Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380754
P. A. Hackbarth, E. Kreuzer, A. Gray, J. Hedrick
This paper presents a control framework for creating a 3D map of flow field dependent physical ocean variables by controlling multiple AUVs to maximize information gain. In this framework a nonlinear Kalman Filter is used to update the noisy measurements from multiple sensors at uncertain positions. First, the area of interest is discretized into a 3D grid. Each grid point has an associated estimate or measurement of the physical variable as well as its uncertainty. Multiple AUVs make measurements to update the value and uncertainty of the grid point at their current location. When this information is communicated between AUVs an updated 3D map is then propagated forward through time. To determine how to control the AUVs, a Nonlinear Model Predictive Controller (NMPC) is developed to generate paths for the AUVs which will minimize the overall uncertainty of the estimates in the 3D map of physical ocean variables. Simulations are shown with multiple AUVs to illustrate the utility and application of this approach. Various fluid dynamic environments, e.g. vortex flow, are initialized, and the AUVs are controlled to optimally measure a temperature distribution. The results show this method improves the estimation of the ocean variables as well as decreases mission time when compared to naive search methods.
{"title":"Collaborative control of multiple AUVs for improving the estimation of flow field dependent variables","authors":"P. A. Hackbarth, E. Kreuzer, A. Gray, J. Hedrick","doi":"10.1109/AUV.2012.6380754","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380754","url":null,"abstract":"This paper presents a control framework for creating a 3D map of flow field dependent physical ocean variables by controlling multiple AUVs to maximize information gain. In this framework a nonlinear Kalman Filter is used to update the noisy measurements from multiple sensors at uncertain positions. First, the area of interest is discretized into a 3D grid. Each grid point has an associated estimate or measurement of the physical variable as well as its uncertainty. Multiple AUVs make measurements to update the value and uncertainty of the grid point at their current location. When this information is communicated between AUVs an updated 3D map is then propagated forward through time. To determine how to control the AUVs, a Nonlinear Model Predictive Controller (NMPC) is developed to generate paths for the AUVs which will minimize the overall uncertainty of the estimates in the 3D map of physical ocean variables. Simulations are shown with multiple AUVs to illustrate the utility and application of this approach. Various fluid dynamic environments, e.g. vortex flow, are initialized, and the AUVs are controlled to optimally measure a temperature distribution. The results show this method improves the estimation of the ocean variables as well as decreases mission time when compared to naive search methods.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121043614","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380731
P. Rattanasiri, P. Wilson, A. Phillips
The purpose of this paper is to provide guidance for operators on suitable spacings for multiple vehicle missions. This paper then investigates the combined drag of a pair of towed prolate spheroids for the length-Reynolds Number of 3.2×106. The model has a length-diameter ratio of 6:1. A series of configuration of a pair of spheroids is simulated by varying both longitudinal and transverse spacing. Three-dimensional simulations are performed using a commercial Reynolds Averaged Navier Stokes (RANS) Computational Fluid Dynamics code ANSYS CFX 12.1 with the SST turbulence closure model. In each case, the fluid domain has a mesh size of approximately nine million cells including inflated prism layers to capture the boundary layer. Mesh convergence is tested and then validated with wind tunnel test results. The drag of each spheroid is compared against the benchmark drag of a single hull. The results show that the transverse separations and longitudinal offsets determine the interaction drag between both hulls. Increasing of spacing results in lower the interference drag. Five zones have been suggested based on the characteristics of the combined drag and individual drags. These are Parallel Region, Echelon Region, Low Interaction Region, Push Region and Drafting Region. Based on the results, operators can determine the optimal configurations based on energy considerations.
本文的目的是为操作人员在多飞行器任务中选择合适的间距提供指导。然后，本文研究了一对拖曳的长球面的组合阻力对3.2×106的长度-雷诺数。模型的长径比为6:1。通过改变一对球面的纵向和横向间距，模拟了一系列球面的形态。三维模拟使用商用Reynolds average Navier Stokes (RANS)计算流体动力学代码ANSYS CFX 12.1与SST湍流闭合模型进行。在每种情况下，流体域的网格尺寸约为900万个单元，包括用于捕获边界层的膨胀棱柱层。对网格收敛性进行了测试，并用风洞试验结果进行了验证。将每个球体的阻力与单个船体的基准阻力进行比较。结果表明，横向分离和纵向偏移决定了两船体之间的相互作用阻力。增大间距可以减小干涉阻力。根据组合阻力和单个阻力的特点，提出了五个区域。它们是平行区、梯队区、低相互作用区、推动区和起草区。根据结果，运营商可以根据能源考虑来确定最佳配置。
{"title":"Numerical investigation of the drag of twin prolate spheroid hulls in various longitudinal and transverse configurations","authors":"P. Rattanasiri, P. Wilson, A. Phillips","doi":"10.1109/AUV.2012.6380731","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380731","url":null,"abstract":"The purpose of this paper is to provide guidance for operators on suitable spacings for multiple vehicle missions. This paper then investigates the combined drag of a pair of towed prolate spheroids for the length-Reynolds Number of 3.2×106. The model has a length-diameter ratio of 6:1. A series of configuration of a pair of spheroids is simulated by varying both longitudinal and transverse spacing. Three-dimensional simulations are performed using a commercial Reynolds Averaged Navier Stokes (RANS) Computational Fluid Dynamics code ANSYS CFX 12.1 with the SST turbulence closure model. In each case, the fluid domain has a mesh size of approximately nine million cells including inflated prism layers to capture the boundary layer. Mesh convergence is tested and then validated with wind tunnel test results. The drag of each spheroid is compared against the benchmark drag of a single hull. The results show that the transverse separations and longitudinal offsets determine the interaction drag between both hulls. Increasing of spacing results in lower the interference drag. Five zones have been suggested based on the characteristics of the combined drag and individual drags. These are Parallel Region, Echelon Region, Low Interaction Region, Push Region and Drafting Region. Based on the results, operators can determine the optimal configurations based on energy considerations.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124551943","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380758
P. King, A. Vardy, P. Vandrish, B. Anstey
Memorial University is in the development stages of a Qualitative Navigation System (QNS) to be deployed on the Memorial Explorer AUV. This system will allow localization and path following along a trained route without the necessity of a globally referenced position estimate. Previous QNS work has been on terrestrial robots using optical images. Our main challenge lies in utilization of side scan sonar as the imaging medium, as this type of sonar is prevalent on AUVs and provides much better range and coverage than optics in water. To achieve this, a sonar image processing and registration framework has been developed. To be useful such a framework should be fully-autonomous, robust, and operate in real-time, where real-time operation is defined as the ability to process, register and localize data at the rate it is collected, or faster. In this paper we describe our framework for processing sonar data, generating image tiles, extracting unique features and localizing against a reference set. We also present some results of this system based on raw sonar input data collected by the AUV.
{"title":"Real-time side scan image generation and registration framework for AUV route following","authors":"P. King, A. Vardy, P. Vandrish, B. Anstey","doi":"10.1109/AUV.2012.6380758","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380758","url":null,"abstract":"Memorial University is in the development stages of a Qualitative Navigation System (QNS) to be deployed on the Memorial Explorer AUV. This system will allow localization and path following along a trained route without the necessity of a globally referenced position estimate. Previous QNS work has been on terrestrial robots using optical images. Our main challenge lies in utilization of side scan sonar as the imaging medium, as this type of sonar is prevalent on AUVs and provides much better range and coverage than optics in water. To achieve this, a sonar image processing and registration framework has been developed. To be useful such a framework should be fully-autonomous, robust, and operate in real-time, where real-time operation is defined as the ability to process, register and localize data at the rate it is collected, or faster. In this paper we describe our framework for processing sonar data, generating image tiles, extracting unique features and localizing against a reference set. We also present some results of this system based on raw sonar input data collected by the AUV.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114527130","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380721
A. Roy Chowdhury, B. Prasad, V. Vishwanathan, R. Kumar, S. K. Panda
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency (TBF), the propulsive wavelength, and the caudal amplitude are studied under this framework. Yaw angle study for the underwater robotic fish vehicle is also carried out as it describes the course of the robotic fish vehicle. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude variations are also shown and discussed.
Sir J. Lighthill细长体游泳数学模型阐述了生物鱼类在流体环境中的推进机制(波动)。目前的研究主要集中在基于Lighthill (LH)的仿生机器人推进的相关性上。本文的目的是模拟BCF模式矢状游泳风格的推进机制，以展示鱼类以令人印象深刻的速度在远距离上有效导航的行为及其独特的特征。机器鱼模型(运动学和动力学)与Lighthill (LH)数学模型框架相结合。在基于LH模型和非基于LH模型之间进行了比较研究。在此框架下对不同参数即尾拍频率(TBF)、推进波长和尾幅进行了全面的推进机理研究。由于偏航角描述了水下机器鱼航行器的航行过程，因此对其进行了偏航角研究。采用基于逆运动学的方法生成鱼机器人运动轨迹。针对给定轨迹，对影响飞行器运动学研究的关键参数与实鱼运动学研究[8]进行了对比分析。结果表明，在较宽工况下，TBF是车辆前进速度的有效控制参数。对推进波长和振幅变化的性能和比较结果也进行了展示和讨论。
{"title":"Kinematics study and implementation of a biomimetic robotic-fish underwater vehicle based on Lighthill slender body model","authors":"A. Roy Chowdhury, B. Prasad, V. Vishwanathan, R. Kumar, S. K. Panda","doi":"10.1109/AUV.2012.6380721","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380721","url":null,"abstract":"Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency (TBF), the propulsive wavelength, and the caudal amplitude are studied under this framework. Yaw angle study for the underwater robotic fish vehicle is also carried out as it describes the course of the robotic fish vehicle. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude variations are also shown and discussed.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121648807","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380739
M. Inall, Tim Boyd, M. Toberman, Chris Old, E. Dumont, Bernard Hagan
Most of the mixing throughout the world ocean is driven by wind forcing of the ocean surface, which also exerts a controlling influence of the rate of exchange of gases between the atmosphere and the ocean. As part of the UK NERC-funded surface boundary layer consortium “OSMOSIS” we conducted AUV-based observations of near-surface turbulent mixing and bubble entrainment in the Clyde estuary, Scotland, in conjunction with a program of ship-, mooring, and glider-based measurements. A Hydroid REMUS 600m AUV equipped with a forward-mounted microstructure sensing package designed by Rockland Scientific was instrumented for this experiment with an upward-looking 1.1 MHz echo sounder, in order to measure bubbles that are injected into the near surface by breaking waves and often organized into quasi-linear vertical curtains by Langmuir circulation cells. The AUV-based observations reported here were conducted over a seven day period in September, 2011, in a two-day window leading up to, and subsequent three-day window recovering from, a period of force 12 winds. As the wind speed reduced a thin layer of fresher water, previously pinned to the coast by the gale-force winds, rapidly slumped over the survey area. Measurements revealed that wind-generated turbulence was largely confined to this brackish surface layer, a layer too thin to be sampled by conventional means. In this paper we describe the vehicle configuration during this pilot study, the resulting data, and further vehicle modifications that will enable both more robust measurements and more flexible use of the AUV as a test-bed sampling platform.
{"title":"AUV observations of surface mixing and bubble entrainment in the Clyde estuary, Scotland","authors":"M. Inall, Tim Boyd, M. Toberman, Chris Old, E. Dumont, Bernard Hagan","doi":"10.1109/AUV.2012.6380739","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380739","url":null,"abstract":"Most of the mixing throughout the world ocean is driven by wind forcing of the ocean surface, which also exerts a controlling influence of the rate of exchange of gases between the atmosphere and the ocean. As part of the UK NERC-funded surface boundary layer consortium “OSMOSIS” we conducted AUV-based observations of near-surface turbulent mixing and bubble entrainment in the Clyde estuary, Scotland, in conjunction with a program of ship-, mooring, and glider-based measurements. A Hydroid REMUS 600m AUV equipped with a forward-mounted microstructure sensing package designed by Rockland Scientific was instrumented for this experiment with an upward-looking 1.1 MHz echo sounder, in order to measure bubbles that are injected into the near surface by breaking waves and often organized into quasi-linear vertical curtains by Langmuir circulation cells. The AUV-based observations reported here were conducted over a seven day period in September, 2011, in a two-day window leading up to, and subsequent three-day window recovering from, a period of force 12 winds. As the wind speed reduced a thin layer of fresher water, previously pinned to the coast by the gale-force winds, rapidly slumped over the survey area. Measurements revealed that wind-generated turbulence was largely confined to this brackish surface layer, a layer too thin to be sampled by conventional means. In this paper we describe the vehicle configuration during this pilot study, the resulting data, and further vehicle modifications that will enable both more robust measurements and more flexible use of the AUV as a test-bed sampling platform.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"356 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114833499","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380726
C. Insaurralde
Underwater vehicles are increasing their autonomous capabilities more and more in order to carry out more complex and longer missions. This basically requires operational resilience and efficient energy consumption to succeed in persistent presence. Some of current Autonomous Underwater Vehicles (AUVs) have a large degree of self-governance but most of them lack self-management (e.g. auto-maintenance before, during, and after missions). This paper introduces the autonomic computing concept to AUV control architectures in order to explore a solution that endows AUVs with resilience and greenness. One of the attractive characteristics of self-managed AUVs is that automatic functions from self-managing capabilities are executed in background, i.e. the deliberative control layer gets rid of tasks that are now placed in the reactive one. This paper also presents a review of the approaches for self-managed systems, a discussion on suitability of current autonomic technologies, and future research directions.
{"title":"Autonomic management for the next generation of Autonomous Underwater Vehicles","authors":"C. Insaurralde","doi":"10.1109/AUV.2012.6380726","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380726","url":null,"abstract":"Underwater vehicles are increasing their autonomous capabilities more and more in order to carry out more complex and longer missions. This basically requires operational resilience and efficient energy consumption to succeed in persistent presence. Some of current Autonomous Underwater Vehicles (AUVs) have a large degree of self-governance but most of them lack self-management (e.g. auto-maintenance before, during, and after missions). This paper introduces the autonomic computing concept to AUV control architectures in order to explore a solution that endows AUVs with resilience and greenness. One of the attractive characteristics of self-managed AUVs is that automatic functions from self-managing capabilities are executed in background, i.e. the deliberative control layer gets rid of tasks that are now placed in the reactive one. This paper also presents a review of the approaches for self-managed systems, a discussion on suitability of current autonomic technologies, and future research directions.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128179510","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380742
B. Claus, R. Bachmayer, L. Cooney
The hybrid glider augments a Slocum electric glider with a propeller based propulsion device enabling new modes of operation. One of the new modes available is constant depth flight. The glider has two mechanisms which lend themselves to a control scheme for depth control, a ballast system and an internal mass shifting mechanism for pitch control. This paper examines the use of a ballast depth controller and a pitch based depth controller. The detailed implementation of both controllers is described and experimental results are presented.
{"title":"Analysis and development of a buoyancy-pitch based depth control algorithm for a hybrid underwater glider","authors":"B. Claus, R. Bachmayer, L. Cooney","doi":"10.1109/AUV.2012.6380742","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380742","url":null,"abstract":"The hybrid glider augments a Slocum electric glider with a propeller based propulsion device enabling new modes of operation. One of the new modes available is constant depth flight. The glider has two mechanisms which lend themselves to a control scheme for depth control, a ballast system and an internal mass shifting mechanism for pitch control. This paper examines the use of a ballast depth controller and a pitch based depth controller. The detailed implementation of both controllers is described and experimental results are presented.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125680842","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380734
P. Mcgillivary, K. Rajan, J. D. de Sousa, F. Leroy
Global initiatives are underway to establish Ocean Observing Systems (OOS) that can provide society better information on ocean conditions. These observatories include moorings, drifters, floats, and buoyancy gliders. Although gliders have long operational endurance, their reliance on batteries limits sensors payloads, thus some OOS also include autonomous underwater vehicles (AUVs) with active propulsion. In some observatories AUVs can recharge their batteries at underwater docking stations connected to shore by cables. However AUVs can also be recharged from autonomous surface vessels (ASVs) such as the WaveGlider, whose propulsion is provided by wave action, and payload power supplied by solar panels. In addition to this function, as components of OOS, ASVs can collect data and act as communication nodes for data from bottom moorings, gliders and AUVs. Unmanned air vehicle systems (UAS) may perform the same role. The problem of networking these heterogeneous systems is discussed along with tools and technologies for adaptive ocean sampling. A vision is outlined to build a portable mobile observatory for OOS which can be deployed anywhere, anytime, that relies on a mix of human-in-the-loop and fully autonomous computational technology.
{"title":"Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies","authors":"P. Mcgillivary, K. Rajan, J. D. de Sousa, F. Leroy","doi":"10.1109/AUV.2012.6380734","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380734","url":null,"abstract":"Global initiatives are underway to establish Ocean Observing Systems (OOS) that can provide society better information on ocean conditions. These observatories include moorings, drifters, floats, and buoyancy gliders. Although gliders have long operational endurance, their reliance on batteries limits sensors payloads, thus some OOS also include autonomous underwater vehicles (AUVs) with active propulsion. In some observatories AUVs can recharge their batteries at underwater docking stations connected to shore by cables. However AUVs can also be recharged from autonomous surface vessels (ASVs) such as the WaveGlider, whose propulsion is provided by wave action, and payload power supplied by solar panels. In addition to this function, as components of OOS, ASVs can collect data and act as communication nodes for data from bottom moorings, gliders and AUVs. Unmanned air vehicle systems (UAS) may perform the same role. The problem of networking these heterogeneous systems is discussed along with tools and technologies for adaptive ocean sampling. A vision is outlined to build a portable mobile observatory for OOS which can be deployed anywhere, anytime, that relies on a mix of human-in-the-loop and fully autonomous computational technology.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122624822","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380746
C. Insaurralde, D. Lane
Autonomous Underwater Vehicles (AUVs) are getting progressively sophisticated by increasing their self-governance capabilities which allow them to deal with more and more complex missions. However, there is still not a common agreement on the aspects that should be evaluated to know what level of autonomy AUVs provide. This paper reviews the current approaches to assess autonomous behavior in self-governed vehicles. It recaps the capabilities and perspectives taken into account as aspects to evaluate autonomy in unmanned systems from different domains. This provides the foundations to develop and propose assessment criteria for AUVs. This paper also proposes potential metrics for undersea autonomy in order to determine the degree of autonomy in AUVs. A case study based on a generic AUV is presented to show how the autonomy-assessment criteria for underwater vehicles can be applied.
{"title":"Autonomy-assessment criteria for underwater vehicles","authors":"C. Insaurralde, D. Lane","doi":"10.1109/AUV.2012.6380746","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380746","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) are getting progressively sophisticated by increasing their self-governance capabilities which allow them to deal with more and more complex missions. However, there is still not a common agreement on the aspects that should be evaluated to know what level of autonomy AUVs provide. This paper reviews the current approaches to assess autonomous behavior in self-governed vehicles. It recaps the capabilities and perspectives taken into account as aspects to evaluate autonomy in unmanned systems from different domains. This provides the foundations to develop and propose assessment criteria for AUVs. This paper also proposes potential metrics for undersea autonomy in order to determine the degree of autonomy in AUVs. A case study based on a generic AUV is presented to show how the autonomy-assessment criteria for underwater vehicles can be applied.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115495525","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}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380744
D. Brutzman, R. McGhee, D. Davis
The authors have been involved for several decades in the development and testing of both remotely controlled and autonomous subsea and ground vehicles. This experience has led us to view autonomous mobile robot control problems from both a bottom up and a top down perspective. Specifically, in our work, we have developed and tested a three-level software architecture called Rational Behavior Model (RBM), in which a top (strategic) level mission control finite state machine (FSM) orders the rational execution, at an intermediate (tactical) level, of vehicle behaviors in such a way as to carry out a specified mission. This implementation experience and these principles have led us to believe that human-like intelligence and judgment are not required to achieve a useful operational capability in autonomous mobile robots. Furthermore, we are convinced that a primitive but useful type of robot ethical behavior can also be attained, even in hazardous or military environments, without invoking concepts of artificial intelligence. To support our views, we present a software invention called a mission execution engine (MEE), implemented in the Prolog logic programming language. This MEE can be shown to represent an extension of the idea of a universal Turing machine and is therefore well grounded in existing mathematical automata theory. We further show how human readable mission orders, also written in Prolog, can specialize an MEE to any desired mission control FSM. An important aspect of our work is that mission orders can be tested exhaustively in human executable form before being translated into robot executable form. This provides the kind of transparency and accountability needed for after action review of missions, and possible legal proceedings in case of loss of life or property resulting from errors in mission orders.
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