There are three standard techniques of tracking underwater vehicles; long baseline acoustic navigation, short baseline acoustic navigation, and ultra-short baseline acoustic navigation. All three techniques require accurate detection of a known signal which may be corrupted by additive noise and multipaths. In the particular case of ultra-short baseline navigation, an accurate phase measurement of the signal must be made in order to compute the bearing estimate. Significant improvements in the resolution of underwater navigation systems are possible with the use of coded wideband signals, as compared to conventional tone bursts. An ultra-short baseline acoustic tracking system has been developed at Woods Hole Oceanographic Institution based on the use of spread spectrum signaling techniques. Simulations and expressions are presented which demonstrate the application of wideband signaling to the problem of underwater acoustic navigation.
{"title":"The application of spread spectrum signaling techniques to underwater acoustic navigation","authors":"T. Austin","doi":"10.1109/AUV.1994.518658","DOIUrl":"https://doi.org/10.1109/AUV.1994.518658","url":null,"abstract":"There are three standard techniques of tracking underwater vehicles; long baseline acoustic navigation, short baseline acoustic navigation, and ultra-short baseline acoustic navigation. All three techniques require accurate detection of a known signal which may be corrupted by additive noise and multipaths. In the particular case of ultra-short baseline navigation, an accurate phase measurement of the signal must be made in order to compute the bearing estimate. Significant improvements in the resolution of underwater navigation systems are possible with the use of coded wideband signals, as compared to conventional tone bursts. An ultra-short baseline acoustic tracking system has been developed at Woods Hole Oceanographic Institution based on the use of spread spectrum signaling techniques. Simulations and expressions are presented which demonstrate the application of wideband signaling to the problem of underwater acoustic navigation.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115485901","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}
A unique mission control and vehicle management architecture which facilitates machine-based interaction with underwater ordnance has been derived for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program (EODRWP). A number of key concepts have been integrated to provide for deliberative sequential and reactive mission plan execution. These include dynamic perception, which provides for active sensor management and vehicle position planning for enhanced classification, and heuristic constraint which incorporates knowledge of target and vehicle characteristics to provide a basis for interaction with the object of interest. This paper discusses the architectural framework which was developed in the first year of the program by enhancing a real-time expert system to implement a combined mission planning and constraint executor. Integration with a subsumptive layer which implements behaviors through a directed-task approach is described as are interactions with a vehicle-specific controller and sensors.
{"title":"A heuristically constrained dynamic perception architecture for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program","authors":"G. Trimble","doi":"10.1109/AUV.1994.518616","DOIUrl":"https://doi.org/10.1109/AUV.1994.518616","url":null,"abstract":"A unique mission control and vehicle management architecture which facilitates machine-based interaction with underwater ordnance has been derived for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program (EODRWP). A number of key concepts have been integrated to provide for deliberative sequential and reactive mission plan execution. These include dynamic perception, which provides for active sensor management and vehicle position planning for enhanced classification, and heuristic constraint which incorporates knowledge of target and vehicle characteristics to provide a basis for interaction with the object of interest. This paper discusses the architectural framework which was developed in the first year of the program by enhancing a real-time expert system to implement a combined mission planning and constraint executor. Integration with a subsumptive layer which implements behaviors through a directed-task approach is described as are interactions with a vehicle-specific controller and sensors.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"17 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116693753","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}
A. Healey, D. Marco, R. McGhee, D. Brutzman, R. Cristi, F. Papoulias, S. Kwak
This paper describes work with the NPS AUV II vehicle in the further development of the execution level software to incorporate hover control behavior in the NPS hover tank. Of particular interest is the use of the ST 1000 and ST 725 high frequency sonars to provide data about the environment. Thus positioning can be accomplished without the use of beacons. Motion behaviors may be instituted that include diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning, as well as the automatic initiation of filters as needed when a new target is found. A simple task level language that will be used to direct tactical level output to a port in communication with the execution level software is given.
{"title":"Tactical/execution level coordination for hover control of the NPS AUV II using onboard sonar servoing","authors":"A. Healey, D. Marco, R. McGhee, D. Brutzman, R. Cristi, F. Papoulias, S. Kwak","doi":"10.1109/AUV.1994.518617","DOIUrl":"https://doi.org/10.1109/AUV.1994.518617","url":null,"abstract":"This paper describes work with the NPS AUV II vehicle in the further development of the execution level software to incorporate hover control behavior in the NPS hover tank. Of particular interest is the use of the ST 1000 and ST 725 high frequency sonars to provide data about the environment. Thus positioning can be accomplished without the use of beacons. Motion behaviors may be instituted that include diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning, as well as the automatic initiation of filters as needed when a new target is found. A simple task level language that will be used to direct tactical level output to a port in communication with the execution level software is given.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116129281","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}
Strategies are investigated for a simulated unmanned underwater vehicle (UUV) conducting environmental sampling missions in ocean frontal zones. The combination of environmental, vehicle, and navigation models enables the use of the simulator to investigate sampling and mapping choices. Initially, ocean frontal zones are simply modeled to characterize aspects of a deep ocean front similar to the Gulf Stream North Wall, and to simulate cross-frontal aspects of a shallow water front. The vehicle simulation is based on a nonlinear six degree of freedom model that allows for the effects of buoyancy and ocean currents to be incorporated. Forces on the vehicle are modeled as modified Taylor series expansions of the state of the vehicle. Two typical missions for UUV-based sampling are considered: cross-frontal density and downstream velocity structure for the deep ocean front, and cross-frontal cross-stream and vertical velocity structure for the shallow water front. These results provide a baseline for including more realistic sensor, navigation, and dynamics modeling.
{"title":"Simulation of UUV environmental sampling in modeled ocean frontal zones","authors":"E. Levine, A. Shein, J. Kloske","doi":"10.1109/AUV.1994.518657","DOIUrl":"https://doi.org/10.1109/AUV.1994.518657","url":null,"abstract":"Strategies are investigated for a simulated unmanned underwater vehicle (UUV) conducting environmental sampling missions in ocean frontal zones. The combination of environmental, vehicle, and navigation models enables the use of the simulator to investigate sampling and mapping choices. Initially, ocean frontal zones are simply modeled to characterize aspects of a deep ocean front similar to the Gulf Stream North Wall, and to simulate cross-frontal aspects of a shallow water front. The vehicle simulation is based on a nonlinear six degree of freedom model that allows for the effects of buoyancy and ocean currents to be incorporated. Forces on the vehicle are modeled as modified Taylor series expansions of the state of the vehicle. Two typical missions for UUV-based sampling are considered: cross-frontal density and downstream velocity structure for the deep ocean front, and cross-frontal cross-stream and vertical velocity structure for the shallow water front. These results provide a baseline for including more realistic sensor, navigation, and dynamics modeling.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"183 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114034333","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}
This article describes an approach to hydrophone element design which results in a beam pattern with a low side-lobe structure. The method used is called space tapering. Space tapering simulates a conventional amplitude taper by varying the spacing of equally sized segments of electrode material. These segments are tied in parallel to produce the element output. Five prototype elements were fabricated on a single sheet of polyvinylidene difluoride (PVDF), two control elements, and three elements with increasing degrees of spatial tapering. The results show that, as the spatial density of the segments increase, the beam pattern approaches the ideal theoretical prediction.
{"title":"Low side-lobe PVDF element using a space tapered electrode","authors":"M. Janik, P. Brogan, L. Livernois","doi":"10.1109/AUV.1994.518640","DOIUrl":"https://doi.org/10.1109/AUV.1994.518640","url":null,"abstract":"This article describes an approach to hydrophone element design which results in a beam pattern with a low side-lobe structure. The method used is called space tapering. Space tapering simulates a conventional amplitude taper by varying the spacing of equally sized segments of electrode material. These segments are tied in parallel to produce the element output. Five prototype elements were fabricated on a single sheet of polyvinylidene difluoride (PVDF), two control elements, and three elements with increasing degrees of spatial tapering. The results show that, as the spatial density of the segments increase, the beam pattern approaches the ideal theoretical prediction.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117291177","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}
As autonomous underwater vehicle missions expand to include more hazardous situations, there is an increasing need to develop techniques for incorporating high resolution feedback to the mission planner, vehicle navigation, and robotic manipulator systems. This paper describes in-progress results in the development of the computer vision system that is part of a sensor-in-the-loop AUV simulation platform utilizing high resolution imaging to perform target detection, range-to-target estimation, and target orientation estimation.
{"title":"An AUV vision system for target detection and precise positioning","authors":"H.H. Pien, D. Gustafson, W. Bonnice","doi":"10.1109/AUV.1994.518604","DOIUrl":"https://doi.org/10.1109/AUV.1994.518604","url":null,"abstract":"As autonomous underwater vehicle missions expand to include more hazardous situations, there is an increasing need to develop techniques for incorporating high resolution feedback to the mission planner, vehicle navigation, and robotic manipulator systems. This paper describes in-progress results in the development of the computer vision system that is part of a sensor-in-the-loop AUV simulation platform utilizing high resolution imaging to perform target detection, range-to-target estimation, and target orientation estimation.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123642092","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}
An algorithm for autonomous navigation of a vehicle using sonar sensors is presented. The main feature is that it is designed to operate in mapped environments in the presence of unmapped obstacles. Key requirements are: 1) robust localization in the presence of unknown features and vehicle motion, 2) estimation of deterministic disturbances such as currents, and 3) localization of unknown objects. The approach is based on a suitable potential function describing the environment and on extended Kalman filtering techniques to provide recursive estimation of the vehicle location.
{"title":"In a partially known navigation and localization environment","authors":"R. Cristi","doi":"10.1109/AUV.1994.518634","DOIUrl":"https://doi.org/10.1109/AUV.1994.518634","url":null,"abstract":"An algorithm for autonomous navigation of a vehicle using sonar sensors is presented. The main feature is that it is designed to operate in mapped environments in the presence of unmapped obstacles. Key requirements are: 1) robust localization in the presence of unknown features and vehicle motion, 2) estimation of deterministic disturbances such as currents, and 3) localization of unknown objects. The approach is based on a suitable potential function describing the environment and on extended Kalman filtering techniques to provide recursive estimation of the vehicle location.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125724360","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}
This paper summarizes the evaluation of methods for minimizing adverse autonomous underwater vehicle (AUY) motions which degrade imaging sensor performance in the highly energetic, littoral environment. The effort required the development and validation of an advanced wave force model capable of predicting wave forces and vehicle motions in the time-domain, in very shallow water, and near the surface. A range of operational, geometric, and active control motion minimization concepts were proposed, and a subset was quantitatively evaluated in this study: 1) AUV heading relative to the seas, and 2) the use of bowplanes. Results of the study show that the use of bowplanes on the proposed AUV can eliminate the majority of the adverse pitch and heave motions.
{"title":"Motion minimization of AUVs for improved imaging sensor performance beneath a seaway","authors":"R. S. Peterson, T. Nguyen, R. R. Rodriguez","doi":"10.1109/AUV.1994.518632","DOIUrl":"https://doi.org/10.1109/AUV.1994.518632","url":null,"abstract":"This paper summarizes the evaluation of methods for minimizing adverse autonomous underwater vehicle (AUY) motions which degrade imaging sensor performance in the highly energetic, littoral environment. The effort required the development and validation of an advanced wave force model capable of predicting wave forces and vehicle motions in the time-domain, in very shallow water, and near the surface. A range of operational, geometric, and active control motion minimization concepts were proposed, and a subset was quantitatively evaluated in this study: 1) AUV heading relative to the seas, and 2) the use of bowplanes. Results of the study show that the use of bowplanes on the proposed AUV can eliminate the majority of the adverse pitch and heave motions.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132925011","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}
The major benefit of using synthetic aperture sonar (SAS) in underwater imaging applications is the provision of near-optical quality imaging at practical area coverage rates without the need for large physical aperture sizes that carry with them impractical size, weight and power requirements for the host platform. Characterization of the underwater propagation medium's spatio-temporal coherence limitations is a pre-requisite to an effective synthetic aperture sonar (SAS) system design. Raytheon Company, in conjunction with Harbor Branch Oceanographic Institute, has designed and successfully conducted an acoustic medium stability experiment to provide such measurements. The experiment accurately characterizes the medium's coherence simultaneously in both space and time by employing a stationary acoustic projector and a large, stationary acoustic array that is long enough to encompass candidate SAS design lengths without requiring platform motion. The experiment is described, and the temporal coherence measurements are presented.
{"title":"Propagation medium impact on sonar coherent processing for high frequency synthetic aperture imaging","authors":"C. Ciany, G. Walsh, A. Clark","doi":"10.1109/AUV.1994.518638","DOIUrl":"https://doi.org/10.1109/AUV.1994.518638","url":null,"abstract":"The major benefit of using synthetic aperture sonar (SAS) in underwater imaging applications is the provision of near-optical quality imaging at practical area coverage rates without the need for large physical aperture sizes that carry with them impractical size, weight and power requirements for the host platform. Characterization of the underwater propagation medium's spatio-temporal coherence limitations is a pre-requisite to an effective synthetic aperture sonar (SAS) system design. Raytheon Company, in conjunction with Harbor Branch Oceanographic Institute, has designed and successfully conducted an acoustic medium stability experiment to provide such measurements. The experiment accurately characterizes the medium's coherence simultaneously in both space and time by employing a stationary acoustic projector and a large, stationary acoustic array that is long enough to encompass candidate SAS design lengths without requiring platform motion. The experiment is described, and the temporal coherence measurements are presented.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129518364","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}
Fuzzy logic is a viable control strategy for depth control of undersea vehicles. It has been applied to the low speed ballast control problem for ARPA's unmanned undersea vehicle (UUV), designed and built by Draper. A fuzzy logic controller has been designed and tested in simulation that issues pump commands to effect changes in the UUV depth, while also regulating the pitch angle of the vehicle. The fuzzy logic controller performs comparably to the current ballast control design. The controller is also less sensitive to variations in the vehicle configuration and dynamics. The benefits of the fuzzy logic approach for this problem are: 1) simplicity, by not requiring a dynamic model, thus allowing for rapid development of a working design and less sensitivity to plant variations; 2) better matching of the control strategy and complexity with performance objectives and limitations; 3) the insight provided and easy modification of the controller, through the use of linguistic rules.
{"title":"Fuzzy logic for depth control of unmanned undersea vehicles","authors":"P. DeBitetto","doi":"10.1109/AUV.1994.518630","DOIUrl":"https://doi.org/10.1109/AUV.1994.518630","url":null,"abstract":"Fuzzy logic is a viable control strategy for depth control of undersea vehicles. It has been applied to the low speed ballast control problem for ARPA's unmanned undersea vehicle (UUV), designed and built by Draper. A fuzzy logic controller has been designed and tested in simulation that issues pump commands to effect changes in the UUV depth, while also regulating the pitch angle of the vehicle. The fuzzy logic controller performs comparably to the current ballast control design. The controller is also less sensitive to variations in the vehicle configuration and dynamics. The benefits of the fuzzy logic approach for this problem are: 1) simplicity, by not requiring a dynamic model, thus allowing for rapid development of a working design and less sensitivity to plant variations; 2) better matching of the control strategy and complexity with performance objectives and limitations; 3) the insight provided and easy modification of the controller, through the use of linguistic rules.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128650689","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}
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