langmuir circulation cells. The AUV-based observations reported here were conducted over a seven day period in September, 2011, in a two-day window leading up to, and subsequent three-day window recovering from, a period of force 12 winds. As the wind speed reduced a thin layer of fresher water, previously pinned to the coast by the gale-force winds, rapidly slumped over the survey area. Measurements revealed that wind-generated turbulence was largely confined to this brackish surface layer, a layer too thin to be sampled by conventional means. In this paper we describe the vehicle configuration during this pilot study, the resulting data, and further vehicle modifications that will enable both more robust measurements and more flexible use of the AUV as a test-bed sampling platform.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"356 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114833499","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

Autonomic management for the next generation of Autonomous Underwater Vehicles 下一代自主水下航行器的自主管理

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380726

C. Insaurralde

引用次数: 8

Analysis and development of a buoyancy-pitch based depth control algorithm for a hybrid underwater glider 基于浮力-俯仰的混合式水下滑翔机深度控制算法分析与开发

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380742

B. Claus, R. Bachmayer, L. Cooney

引用次数: 35

Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies 将自主水下船只、水面船只和飞机作为海洋观测研究的持续监测组成部分

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380734

P. Mcgillivary, K. Rajan, J. D. de Sousa, F. Leroy

{"title":"Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies","authors":"P. Mcgillivary, K. Rajan, J. D. de Sousa, F. Leroy","doi":"10.1109/AUV.2012.6380734","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380734","url":null,"abstract":"Global initiatives are underway to establish Ocean Observing Systems (OOS) that can provide society better information on ocean conditions. These observatories include moorings, drifters, floats, and buoyancy gliders. Although gliders have long operational endurance, their reliance on batteries limits sensors payloads, thus some OOS also include autonomous underwater vehicles (AUVs) with active propulsion. In some observatories AUVs can recharge their batteries at underwater docking stations connected to shore by cables. However AUVs can also be recharged from autonomous surface vessels (ASVs) such as the WaveGlider, whose propulsion is provided by wave action, and payload power supplied by solar panels. In addition to this function, as components of OOS, ASVs can collect data and act as communication nodes for data from bottom moorings, gliders and AUVs. Unmanned air vehicle systems (UAS) may perform the same role. The problem of networking these heterogeneous systems is discussed along with tools and technologies for adaptive ocean sampling. A vision is outlined to build a portable mobile observatory for OOS which can be deployed anywhere, anytime, that relies on a mix of human-in-the-loop and fully autonomous computational technology.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122624822","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: 27

Autonomy-assessment criteria for underwater vehicles 水下航行器自主评估标准

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380746

C. Insaurralde, D. Lane

引用次数: 14

An implemented universal mission controller with run time ethics checking for autonomous unmanned vehicles—A UUV example 一种实现的具有运行时伦理检查的通用任务控制器——以UUV为例

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380744

D. Brutzman, R. McGhee, D. Davis

{"title":"An implemented universal mission controller with run time ethics checking for autonomous unmanned vehicles—A UUV example","authors":"D. Brutzman, R. McGhee, D. Davis","doi":"10.1109/AUV.2012.6380744","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380744","url":null,"abstract":"The authors have been involved for several decades in the development and testing of both remotely controlled and autonomous subsea and ground vehicles. This experience has led us to view autonomous mobile robot control problems from both a bottom up and a top down perspective. Specifically, in our work, we have developed and tested a three-level software architecture called Rational Behavior Model (RBM), in which a top (strategic) level mission control finite state machine (FSM) orders the rational execution, at an intermediate (tactical) level, of vehicle behaviors in such a way as to carry out a specified mission. This implementation experience and these principles have led us to believe that human-like intelligence and judgment are not required to achieve a useful operational capability in autonomous mobile robots. Furthermore, we are convinced that a primitive but useful type of robot ethical behavior can also be attained, even in hazardous or military environments, without invoking concepts of artificial intelligence. To support our views, we present a software invention called a mission execution engine (MEE), implemented in the Prolog logic programming language. This MEE can be shown to represent an extension of the idea of a universal Turing machine and is therefore well grounded in existing mathematical automata theory. We further show how human readable mission orders, also written in Prolog, can specialize an MEE to any desired mission control FSM. An important aspect of our work is that mission orders can be tested exhaustively in human executable form before being translated into robot executable form. This provides the kind of transparency and accountability needed for after action review of missions, and possible legal proceedings in case of loss of life or property resulting from errors in mission orders.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122895357","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