Harbor Branch Oceanographic Institution's Engineering Division has developed and patented a high efficiency, counter-rotating ring thruster for underwater vehicles. Described herein are the design, performance and applications of this most unique propulsion device.
{"title":"High efficiency, counter-rotating ring thruster for underwater vehicles","authors":"J. Holt, D. White","doi":"10.1109/AUV.1994.518645","DOIUrl":"https://doi.org/10.1109/AUV.1994.518645","url":null,"abstract":"Harbor Branch Oceanographic Institution's Engineering Division has developed and patented a high efficiency, counter-rotating ring thruster for underwater vehicles. Described herein are the design, performance and applications of this most unique propulsion device.","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":"115459911","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 major focus of the Acoustic Telemetry Group at Woods Hole Oceanographic Institution has been the development of adaptive algorithms for use in underwater acoustic communications, particularly in shallow water applications and in acoustic local area networks. As the current generation of commercial telemetry devices do not meet the computational requirements of such algorithms, a new compact signal-processing module has been developed. The key feature for this unit is that it is able to provide data processing rates of at least 80 Mflops (million floating-point operations per second) while being sufficiently compact for hand deployment and having low quiescent power consumption for long-term deployment. This paper presents details of the modem hardware and software architecture together with preliminary results from the first deployment using the new system.
{"title":"A compact underwater acoustic modem","authors":"D. Herold, M. Johnson","doi":"10.1109/AUV.1994.518652","DOIUrl":"https://doi.org/10.1109/AUV.1994.518652","url":null,"abstract":"A major focus of the Acoustic Telemetry Group at Woods Hole Oceanographic Institution has been the development of adaptive algorithms for use in underwater acoustic communications, particularly in shallow water applications and in acoustic local area networks. As the current generation of commercial telemetry devices do not meet the computational requirements of such algorithms, a new compact signal-processing module has been developed. The key feature for this unit is that it is able to provide data processing rates of at least 80 Mflops (million floating-point operations per second) while being sufficiently compact for hand deployment and having low quiescent power consumption for long-term deployment. This paper presents details of the modem hardware and software architecture together with preliminary results from the first deployment using the new system.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"3 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":"116865974","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}
T. Consi, J. Atema, C. Goudey, J. Cho, C. Chryssostomidis
A great variety of marine animals navigate using chemical signals to locate food sources, mates and spawning grounds. The sensory systems and behaviors exhibited by these animals are well adapted for robust operations in turbulent and chemically complex environments. The algorithms used by an animal to rapidly extract guidance information from a discontinuous and complex chemical signal are presently unknown and are the topic of current research. We have developed a small benthic robot that is being used as an algorithm test bed for ideas in biological chemosensing behavior. The robot is designed to mimic the basic features of a lobster relevant to chemical sensing and associated behaviors. We present the rational for this research, the design of the vehicle and initial results.
{"title":"AUV guidance with chemical signals","authors":"T. Consi, J. Atema, C. Goudey, J. Cho, C. Chryssostomidis","doi":"10.1109/AUV.1994.518659","DOIUrl":"https://doi.org/10.1109/AUV.1994.518659","url":null,"abstract":"A great variety of marine animals navigate using chemical signals to locate food sources, mates and spawning grounds. The sensory systems and behaviors exhibited by these animals are well adapted for robust operations in turbulent and chemically complex environments. The algorithms used by an animal to rapidly extract guidance information from a discontinuous and complex chemical signal are presently unknown and are the topic of current research. We have developed a small benthic robot that is being used as an algorithm test bed for ideas in biological chemosensing behavior. The robot is designed to mimic the basic features of a lobster relevant to chemical sensing and associated behaviors. We present the rational for this research, the design of the vehicle and initial results.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"114 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":"117200556","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}
Present operational capability to detect and classify mines in adverse environments such as shallow water is very limited. Research has shown that mammalian sonars are superior to any man-made sonars in such environments. This paper describes a novel signal processing concept based on recently discovered echo processing operations used by echolocating bats and dolphins. The signal processor uses unique front-end filters followed by nonlinear functions emulating auditory neural models to effect high resolution at low frequency. Processing emulations confirm performance far superior to conventional processing techniques. Of particular importance is the system implementation using a scalable architecture that can be integrated into an AUV to suit various missions. Results of simulation and data analysis are included here which demonstrate the processing gains realizable by the proposed technique.
{"title":"Ultra-high resolution, biologically inspired sonar","authors":"S. Reese, J.B. Kenney","doi":"10.1109/AUV.1994.518660","DOIUrl":"https://doi.org/10.1109/AUV.1994.518660","url":null,"abstract":"Present operational capability to detect and classify mines in adverse environments such as shallow water is very limited. Research has shown that mammalian sonars are superior to any man-made sonars in such environments. This paper describes a novel signal processing concept based on recently discovered echo processing operations used by echolocating bats and dolphins. The signal processor uses unique front-end filters followed by nonlinear functions emulating auditory neural models to effect high resolution at low frequency. Processing emulations confirm performance far superior to conventional processing techniques. Of particular importance is the system implementation using a scalable architecture that can be integrated into an AUV to suit various missions. Results of simulation and data analysis are included here which demonstrate the processing gains realizable by the proposed technique.","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":"114886963","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}
G. Scamans, D.K. Creber, J. Stannard, J.E. Tregenza
Two aluminum fuel cell power sources have been developed by Alupower for unmanned underwater vehicle propulsion based on solids management and solids free variants of the technology. The solids managed aluminum fuel cell power source will exceed the ARPA defined requirements in terms of energy and power density if liquid oxygen is used as the oxidant supply. For higher power density applications, the solids free aluminum fuel cell power source can provide 60 kWh at 3 kW from a 4-foot long section of a 21-inch diameter vehicle. Higher power density and energy density versions of both the solids managed and solids free aluminum fuel cell power source requires the development of open cycle systems. The life cycle costs of an aluminum fuel cell power source are lower than those of a silver-zinc battery averaged over 100 vehicle missions.
{"title":"Aluminum fuel cell power sources for long range unmanned underwater vehicles","authors":"G. Scamans, D.K. Creber, J. Stannard, J.E. Tregenza","doi":"10.1109/AUV.1994.518623","DOIUrl":"https://doi.org/10.1109/AUV.1994.518623","url":null,"abstract":"Two aluminum fuel cell power sources have been developed by Alupower for unmanned underwater vehicle propulsion based on solids management and solids free variants of the technology. The solids managed aluminum fuel cell power source will exceed the ARPA defined requirements in terms of energy and power density if liquid oxygen is used as the oxidant supply. For higher power density applications, the solids free aluminum fuel cell power source can provide 60 kWh at 3 kW from a 4-foot long section of a 21-inch diameter vehicle. Higher power density and energy density versions of both the solids managed and solids free aluminum fuel cell power source requires the development of open cycle systems. The life cycle costs of an aluminum fuel cell power source are lower than those of a silver-zinc battery averaged over 100 vehicle missions.","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":"124968129","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}
J. Bellingham, C. Goudey, T. Consi, J. Bales, D. Atwood, J. Leonard, C. Chryssostomidis
Odyssey class autonomous underwater vehicles (AUVs) are designed to be small, high performance survey platforms. The logistical complexities of operating off of oceanographic vessels or in hostile environments, such as the Arctic, make a small vehicle with minimal support requirements extremely attractive. Although built for great depths and endurances of up to two days, Odyssey class vehicles are small by the standards of existing AUVs. This paper describes Odyssey II, the second generation of Odyssey class AUV, and presents the results of under-ice field trials in New Hampshire and the Arctic.
{"title":"A second generation survey AUV","authors":"J. Bellingham, C. Goudey, T. Consi, J. Bales, D. Atwood, J. Leonard, C. Chryssostomidis","doi":"10.1109/AUV.1994.518619","DOIUrl":"https://doi.org/10.1109/AUV.1994.518619","url":null,"abstract":"Odyssey class autonomous underwater vehicles (AUVs) are designed to be small, high performance survey platforms. The logistical complexities of operating off of oceanographic vessels or in hostile environments, such as the Arctic, make a small vehicle with minimal support requirements extremely attractive. Although built for great depths and endurances of up to two days, Odyssey class vehicles are small by the standards of existing AUVs. This paper describes Odyssey II, the second generation of Odyssey class AUV, and presents the results of under-ice field trials in New Hampshire and the Arctic.","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":"130832960","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}
Describes a navigation system that allows long range navigation by combining two distinct modes: local positioning with respect to a long baseline array of known localization (reference points) and autonomous mode in-between reference points, relying only on sonar/Doppler and depth information. The areas of transponder-based navigation are defined by the maximum range of transponder operation. In both modes, a Kalman based design approach was chosen, using, when necessary, the available position estimates to characterize the errors associated with the filter inputs. The authors present simulation results that illustrate the system's behavior for a typical maneuvering operation.
{"title":"Hybrid navigation system for long range operation","authors":"M. Rendas, I. Lourtie","doi":"10.1109/AUV.1994.518647","DOIUrl":"https://doi.org/10.1109/AUV.1994.518647","url":null,"abstract":"Describes a navigation system that allows long range navigation by combining two distinct modes: local positioning with respect to a long baseline array of known localization (reference points) and autonomous mode in-between reference points, relying only on sonar/Doppler and depth information. The areas of transponder-based navigation are defined by the maximum range of transponder operation. In both modes, a Kalman based design approach was chosen, using, when necessary, the available position estimates to characterize the errors associated with the filter inputs. The authors present simulation results that illustrate the system's behavior for a typical maneuvering operation.","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":"128758115","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 self-organizing neural-net-controller system (SONCS) has been developed as an adaptive control system for autonomous underwater vehicles (AUVs). In this paper, a quick adaptation method of the controller, called imaginary training (IT), is proposed to improve the time-consuming adaptation process of the original SONCS. IT can be realized by a new parallel structure which enables the SONCS to adjust the controller network independently of the actual operation of the controlled object. In the proposed structure, the SONCS is divided into two separate parts: the real-world part, where the controlled object is operated according to the objective of the controller, and the imaginary world part, where the IT is carried out. A forward model network which can generate the simulated state variables without measuring actual data is introduced. A neural network, called "Identification Network", which has a specific structure for simulation of dynamical systems is proposed as the forward model network in the imaginary-world part. The effectiveness of the IT is demonstrated by applying it to the heading control of an AUV called "The Twin-Burger".
{"title":"A quick adaptation method in a neural network based control system for AUVs","authors":"K. Ishii, T. Fujii, T. Ura","doi":"10.1109/AUV.1994.518635","DOIUrl":"https://doi.org/10.1109/AUV.1994.518635","url":null,"abstract":"The self-organizing neural-net-controller system (SONCS) has been developed as an adaptive control system for autonomous underwater vehicles (AUVs). In this paper, a quick adaptation method of the controller, called imaginary training (IT), is proposed to improve the time-consuming adaptation process of the original SONCS. IT can be realized by a new parallel structure which enables the SONCS to adjust the controller network independently of the actual operation of the controlled object. In the proposed structure, the SONCS is divided into two separate parts: the real-world part, where the controlled object is operated according to the objective of the controller, and the imaginary world part, where the IT is carried out. A forward model network which can generate the simulated state variables without measuring actual data is introduced. A neural network, called \"Identification Network\", which has a specific structure for simulation of dynamical systems is proposed as the forward model network in the imaginary-world part. The effectiveness of the IT is demonstrated by applying it to the heading control of an AUV called \"The Twin-Burger\".","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"131 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":"133694983","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}
E. H. Turner, S. Chappell, S. Valcourt, M. Dempsey
To support cooperation, communication between AUVs must move beyond passing streams of data. Cooperating AUVs must also be able to exchange information and request help from their collaborators. This communication must be effective despite low-bandwidth communication channels, high error rates, and limited computational effort available for processing messages. In addition, the AUVs which receive these messages must be able to interpret them in the context of their own information about the world. In this paper, the authors present COLA, a language for cooperating AUVs. The authors discuss how COLA addresses the special needs of underwater communication. The authors then show how such a language can be used in simulated missions.
{"title":"COLA: a language to support communication between multiple cooperating vehicles","authors":"E. H. Turner, S. Chappell, S. Valcourt, M. Dempsey","doi":"10.1109/AUV.1994.518641","DOIUrl":"https://doi.org/10.1109/AUV.1994.518641","url":null,"abstract":"To support cooperation, communication between AUVs must move beyond passing streams of data. Cooperating AUVs must also be able to exchange information and request help from their collaborators. This communication must be effective despite low-bandwidth communication channels, high error rates, and limited computational effort available for processing messages. In addition, the AUVs which receive these messages must be able to interpret them in the context of their own information about the world. In this paper, the authors present COLA, a language for cooperating AUVs. The authors discuss how COLA addresses the special needs of underwater communication. The authors then show how such a language can be used in simulated missions.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"28 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":"133806138","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 rational behavior model (RBM) is a tri-level, multiparadigm software architecture for robotic vehicles, such as autonomous underwater vehicles. Among the RBM's strategic, tactical, and execution levels, the tactical level performs a role to bridge the strategic and execution levels. That is, it provides behaviors to the strategic level and controls the execution level based on the commands (behavior activations) from the strategic level. To meet these requirements while maintaining non-interrupted vehicle operation, the tactical level has to be able to handle the concurrently operating behaviors. This paper describes a concurrent, object-oriented implementation for the tactical level of the NPS autonomous underwater vehicle with use of the Ada task construct. This paper also presents evaluation scenarios and results obtained from the NPS AUV high fidelity dynamic simulator.
{"title":"A concurrent, object-oriented implementation for the tactical level of the rational behavior model software architecture for UUV control","authors":"S. Kwak, F.P.B. Thornton","doi":"10.1109/AUV.1994.518606","DOIUrl":"https://doi.org/10.1109/AUV.1994.518606","url":null,"abstract":"The rational behavior model (RBM) is a tri-level, multiparadigm software architecture for robotic vehicles, such as autonomous underwater vehicles. Among the RBM's strategic, tactical, and execution levels, the tactical level performs a role to bridge the strategic and execution levels. That is, it provides behaviors to the strategic level and controls the execution level based on the commands (behavior activations) from the strategic level. To meet these requirements while maintaining non-interrupted vehicle operation, the tactical level has to be able to handle the concurrently operating behaviors. This paper describes a concurrent, object-oriented implementation for the tactical level of the NPS autonomous underwater vehicle with use of the Ada task construct. This paper also presents evaluation scenarios and results obtained from the NPS AUV high fidelity dynamic simulator.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"376 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":"131842230","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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