This paper is concerned with the design of high data rate acoustic communication systems that employ adaptive equalization to overcome the effects of intersymbol interference and fading. Our treatment is focused on the use of nonlinear decision-feedback equalization that is appropriate for high-speed, phase coherent digital communications on long range, deep water horizontal paths and medium range shallow water paths. The performance characteristics, limitations, and implementation complexities of adaptive equalization algorithms are also considered.
{"title":"Adaptive equalization algorithms for high rate underwater acoustic communications","authors":"J. Proakis, M. Stojanovic, J. Catipovic","doi":"10.1109/AUV.1994.518620","DOIUrl":"https://doi.org/10.1109/AUV.1994.518620","url":null,"abstract":"This paper is concerned with the design of high data rate acoustic communication systems that employ adaptive equalization to overcome the effects of intersymbol interference and fading. Our treatment is focused on the use of nonlinear decision-feedback equalization that is appropriate for high-speed, phase coherent digital communications on long range, deep water horizontal paths and medium range shallow water paths. The performance characteristics, limitations, and implementation complexities of adaptive equalization algorithms are also considered.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"52 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":"128352172","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}
Unmanned underwater vehicles require some sense of perception of the environment so as to carry out their missions with some degree of autonomy. Perception based on visual cues can tremendously enhance the performance of such vehicles. For example, the capability to determine the three-dimensional position or shape of a nearby object from two-dimensional images can be useful for localization, recognition, or obstacle avoidance. In this paper, we consider selected methods for determining the three-dimensional shape of, or range to, objects from two-dimensional images for application in the underwater domain. In contrast to techniques commonly used in land environments based on tracking points, lines, contours, or other isolated scene features, these methods rely on the information in the brightness patterns of the whole image. Selected experimental results are provided to demonstrate the concepts.
{"title":"On shape and range recovery from images of underwater environments","authors":"S. Negahdaripour","doi":"10.1109/AUV.1994.518612","DOIUrl":"https://doi.org/10.1109/AUV.1994.518612","url":null,"abstract":"Unmanned underwater vehicles require some sense of perception of the environment so as to carry out their missions with some degree of autonomy. Perception based on visual cues can tremendously enhance the performance of such vehicles. For example, the capability to determine the three-dimensional position or shape of a nearby object from two-dimensional images can be useful for localization, recognition, or obstacle avoidance. In this paper, we consider selected methods for determining the three-dimensional shape of, or range to, objects from two-dimensional images for application in the underwater domain. In contrast to techniques commonly used in land environments based on tracking points, lines, contours, or other isolated scene features, these methods rely on the information in the brightness patterns of the whole image. Selected experimental results are provided to demonstrate the concepts.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"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":"124091051","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}
Multiple autonomous vehicles at low cost, small size, and expendable can be effective force multipliers for missions involving large and/or cluttered environments such as surf zone operations. The application of multiple, low-cost vehicles can provide pay-offs in increased mission effectiveness and reliability. The overall objective is to investigate the multiple vehicles group dynamics and control for a neutralization mission for bottom or buried targets using "bottom crawling vehicles". Issues are: control of spacing and integrated dynamics of the group; group configuration (e.g. size, Homogeneous vs. Specialized units); and individual crawler's minimum performance requirements.
{"title":"Using a fleet of autonomous bottom crawling vehicles for surf zone operations","authors":"C. Duarte, D. Carlino","doi":"10.1109/AUV.1994.518642","DOIUrl":"https://doi.org/10.1109/AUV.1994.518642","url":null,"abstract":"Multiple autonomous vehicles at low cost, small size, and expendable can be effective force multipliers for missions involving large and/or cluttered environments such as surf zone operations. The application of multiple, low-cost vehicles can provide pay-offs in increased mission effectiveness and reliability. The overall objective is to investigate the multiple vehicles group dynamics and control for a neutralization mission for bottom or buried targets using \"bottom crawling vehicles\". Issues are: control of spacing and integrated dynamics of the group; group configuration (e.g. size, Homogeneous vs. Specialized units); and individual crawler's minimum performance requirements.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"9 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":"124212529","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 adjustable complexity, recursive least squares (RLS) estimation algorithm is presented, which is suitable for adaptive equalization and source localization in shallow-water acoustic channels. The algorithm adjusts its computational complexity, measured in FLOPS per update, in a decreasing fashion with the relative signal strength, by ignoring "insignificant" dimensions of the channel. The algorithm reverts to the well-known fast RLS algorithms when the signal quality is weak, and may be combined with reduced period updating techniques. Examples illustrate computational savings in excess of one order of magnitude, permitting a tripling of the maximum data rate through these complexity-limited communication channels.
{"title":"Reduced-complexity RLS estimation for shallow-water channels","authors":"M. Kocic, D. Brady, S. Merriam","doi":"10.1109/AUV.1994.518621","DOIUrl":"https://doi.org/10.1109/AUV.1994.518621","url":null,"abstract":"An adjustable complexity, recursive least squares (RLS) estimation algorithm is presented, which is suitable for adaptive equalization and source localization in shallow-water acoustic channels. The algorithm adjusts its computational complexity, measured in FLOPS per update, in a decreasing fashion with the relative signal strength, by ignoring \"insignificant\" dimensions of the channel. The algorithm reverts to the well-known fast RLS algorithms when the signal quality is weak, and may be combined with reduced period updating techniques. Examples illustrate computational savings in excess of one order of magnitude, permitting a tripling of the maximum data rate through these complexity-limited communication channels.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"52 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":"115432744","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}
Dynamic stabilization and turning of submersible vehicles is presently accomplished by addition of fin-type appendages at the stern of the vehicle, and control is sometimes augmented by forward fins. These conventional configurations are neither the only stabilizing solutions nor necessarily provide the best turning configurations. Linear turning theory is applied to find the fixed fin size and location that optimize turning performance, for a given degree of stability. It is shown that configurations having the same stability can be designed with a range of turning ability, and vice versa.
{"title":"On optimum turning configurations","authors":"C. Henry","doi":"10.1109/AUV.1994.518655","DOIUrl":"https://doi.org/10.1109/AUV.1994.518655","url":null,"abstract":"Dynamic stabilization and turning of submersible vehicles is presently accomplished by addition of fin-type appendages at the stern of the vehicle, and control is sometimes augmented by forward fins. These conventional configurations are neither the only stabilizing solutions nor necessarily provide the best turning configurations. Linear turning theory is applied to find the fixed fin size and location that optimize turning performance, for a given degree of stability. It is shown that configurations having the same stability can be designed with a range of turning ability, and vice versa.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"30 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":"125999033","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 acoustic positioning and guidance technique, based upon differential delay and Doppler tracking system, is proposed for long distance 2D navigation and path planning on board, autonomous underwater vehicles (AUVs). This system is also easily extendable to short distance 3D positioning and guidance with the use of a bottom echo sounder on board the AUV. For positioning purpose, the system uses a single low-cost omnidirectional hydrophone mounted on the AUV, and is associated to an external (fixed or towed) dual frequency transmitting subsystem. This technique can be viewed as a combined version of classical long base (delay) and short base (Phase) trajectography. For path planning and AUV guidance, the predicted route is described as a sequence of iso-differential delay and/or iso-differential Doppler segments.
{"title":"Acoustic differential delay and Doppler tracking system for long range AUV positioning and guidance","authors":"A. H. Carof","doi":"10.1109/AUV.1994.518649","DOIUrl":"https://doi.org/10.1109/AUV.1994.518649","url":null,"abstract":"An acoustic positioning and guidance technique, based upon differential delay and Doppler tracking system, is proposed for long distance 2D navigation and path planning on board, autonomous underwater vehicles (AUVs). This system is also easily extendable to short distance 3D positioning and guidance with the use of a bottom echo sounder on board the AUV. For positioning purpose, the system uses a single low-cost omnidirectional hydrophone mounted on the AUV, and is associated to an external (fixed or towed) dual frequency transmitting subsystem. This technique can be viewed as a combined version of classical long base (delay) and short base (Phase) trajectography. For path planning and AUV guidance, the predicted route is described as a sequence of iso-differential delay and/or iso-differential Doppler segments.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"22 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":"131985084","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}
M. Parsons, A. C. Chubb, Yusong Cao, A. Stefanopoulou
A fuzzy logic controller for ship path control in restricted waters is developed and evaluated. The controller uses inputs of heading, yaw rate, and lateral offset from the nominal track. A Kalman filter is used to produce the input state variables from noisy measurements. The controller produces a commanded rudder angle. Input variable fuzzification, fuzzy associative memory rules, and output set defuzzification are described. The controller is benchmarked against a conventional linear quadratic Gaussian (LQG) optimal controller and Kalman filter control systems. An initial startup transient and regulator control performance with an external hydrodynamic disturbance are evaluated. The fuzzy controller yields competitive performance.
{"title":"An initial assessment of fuzzy logic vessel path control","authors":"M. Parsons, A. C. Chubb, Yusong Cao, A. Stefanopoulou","doi":"10.1109/AUV.1994.518629","DOIUrl":"https://doi.org/10.1109/AUV.1994.518629","url":null,"abstract":"A fuzzy logic controller for ship path control in restricted waters is developed and evaluated. The controller uses inputs of heading, yaw rate, and lateral offset from the nominal track. A Kalman filter is used to produce the input state variables from noisy measurements. The controller produces a commanded rudder angle. Input variable fuzzification, fuzzy associative memory rules, and output set defuzzification are described. The controller is benchmarked against a conventional linear quadratic Gaussian (LQG) optimal controller and Kalman filter control systems. An initial startup transient and regulator control performance with an external hydrodynamic disturbance are evaluated. The fuzzy controller yields competitive performance.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"37 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":"132729415","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}
D. Fryxell, P. Oliveira, nio Pascoal, C. Silvestre
This paper describes an integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles (AUV's). The general framework is illustrated with a design exercise in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System).
{"title":"An integrated approach to the design and analysis of navigation, guidance and control systems for AUVs","authors":"D. Fryxell, P. Oliveira, nio Pascoal, C. Silvestre","doi":"10.1109/AUV.1994.518627","DOIUrl":"https://doi.org/10.1109/AUV.1994.518627","url":null,"abstract":"This paper describes an integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles (AUV's). The general framework is illustrated with a design exercise in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System).","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":"131023355","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 application of a local operating network protocol called LONTalk to a distributed control system for the Ocean Voyager II AUV is presented. A detailed description is given of the OVII's distributed sensing and control architecture in addition to the salient features of LONTalk and its associated hardware. The Ocean Voyager II is one of a new generation of small long-range inexpensive AUVs for oceanographic data collection. The goal behind developing a distributed control system was to simplify construction of the vehicle while increasing reliability and reconfigurability. Adoption of a standard distributed control communications protocol allows interoperability between subsystems developed by different groups. The advantages and disadvantages of using the distributed control and the LONWorks protocol are discussed. With specific examples from the OVII development. A comparison between SAIL and LONWorks is also made. The potential for cost-effective interoperability of sensor, actuator, and computation systems in AUVs using LONWorks is explored. The experience gained in developing the OVII is described along with lessons learned and recommendations for more expansive use in the AUV community.
{"title":"An approach to intelligent distributed control for autonomous underwater vehicles","authors":"S.M. Smith","doi":"10.1109/AUV.1994.518614","DOIUrl":"https://doi.org/10.1109/AUV.1994.518614","url":null,"abstract":"The application of a local operating network protocol called LONTalk to a distributed control system for the Ocean Voyager II AUV is presented. A detailed description is given of the OVII's distributed sensing and control architecture in addition to the salient features of LONTalk and its associated hardware. The Ocean Voyager II is one of a new generation of small long-range inexpensive AUVs for oceanographic data collection. The goal behind developing a distributed control system was to simplify construction of the vehicle while increasing reliability and reconfigurability. Adoption of a standard distributed control communications protocol allows interoperability between subsystems developed by different groups. The advantages and disadvantages of using the distributed control and the LONWorks protocol are discussed. With specific examples from the OVII development. A comparison between SAIL and LONWorks is also made. The potential for cost-effective interoperability of sensor, actuator, and computation systems in AUVs using LONWorks is explored. The experience gained in developing the OVII is described along with lessons learned and recommendations for more expansive use in the AUV community.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"7 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":"115573244","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 Ocean Voyager II is a small long-range AUV designed for coastal oceanography. A system overview and design constraints are given with reference to the specific mission of bottom classification through light reflectance and absorption measurement. This mission requires the AUV to fly above the sea floor at a constant altitude while measuring the albedo of the bottom and the absorption of certain light frequencies by plant life. Important navigation, sensing, power, computation control, and configuration issues are discussed. The OVII has been developed by Florida Atlantic University's Ocean Engineering Dept. in cooperation with the University of South Florida's Marine Science Department to provide more efficient means of sampling the coastal ocean regions. Of great importance is ground-truthing satellite spectrometry. Current measurements of bottom albedos are limited in density and scope. The OVII provides a means of covering large areas of the ocean floor in an efficient manner. This paper provides insights gained from the development effort and describes initial testing of the vehicle. The potential of AUV's in coastal oceanographic missions is discussed in light of the experience gained from the initial testing of the OVII.
{"title":"The Ocean Voyager II: an AUV designed for coastal oceanography","authors":"S.M. Smith, S. Dunn","doi":"10.1109/AUV.1994.518618","DOIUrl":"https://doi.org/10.1109/AUV.1994.518618","url":null,"abstract":"The Ocean Voyager II is a small long-range AUV designed for coastal oceanography. A system overview and design constraints are given with reference to the specific mission of bottom classification through light reflectance and absorption measurement. This mission requires the AUV to fly above the sea floor at a constant altitude while measuring the albedo of the bottom and the absorption of certain light frequencies by plant life. Important navigation, sensing, power, computation control, and configuration issues are discussed. The OVII has been developed by Florida Atlantic University's Ocean Engineering Dept. in cooperation with the University of South Florida's Marine Science Department to provide more efficient means of sampling the coastal ocean regions. Of great importance is ground-truthing satellite spectrometry. Current measurements of bottom albedos are limited in density and scope. The OVII provides a means of covering large areas of the ocean floor in an efficient manner. This paper provides insights gained from the development effort and describes initial testing of the vehicle. The potential of AUV's in coastal oceanographic missions is discussed in light of the experience gained from the initial testing of the OVII.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"26 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":"125167889","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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