Often it is necessary to operate an autonomous underwater vehicle (AUV) under conditions where the specific gravity of the vehicle varies by as much as 3%. For AUV systems without a variable ballast system that have to operate at low speeds, this can severely restrict the operational envelope of the system. This paper explores the limits on control authority as a function of vehicle speed and specific gravity for a typical AUV and then shows the effect of increasing the hull elliptic cross-section on vehicle control. Increasing hull lift through various devices is shown to be propulsion-limited as a result of the increase in induced drag. An example is shown where the drag of the vehicle at its lowest speed is higher than the drag at its maximum speed.
{"title":"Improvement of the low-speed control authority of an AUV through hull shaping","authors":"D. Humphreys","doi":"10.1109/AUV.1994.518656","DOIUrl":"https://doi.org/10.1109/AUV.1994.518656","url":null,"abstract":"Often it is necessary to operate an autonomous underwater vehicle (AUV) under conditions where the specific gravity of the vehicle varies by as much as 3%. For AUV systems without a variable ballast system that have to operate at low speeds, this can severely restrict the operational envelope of the system. This paper explores the limits on control authority as a function of vehicle speed and specific gravity for a typical AUV and then shows the effect of increasing the hull elliptic cross-section on vehicle control. Increasing hull lift through various devices is shown to be propulsion-limited as a result of the increase in induced drag. An example is shown where the drag of the vehicle at its lowest speed is higher than the drag at its maximum speed.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"55 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":"125082625","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}
In this paper, a simulation model is developed to test AUV navigation applications. The simulation model consists of a canonical class of simulated object, multiple instances of which are related in a hierarchical manner, to model all physical objects that reside in a unified underwater environment. Each object is part of a world environment which is composed of computer maps represented by n-variable discrete (e.g. bintree, quadtree, octtree) or continuous analytic (B-spline or faceted) functions. The constituent parts of each object are: (1) sensor model-virtual sensors used to measure properties of the environment and global (true) object state in order to establish local object state; (2) command model-control algorithms (e.g. layered control) used to model behavioral characteristics of the object and to issue commands that change the global object state based on the local object state information obtained from the sensor models; (3) dynamic model-model used to realistically determine the change in global object state caused by commands issued from the command model.
{"title":"A simulation model for AUV navigation","authors":"S. Tuohy","doi":"10.1109/AUV.1994.518662","DOIUrl":"https://doi.org/10.1109/AUV.1994.518662","url":null,"abstract":"In this paper, a simulation model is developed to test AUV navigation applications. The simulation model consists of a canonical class of simulated object, multiple instances of which are related in a hierarchical manner, to model all physical objects that reside in a unified underwater environment. Each object is part of a world environment which is composed of computer maps represented by n-variable discrete (e.g. bintree, quadtree, octtree) or continuous analytic (B-spline or faceted) functions. The constituent parts of each object are: (1) sensor model-virtual sensors used to measure properties of the environment and global (true) object state in order to establish local object state; (2) command model-control algorithms (e.g. layered control) used to model behavioral characteristics of the object and to issue commands that change the global object state based on the local object state information obtained from the sensor models; (3) dynamic model-model used to realistically determine the change in global object state caused by commands issued from the command model.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"40 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":"128874488","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. Orrick, M. McDermott, D. Barnett, E. Nelson, G. Williams
A system has been developed for failure detection and identification in the depth and heading control of an AUV. A redundancy management technique was implemented using the CLIPS expert system shell. The term redundancy, as used here, does not mean that sensors are duplicated but that independent values of the same quantity can be calculated by combining data from several different sensors. The rules used for failure detection and identification are presented and discussed. This failure detection scheme was implemented and tested on the simulator for the Texas A&M AUV Controller. Failures were introduced and the performance of the system was evaluated based on its accuracy and time response in correctly detecting and identifying failures. All single failures and most multiple failures were detected and identified correctly. False alarms were avoided by requiring several successive occurrences of an aberration before it was recognized as a failure.
{"title":"Failure detection in an autonomous underwater vehicle","authors":"A. Orrick, M. McDermott, D. Barnett, E. Nelson, G. Williams","doi":"10.1109/AUV.1994.518650","DOIUrl":"https://doi.org/10.1109/AUV.1994.518650","url":null,"abstract":"A system has been developed for failure detection and identification in the depth and heading control of an AUV. A redundancy management technique was implemented using the CLIPS expert system shell. The term redundancy, as used here, does not mean that sensors are duplicated but that independent values of the same quantity can be calculated by combining data from several different sensors. The rules used for failure detection and identification are presented and discussed. This failure detection scheme was implemented and tested on the simulator for the Texas A&M AUV Controller. Failures were introduced and the performance of the system was evaluated based on its accuracy and time response in correctly detecting and identifying failures. All single failures and most multiple failures were detected and identified correctly. False alarms were avoided by requiring several successive occurrences of an aberration before it was recognized as a failure.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"42 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":"134572159","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 use of appropriate propulsion devices for autonomous underwater vehicles (AUVs) is important from the point of view of higher propulsive efficiency and directional stability. In this paper, a design methodology for a propeller/stator combination behind an autonomous unmanned underwater vehicle is described. The design procedure is presented based on the three dimensional flow around the vehicle and the lifting line theory of propeller action with the associated formulation. The effect of variation of the axial distance between the propeller and stator and the number of the stater blades on the propulsor characteristics are systematically investigated. From the application of this method to a typical AUV the improvements in torque balance and propulsive efficiency are demonstrated.
{"title":"Propeller/stator propulsors for autonomous underwater vehicles","authors":"M. Guner, E. Glover","doi":"10.1109/AUV.1994.518644","DOIUrl":"https://doi.org/10.1109/AUV.1994.518644","url":null,"abstract":"The use of appropriate propulsion devices for autonomous underwater vehicles (AUVs) is important from the point of view of higher propulsive efficiency and directional stability. In this paper, a design methodology for a propeller/stator combination behind an autonomous unmanned underwater vehicle is described. The design procedure is presented based on the three dimensional flow around the vehicle and the lifting line theory of propeller action with the associated formulation. The effect of variation of the axial distance between the propeller and stator and the number of the stater blades on the propulsor characteristics are systematically investigated. From the application of this method to a typical AUV the improvements in torque balance and propulsive efficiency are demonstrated.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"79 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":"128257598","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 Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program has developed a unique distribution of guidance, navigation, and control functions which facilitates the autonomous operation of small multi-thrustered unmanned underwater vehicles maintaining portability across various platforms which supply varying navigation information and employ differing control regimes. The unique distribution of these functions and shared mode-directed access to sensor information between a subsumptive mission function executive processor and a dedicated high-rate vehicle control processor is detailed. The implementation of the rare navigation component suite, including three-axis motion reference unit, compass, depth sensor and a long-baseline acoustic positioning system and its interaction with the guidance algorithms and control system is described. The relative positioning information from an ahead looking sonar to support sensor-based servoing in the reacquisition and inspection of an object is included.
{"title":"Distribution of guidance, navigation, and control functionality in the explosive ordnance disposal autonomous underwater vehicle robotic work packages program","authors":"G. Trimble, R.E. Markett","doi":"10.1109/AUV.1994.518599","DOIUrl":"https://doi.org/10.1109/AUV.1994.518599","url":null,"abstract":"The Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program has developed a unique distribution of guidance, navigation, and control functions which facilitates the autonomous operation of small multi-thrustered unmanned underwater vehicles maintaining portability across various platforms which supply varying navigation information and employ differing control regimes. The unique distribution of these functions and shared mode-directed access to sensor information between a subsumptive mission function executive processor and a dedicated high-rate vehicle control processor is detailed. The implementation of the rare navigation component suite, including three-axis motion reference unit, compass, depth sensor and a long-baseline acoustic positioning system and its interaction with the guidance algorithms and control system is described. The relative positioning information from an ahead looking sonar to support sensor-based servoing in the reacquisition and inspection of an object is included.","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":"133048125","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}
P. Egeskov, A. Bjerrum, A. Pascoal, C. Silvestre, C. Aage, L. W. Smitt
MARIUS (Marine Utility Vehicle System) is an autonomous underwater vehicle for environmental surveying in coastal waters. This paper describes the design, construction and hydrodynamic testing of the vehicle and analyzes its expected performance in terms of mission duration and range.
MARIUS (Marine Utility Vehicle System)是一种用于沿海水域环境调查的自主水下航行器。本文介绍了该飞行器的设计、构造和水动力试验，并从任务持续时间和航程两方面分析了其预期性能。
{"title":"Design, construction and hydrodynamic testing of the AUV MARIUS","authors":"P. Egeskov, A. Bjerrum, A. Pascoal, C. Silvestre, C. Aage, L. W. Smitt","doi":"10.1109/AUV.1994.518626","DOIUrl":"https://doi.org/10.1109/AUV.1994.518626","url":null,"abstract":"MARIUS (Marine Utility Vehicle System) is an autonomous underwater vehicle for environmental surveying in coastal waters. This paper describes the design, construction and hydrodynamic testing of the vehicle and analyzes its expected performance in terms of mission duration and range.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"42 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":"126871426","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}
In the event of an actuator failure in an autonomous underwater vehicle (AUV), it is possible to maintain controllability despite the change in control authority. One, however, expects to have to change the feedforward motion script (plan). Here we present tools to discuss such an adaptive feature in the feedforward path of an AUV control system. We confine ourselves to kinematic models and give an illustration of the main ideas in an example of a "parking maneuver" for an AUV.
{"title":"Motion control of an autonomous underwater vehicle with an adaptive feature","authors":"Naomi Ehrich Leonard, P. Krishnaprasad","doi":"10.1109/AUV.1994.518637","DOIUrl":"https://doi.org/10.1109/AUV.1994.518637","url":null,"abstract":"In the event of an actuator failure in an autonomous underwater vehicle (AUV), it is possible to maintain controllability despite the change in control authority. One, however, expects to have to change the feedforward motion script (plan). Here we present tools to discuss such an adaptive feature in the feedforward path of an AUV control system. We confine ourselves to kinematic models and give an illustration of the main ideas in an example of a \"parking maneuver\" for an AUV.","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":"116613638","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}
Motion planning with a high number of degrees of freedom (DOF) is computationally demanding. Coupled AUV-manipulators are an example where there can be as many as 14-DOF in a typical dual-arm configuration attached to an underwater vehicle exhibiting 6-DOF motion. In an underwater environment, autonomous vehicles are required to plan motion online, a non-trivial task for coupled AUV-manipulators. This paper examines the computational requirements of high DOF systems and presents a technique which allows fast execution of motion plans. This technique is implemented using distributed search in a 'local' motion planning context. Distributed search is achieved through the execution of a number of subsearches in parallel, where each subsearch contains a unique subset of the DOFs in the system. It is shown how the use of this technique increases the effectiveness of the local motion planning methodology, allowing fast execution of motion plans for systems with a high number of degrees of freedom.
{"title":"Computational issues in motion planning for autonomous underwater vehicles with manipulators","authors":"A. Quinn, D. Lane","doi":"10.1109/AUV.1994.518633","DOIUrl":"https://doi.org/10.1109/AUV.1994.518633","url":null,"abstract":"Motion planning with a high number of degrees of freedom (DOF) is computationally demanding. Coupled AUV-manipulators are an example where there can be as many as 14-DOF in a typical dual-arm configuration attached to an underwater vehicle exhibiting 6-DOF motion. In an underwater environment, autonomous vehicles are required to plan motion online, a non-trivial task for coupled AUV-manipulators. This paper examines the computational requirements of high DOF systems and presents a technique which allows fast execution of motion plans. This technique is implemented using distributed search in a 'local' motion planning context. Distributed search is achieved through the execution of a number of subsearches in parallel, where each subsearch contains a unique subset of the DOFs in the system. It is shown how the use of this technique increases the effectiveness of the local motion planning methodology, allowing fast execution of motion plans for systems with a high number of degrees of freedom.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"38 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":"121432420","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 the activities in the field of underwater robotics being carried out at the Naval Automation Institute (IAN) of the Italian National Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. To reduce the economic and logistic resources needed to develop and test a real AUV at IAN the concept of virtual AUV was introduced. This consists of a ROV capable of simulating the behaviour of an autonomous vehicle. The result is a MASTER/SLAVE type of architecture in which, at least initially, the SLAVE on board the vehicle handles communications, acquires data and performs elementary control operations, whereas the MASTER (the control console on land) manages the operator interface, analysis of sensorial data and mission control.
{"title":"The control system of a small virtual AUV","authors":"G. Veruggio, R. Bono, M. Caccia","doi":"10.1109/AUV.1994.518608","DOIUrl":"https://doi.org/10.1109/AUV.1994.518608","url":null,"abstract":"This paper presents the activities in the field of underwater robotics being carried out at the Naval Automation Institute (IAN) of the Italian National Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. To reduce the economic and logistic resources needed to develop and test a real AUV at IAN the concept of virtual AUV was introduced. This consists of a ROV capable of simulating the behaviour of an autonomous vehicle. The result is a MASTER/SLAVE type of architecture in which, at least initially, the SLAVE on board the vehicle handles communications, acquires data and performs elementary control operations, whereas the MASTER (the control console on land) manages the operator interface, analysis of sensorial data and mission control.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"6 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":"122566641","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}
S. Chappell, J. Jalbert, P. Pietryka, J. Duchesney
This paper describes a project designed to investigate and demonstrate communication between two autonomous underwater vehicles (AUVs). The basic concept of multiple cooperating AUVs implies that these systems must, of necessity be able to communicate with each other in some meaningful way. This paper presents the results of in-water field experiments in which two AUV systems were able to communicate with each other using acoustic modems while conducting a simple mission. The AUVs used in this project were two EAVE III systems developed by the Marine Systems Engineering Laboratory (MSEL). A pair of acoustic telemetry modems (ATMs) acquired from Datasonics Inc. provided the communication channel. The experiments successfully demonstrated (1) simultaneous navigation of two AUVs within a single transponder network, (2) acoustic exchange of data (both ways) between the two vehicles, (3) runtime modifications of acoustic link parameters (BPS rate, packet size), and (4) modification of one vehicle's mission by the other vehicle while underway via communication over the acoustic channel.
{"title":"Acoustic communication between two autonomous underwater vehicles","authors":"S. Chappell, J. Jalbert, P. Pietryka, J. Duchesney","doi":"10.1109/AUV.1994.518661","DOIUrl":"https://doi.org/10.1109/AUV.1994.518661","url":null,"abstract":"This paper describes a project designed to investigate and demonstrate communication between two autonomous underwater vehicles (AUVs). The basic concept of multiple cooperating AUVs implies that these systems must, of necessity be able to communicate with each other in some meaningful way. This paper presents the results of in-water field experiments in which two AUV systems were able to communicate with each other using acoustic modems while conducting a simple mission. The AUVs used in this project were two EAVE III systems developed by the Marine Systems Engineering Laboratory (MSEL). A pair of acoustic telemetry modems (ATMs) acquired from Datasonics Inc. provided the communication channel. The experiments successfully demonstrated (1) simultaneous navigation of two AUVs within a single transponder network, (2) acoustic exchange of data (both ways) between the two vehicles, (3) runtime modifications of acoustic link parameters (BPS rate, packet size), and (4) modification of one vehicle's mission by the other vehicle while underway via communication over the acoustic channel.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"45 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":"117107088","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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