As part of the development of Theseus, an under-ice autonomous underwater vehicle, trials were conducted to evaluate the performance of Trackpoint II and LXT ultrashort baseline (USB) acoustic positioning systems. These systems have been proposed to provide long range vehicle homing and surface station tracking of the Theseus AUV. These trials were carried out in the Arctic Ocean in 1992 and 1993. The trials were performed by operating the Trackpoint master stations from temporary ice stations with warm tents and living quarters. Helicopters or snow machines were used to carry the remote field party and transponders to distant sites for range and bearing measurements. GPS positioning systems and a Geodometer laser survey instrument were used for position reference. Measured range and bearing error data for the USB positioning systems are presented. Ray trace analysis was used to give understanding into acoustic propagation anomalies. The experience gained through these field trials was used in selection of USB positioning systems for the Theseus vehicle.
{"title":"Arctic Ocean trials of Trackpoint ultrashort baseline acoustic positioning systems","authors":"M. R. Black, B. Butler","doi":"10.1109/AUV.1994.518639","DOIUrl":"https://doi.org/10.1109/AUV.1994.518639","url":null,"abstract":"As part of the development of Theseus, an under-ice autonomous underwater vehicle, trials were conducted to evaluate the performance of Trackpoint II and LXT ultrashort baseline (USB) acoustic positioning systems. These systems have been proposed to provide long range vehicle homing and surface station tracking of the Theseus AUV. These trials were carried out in the Arctic Ocean in 1992 and 1993. The trials were performed by operating the Trackpoint master stations from temporary ice stations with warm tents and living quarters. Helicopters or snow machines were used to carry the remote field party and transponders to distant sites for range and bearing measurements. GPS positioning systems and a Geodometer laser survey instrument were used for position reference. Measured range and bearing error data for the USB positioning systems are presented. Ray trace analysis was used to give understanding into acoustic propagation anomalies. The experience gained through these field trials was used in selection of USB positioning systems for the Theseus vehicle.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"344 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":"123104790","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. J. Healey, S. M. Rock, S. Cody, D. Miles, J. P. Brown
This paper proposes a novel approach to modeling the four quadrant dynamic response of thrusters as used for the motion control of ROV and AUV underwater vehicles. The significance is that these vehicles are small in size and respond quickly to commands. Precision in motion control will require further understanding of thruster performance than is currently available. The model includes a four quadrant mapping of the propeller blades lift and drag forces and is coupled with motor and fluid system dynamics. A series of experiments is described for both long and short period triangular, as well as square wave inputs. The model is compared favorably with experimental data for a variety of differing conditions and predicts that force overshoots are observed under conditions of rapid command changes. Use of the model will improve the control of dynamic thrust on these vehicles.
{"title":"Toward an improved understanding of thruster dynamics for underwater vehicles","authors":"A. J. Healey, S. M. Rock, S. Cody, D. Miles, J. P. Brown","doi":"10.1109/AUV.1994.518646","DOIUrl":"https://doi.org/10.1109/AUV.1994.518646","url":null,"abstract":"This paper proposes a novel approach to modeling the four quadrant dynamic response of thrusters as used for the motion control of ROV and AUV underwater vehicles. The significance is that these vehicles are small in size and respond quickly to commands. Precision in motion control will require further understanding of thruster performance than is currently available. The model includes a four quadrant mapping of the propeller blades lift and drag forces and is coupled with motor and fluid system dynamics. A series of experiments is described for both long and short period triangular, as well as square wave inputs. The model is compared favorably with experimental data for a variety of differing conditions and predicts that force overshoots are observed under conditions of rapid command changes. Use of the model will improve the control of dynamic thrust on these vehicles.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"11 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":"124911150","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 paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, because of the high rate of raw data. The amount of data can be cut down by decreasing the scanned area, but this reduces the possibility of planning an optimal path. In the paper methods are described, that maintains the wide area of detection, without significant loss of precision or speed. This is done by using different scanning patterns for each sample. The detection is based on a two level threshold, making processing fast. Once detected the objects are followed through consecutive sonar images, and by use of an observer the estimation errors on position and velocities are reduced. Intensive use of different on-board sensors also makes it possible to scan a map of a larger area of the seabed in world coordinates. The work is in collaboration with partners under MAST-C-T90-0059.
{"title":"Real-time underwater object detection based on an electrically scanned high-resolution sonar","authors":"Lars Henrikseii","doi":"10.1109/AUV.1994.518613","DOIUrl":"https://doi.org/10.1109/AUV.1994.518613","url":null,"abstract":"The paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, because of the high rate of raw data. The amount of data can be cut down by decreasing the scanned area, but this reduces the possibility of planning an optimal path. In the paper methods are described, that maintains the wide area of detection, without significant loss of precision or speed. This is done by using different scanning patterns for each sample. The detection is based on a two level threshold, making processing fast. Once detected the objects are followed through consecutive sonar images, and by use of an observer the estimation errors on position and velocities are reduced. Intensive use of different on-board sensors also makes it possible to scan a map of a larger area of the seabed in world coordinates. The work is in collaboration with partners under MAST-C-T90-0059.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"1 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":"131473465","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 presents a comparison of H/sub /spl infin////spl mu/-synthesis sliding-mode that was done for heading and depth control of the Draper Laboratory/MIT Sea Grant Sea Squirt autonomous underwater vehicle (AUV). The approximate decoupling of the AUV heading and depth dynamics allowed us to have decoupled heading and depth designs for both the H/sub /spl infin////spl mu/-synthesis and the sliding-mode methodologies. The H/sub /spl infin////spl mu/-synthesis based controllers and the sliding-mode based controllers were implemented and tested by using a simulation of the AUV full order nonlinear model (including thruster and sensor dynamics). We analyzed the performance of the controllers (for a simultaneous depth and maneuver) over the approximate range of axial velocities commanded by the AUV. The performance of the controllers in the face of additive sensor noise was also analyzed.
{"title":"A comparison between H-infinity/Mu-synthesis control and sliding-mode control for robust control of a small autonomous underwater vehicle","authors":"C. L. Logan","doi":"10.1109/AUV.1994.518653","DOIUrl":"https://doi.org/10.1109/AUV.1994.518653","url":null,"abstract":"This paper presents a comparison of H/sub /spl infin////spl mu/-synthesis sliding-mode that was done for heading and depth control of the Draper Laboratory/MIT Sea Grant Sea Squirt autonomous underwater vehicle (AUV). The approximate decoupling of the AUV heading and depth dynamics allowed us to have decoupled heading and depth designs for both the H/sub /spl infin////spl mu/-synthesis and the sliding-mode methodologies. The H/sub /spl infin////spl mu/-synthesis based controllers and the sliding-mode based controllers were implemented and tested by using a simulation of the AUV full order nonlinear model (including thruster and sensor dynamics). We analyzed the performance of the controllers (for a simultaneous depth and maneuver) over the approximate range of axial velocities commanded by the AUV. The performance of the controllers in the face of additive sensor noise was also analyzed.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"22 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132812101","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}
Based on some aspects of the design concept of an existing self-propelled, hydraulically powered underwater vehicle, the SPV consists of an active-controlled, self-stabilized and self-powered submersible meant to house the sonar sensor base in an advanced position with respect to the surface vessel, maintaining it automatically, and allowing the ship to remain outside the radius damage of the target mine. The very limited signature characteristic of this design provides potential growth to enable the hosted sonar not only to classify, but also to identify targets.
{"title":"SPV-self-powered underwater platform for MCM search and classification sonars","authors":"C. Podestà, S. Ghignone","doi":"10.1109/AUV.1994.518609","DOIUrl":"https://doi.org/10.1109/AUV.1994.518609","url":null,"abstract":"Based on some aspects of the design concept of an existing self-propelled, hydraulically powered underwater vehicle, the SPV consists of an active-controlled, self-stabilized and self-powered submersible meant to house the sonar sensor base in an advanced position with respect to the surface vessel, maintaining it automatically, and allowing the ship to remain outside the radius damage of the target mine. The very limited signature characteristic of this design provides potential growth to enable the hosted sonar not only to classify, but also to identify targets.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"234 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":"114543530","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 presents an activity-based mission planning and plan management framework that has been developed at the Charles Stark Draper Laboratory. The main contributions of this paper are definition of this activity-based implementation and comparison with other planning implementation approaches (e.g., behavior-based); and explanation of how planning, execution, monitoring, and replanning are implemented within this activity-based approach. One of the main benefits of this approach is the ability to separate the mission planning and plan management algorithms from activity specific algorithms and from mission and vehicle specific information. This separation results in an implementation that is highly portable both between missions and vehicles. This framework has been implemented and demonstrated in high-fidelity autonomous land and underwater vehicle simulations, is planned to be implemented on ARPA's UUV in the near future, and is being considered for applications involving other underwater vehicles, autonomous land rovers, and the space shuttle.
{"title":"Activity-based mission planning and plan management for autonomous vehicles","authors":"W. Hall, J. Farrell","doi":"10.1109/AUV.1994.518605","DOIUrl":"https://doi.org/10.1109/AUV.1994.518605","url":null,"abstract":"This paper presents an activity-based mission planning and plan management framework that has been developed at the Charles Stark Draper Laboratory. The main contributions of this paper are definition of this activity-based implementation and comparison with other planning implementation approaches (e.g., behavior-based); and explanation of how planning, execution, monitoring, and replanning are implemented within this activity-based approach. One of the main benefits of this approach is the ability to separate the mission planning and plan management algorithms from activity specific algorithms and from mission and vehicle specific information. This separation results in an implementation that is highly portable both between missions and vehicles. This framework has been implemented and demonstrated in high-fidelity autonomous land and underwater vehicle simulations, is planned to be implemented on ARPA's UUV in the near future, and is being considered for applications involving other underwater vehicles, autonomous land rovers, and the space shuttle.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"8 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":"115844614","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 underwater application activities mature, the utilization of underwater robotic vehicles becomes more notable. The sophistication required by these URVs have significantly increased, and the development of AUVs are becoming imminent. The Autonomous Systems Laboratory of the University of Hawaii has designed the Omni-Directional Intelligent Navigator (ODIN), its control systems, and its graphic workstation to develop an integrated, real-time, 3-dimensional graphic test platform.
{"title":"Experimental study on an underwater robotic vehicle: ODIN","authors":"S.K. Choi, G. Y. Takashige, J. Yuh","doi":"10.1109/AUV.1994.518610","DOIUrl":"https://doi.org/10.1109/AUV.1994.518610","url":null,"abstract":"As underwater application activities mature, the utilization of underwater robotic vehicles becomes more notable. The sophistication required by these URVs have significantly increased, and the development of AUVs are becoming imminent. The Autonomous Systems Laboratory of the University of Hawaii has designed the Omni-Directional Intelligent Navigator (ODIN), its control systems, and its graphic workstation to develop an integrated, real-time, 3-dimensional graphic test platform.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"21 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":"123007337","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 small, 15.2 cm (6 in) diameter autonomous vehicle is under development at the Naval Undersea Warfare Center in Newport, Rhode Island. The objective of the vehicle is to complete an underwater fiber optic communications link. As an expendable device, low cost is a primary consideration. This factor in turn leads to numerous potential dual-use applications.
{"title":"Smart communications system (SMARTCOMMS)","authors":"T. A. Frank, A. L. Sheridan","doi":"10.1109/AUV.1994.518600","DOIUrl":"https://doi.org/10.1109/AUV.1994.518600","url":null,"abstract":"A small, 15.2 cm (6 in) diameter autonomous vehicle is under development at the Naval Undersea Warfare Center in Newport, Rhode Island. The objective of the vehicle is to complete an underwater fiber optic communications link. As an expendable device, low cost is a primary consideration. This factor in turn leads to numerous potential dual-use applications.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"1 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":"131265674","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}
C. Bizingre, P. Oliveira, A. Pascoal, F. Pereira, J. Pignon, E. Silva, C. Silvestre, J. D. de Sousa
This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environmental surveying missions in coastal waters, in a completely autonomous mode. Throughout the project, MARIUS will be used as an advanced testbed to test developments in the areas of mission planning and real-time mission execution systems for AUVs.
{"title":"Design of a mission management system for the autonomous underwater vehicle MARIUS","authors":"C. Bizingre, P. Oliveira, A. Pascoal, F. Pereira, J. Pignon, E. Silva, C. Silvestre, J. D. de Sousa","doi":"10.1109/AUV.1994.518615","DOIUrl":"https://doi.org/10.1109/AUV.1994.518615","url":null,"abstract":"This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environmental surveying missions in coastal waters, in a completely autonomous mode. Throughout the project, MARIUS will be used as an advanced testbed to test developments in the areas of mission planning and real-time mission execution systems for AUVs.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"119 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":"121356105","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}
Unlike hydraulics, an electric motor/controller system presents significant opportunities to improve noise, weight, and efficiency. But, these opportunities can best be recognized by a single source who not only understands the technology but has the ability to implement them in the development and manufacture of the product. An analysis is presented which explains the various design considerations of noise, weight and efficiency of electric motors and controllers for submersible autonomous underwater vehicles. In concert with the design considerations, their interrelationships are discussed as to how they affect each other in the overall optimization of the system. In conclusion, a matrix is created which shows how the resultant system parameters of noise, weight, and efficiency may be "traded off" to tailor the best overall system for the application.
{"title":"Electric motor/controller design tradeoffs for noise, weight, and efficiency","authors":"N. Kopp, G. W. Brown","doi":"10.1109/AUV.1994.518624","DOIUrl":"https://doi.org/10.1109/AUV.1994.518624","url":null,"abstract":"Unlike hydraulics, an electric motor/controller system presents significant opportunities to improve noise, weight, and efficiency. But, these opportunities can best be recognized by a single source who not only understands the technology but has the ability to implement them in the development and manufacture of the product. An analysis is presented which explains the various design considerations of noise, weight and efficiency of electric motors and controllers for submersible autonomous underwater vehicles. In concert with the design considerations, their interrelationships are discussed as to how they affect each other in the overall optimization of the system. In conclusion, a matrix is created which shows how the resultant system parameters of noise, weight, and efficiency may be \"traded off\" to tailor the best overall system for the application.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"10 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":"114164780","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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