Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380728
Ji-Hong Li, Munjik Lee, Sang-Hyun Park, Jong-Gel Kim
This paper presents a path planning scheme for a class of torpedo-type AUVs in unknown environments. Consider the case where an underactuated vehicle (similar to a carlike robot) is travelling in completely unknown environments. In this case, due to deficiency of necessary information, quite number of graph generation and corresponding graph searching methods cannot be directly applicable. In this paper, a VRBVG (virtual rubber band visibility graph) method is proposed to generate a visibility graph under the assumption that Cunknown (outside of the vehicle's sonar coverage) does not include any obstacle. Using this graph, a simple A* search algorithm with the travelling time taken as the heuristic cost function is applied to find a path. Since the environment is unknown, the proposed planning method can only provide kind of suboptimal path.
{"title":"Real time path planning for a class of torpedo-type AUVs in unknown environment","authors":"Ji-Hong Li, Munjik Lee, Sang-Hyun Park, Jong-Gel Kim","doi":"10.1109/AUV.2012.6380728","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380728","url":null,"abstract":"This paper presents a path planning scheme for a class of torpedo-type AUVs in unknown environments. Consider the case where an underactuated vehicle (similar to a carlike robot) is travelling in completely unknown environments. In this case, due to deficiency of necessary information, quite number of graph generation and corresponding graph searching methods cannot be directly applicable. In this paper, a VRBVG (virtual rubber band visibility graph) method is proposed to generate a visibility graph under the assumption that Cunknown (outside of the vehicle's sonar coverage) does not include any obstacle. Using this graph, a simple A* search algorithm with the travelling time taken as the heuristic cost function is applied to find a path. Since the environment is unknown, the proposed planning method can only provide kind of suboptimal path.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"76 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":"114858816","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.2012.6380729
N. Limparis, D. Akin
The design, development, and testing of a distributed control architecture for a dexterous deep submergence manipulator is described. Many manipulators designed for the undersea environment use a centralized control mechanism, be it a system of valves for a hydraulic manipulator or a central electronics housing for an electrical manipulator. Without the constraints of deep submergence, many modern manipulator systems have adopted distributed architectures to facilitate higher bandwidths and greater modularity for maintenance and reconfiguration. The Subsea Arctic Manipulator for Underwater Retrieval and Autonomous Interventions (SAMURAI) manipulator, developed under NASA and NSF funding, uses a distributed network of Local Processing Units (LPUs) that share the loading of the control system for the manipulator and are co-located in miniature surface-pressure housings at each of the actuator sections. The design of this system is detailed, showing the challenges of such a design, as well as the advantages and limitations of this system as compared to a centralized architecture. In addition, the paper also describes a prototype development architecture for the SAMURAI manipulator that uses commercial off the shelf motion controllers and a commercial data bus in a similar distributed architecture. This system provides reduced but still powerful functionality as compared to the custom architecture, with shorter development times and at significantly lower costs.
{"title":"Design of a distributed control architecture for the SAMURAI deep submergence manipulator","authors":"N. Limparis, D. Akin","doi":"10.1109/AUV.2012.6380729","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380729","url":null,"abstract":"The design, development, and testing of a distributed control architecture for a dexterous deep submergence manipulator is described. Many manipulators designed for the undersea environment use a centralized control mechanism, be it a system of valves for a hydraulic manipulator or a central electronics housing for an electrical manipulator. Without the constraints of deep submergence, many modern manipulator systems have adopted distributed architectures to facilitate higher bandwidths and greater modularity for maintenance and reconfiguration. The Subsea Arctic Manipulator for Underwater Retrieval and Autonomous Interventions (SAMURAI) manipulator, developed under NASA and NSF funding, uses a distributed network of Local Processing Units (LPUs) that share the loading of the control system for the manipulator and are co-located in miniature surface-pressure housings at each of the actuator sections. The design of this system is detailed, showing the challenges of such a design, as well as the advantages and limitations of this system as compared to a centralized architecture. In addition, the paper also describes a prototype development architecture for the SAMURAI manipulator that uses commercial off the shelf motion controllers and a commercial data bus in a similar distributed architecture. This system provides reduced but still powerful functionality as compared to the custom architecture, with shorter development times and at significantly lower costs.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"60 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":"124554819","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.2012.6380738
C. Jones
Two decades have passed since Stommel's futuristic article popularized Doug Webb's underwater glider concept. Stommel's imagination was sparked by the opportunity gliders provided to broaden our understanding of the oceans and perhaps even more important to him, by the potential it had to draw peoples interest and excitement for ocean dynamics.
{"title":"Slocum glider persistent oceanography","authors":"C. Jones","doi":"10.1109/AUV.2012.6380738","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380738","url":null,"abstract":"Two decades have passed since Stommel's futuristic article popularized Doug Webb's underwater glider concept. Stommel's imagination was sparked by the opportunity gliders provided to broaden our understanding of the oceans and perhaps even more important to him, by the potential it had to draw peoples interest and excitement for ocean dynamics.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"43 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":"127085977","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.2012.6380751
S. Dektor, S. Rock
Terrain-Relative Navigation (TRN) is an emerging technique for localizing a vehicle in underwater environments. TRN offers a means of augmenting an INS/DVL dead-reckoned solution with continuous position hxes based on correlations with pre-stored bathymetry maps instead of surfacing for periodic GPS hxes. TRN accuracy on the order of 3m has been demonstrated in recent held trials using MBARIs Dorado-class AUVs in Monterey Bay. However, these TRN algorithms have occasionally converged to incorrect solutions when the AUV operates for extended times over featureless terrain. Specihcally, the TRN hlter can become overconhdent in an incorrect position hx. This paper demonstrates that the cause of these false hxes in information-poor regions is an incorrect accounting of map uncertainty and sensor noise in standard TRN hlter implementations, and offers a modihcation to the algorithms that can eliminate the false-hxes. Specihcally, standard TRN algorithms assume that map noise and vehicle sensor noise can be lumped together when performing measurement updates. In regions where the ratio of terrain information to map error is low, this assumption leads to underestimation of position uncertainty as the hlter essentially converges on noise in the map. Adjusting the hlter variance to depend on the estimated terrain information in addition to map error and sensor error provides a more robust TRN solution. An improved algorithm is described which adjusts the filter variance using a technique employed by the robotics and statistics community for reducing the likelihood of overconfidence. The advantage of this adjusted variance technique is that it permits nominal convergence rates of the TRN filter over information rich terrain while mitigating the risk of false fixes in information poor terrain. The effectiveness of the modified TRN algorithm is demonstrated in simulations using held data from MBARI AUV runs over flat terrain in Monterey Bay.
{"title":"Improving robustness of terrain-relative navigation for AUVs in regions with flat terrain","authors":"S. Dektor, S. Rock","doi":"10.1109/AUV.2012.6380751","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380751","url":null,"abstract":"Terrain-Relative Navigation (TRN) is an emerging technique for localizing a vehicle in underwater environments. TRN offers a means of augmenting an INS/DVL dead-reckoned solution with continuous position hxes based on correlations with pre-stored bathymetry maps instead of surfacing for periodic GPS hxes. TRN accuracy on the order of 3m has been demonstrated in recent held trials using MBARIs Dorado-class AUVs in Monterey Bay. However, these TRN algorithms have occasionally converged to incorrect solutions when the AUV operates for extended times over featureless terrain. Specihcally, the TRN hlter can become overconhdent in an incorrect position hx. This paper demonstrates that the cause of these false hxes in information-poor regions is an incorrect accounting of map uncertainty and sensor noise in standard TRN hlter implementations, and offers a modihcation to the algorithms that can eliminate the false-hxes. Specihcally, standard TRN algorithms assume that map noise and vehicle sensor noise can be lumped together when performing measurement updates. In regions where the ratio of terrain information to map error is low, this assumption leads to underestimation of position uncertainty as the hlter essentially converges on noise in the map. Adjusting the hlter variance to depend on the estimated terrain information in addition to map error and sensor error provides a more robust TRN solution. An improved algorithm is described which adjusts the filter variance using a technique employed by the robotics and statistics community for reducing the likelihood of overconfidence. The advantage of this adjusted variance technique is that it permits nominal convergence rates of the TRN filter over information rich terrain while mitigating the risk of false fixes in information poor terrain. The effectiveness of the modified TRN algorithm is demonstrated in simulations using held data from MBARI AUV runs over flat terrain in Monterey Bay.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"15 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":"114847904","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.2012.6380755
F. Maurelli, Z. Saigol, C. Insaurralde, Y. Pétillot, D. Lane
This paper presents some of the challenges related to multi-robot cooperation for the marine environment. Special attention is given to the world representation topic and to the communication challenges. Ontologies represent the tool to store and dynamically update world information. Due to the conditions of the underwater domain, communication among robots presents several issues. The exchange of information between the local world model of each robot, and those of the other robots needs to properly address specific points, such as limited bandwidth, reliability of the acoustic channel, selection of the information to be shared with other vehicles and information merging with previous knowledge of the world. Three scenarios will be then analysed: the Pandora project, with an emphasis on persistent autonomy, world modeling and failure management through appropriate ontologies; the Trident project, which deals with joint missions with an Autonomous Surface Vessel (ASV) cooperating with an Autonomous Underwater Vehicle (AUV), and the Arrows project, which envisages the use of a fleet of AUVs for underwater archaeology operations.
{"title":"Marine world representation and acoustic communication: Challenges for multi-robot collaboration","authors":"F. Maurelli, Z. Saigol, C. Insaurralde, Y. Pétillot, D. Lane","doi":"10.1109/AUV.2012.6380755","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380755","url":null,"abstract":"This paper presents some of the challenges related to multi-robot cooperation for the marine environment. Special attention is given to the world representation topic and to the communication challenges. Ontologies represent the tool to store and dynamically update world information. Due to the conditions of the underwater domain, communication among robots presents several issues. The exchange of information between the local world model of each robot, and those of the other robots needs to properly address specific points, such as limited bandwidth, reliability of the acoustic channel, selection of the information to be shared with other vehicles and information merging with previous knowledge of the world. Three scenarios will be then analysed: the Pandora project, with an emphasis on persistent autonomy, world modeling and failure management through appropriate ontologies; the Trident project, which deals with joint missions with an Autonomous Surface Vessel (ASV) cooperating with an Autonomous Underwater Vehicle (AUV), and the Arrows project, which envisages the use of a fleet of AUVs for underwater archaeology operations.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"78 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":"114986369","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.2012.6380718
B. Gilmour, G. Niccum, T. O'Donnell
The Chevron AUV development program has been running since 2007 with considerable success with a long term goal of deploying Field Resident AUV's in our subsea operating assets. The paper will describe some of the successes of the program and the approach Chevron is taking to meet its end goal. The main focus will be to elaborate on technology gaps that have been identified and still require closure.
{"title":"Field resident AUV systems — Chevron's long-term goal for AUV development","authors":"B. Gilmour, G. Niccum, T. O'Donnell","doi":"10.1109/AUV.2012.6380718","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380718","url":null,"abstract":"The Chevron AUV development program has been running since 2007 with considerable success with a long term goal of deploying Field Resident AUV's in our subsea operating assets. The paper will describe some of the successes of the program and the approach Chevron is taking to meet its end goal. The main focus will be to elaborate on technology gaps that have been identified and still require closure.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"51 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":"123003893","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.2012.6380727
Bang-hyun Kim, Pan-Mook Lee, B. Jun, Jin-Yeong Park, H. Shim
This paper presents the design and implementation of control architecture for the ISiMI6000 AUV (Autonomous Underwater Vehicle) which is developing by MOERI-KIOST. The ISiMI6000 AUV is a sea-trial AUV up to the 6,000m depth. The control architecture of the ISiMI6000 AUV is a hybrid architecture consisting of the mission layer, the behavior layer, the logical sensor layer, and the library layer. The mission layer is in charge of the high level control of the AUV using TML (Tiny Mission Language). The TML can represent any mission easily and freely because it provides most functionality supported by general programming language. The behavior layer decides the AUV action by deterministic behavior arbitration mechanism. The logical sensor layer manages input data from sensors, output data from actuators, and environment data for AUV control using shared data pool. The library layer contains many useful libraries for fundamental functions such as hardware interface, communication and real-time management. The real-time management module provides soft real-time characteristic using software timer without real-time operating system. The control architecture has been implemented in two single board computers and two microcontrollers using C language and its software structure is hierarchy and modular.
{"title":"Design and implementation of control architecture for the ISiMI6000 Autonomous Underwater Vehicle","authors":"Bang-hyun Kim, Pan-Mook Lee, B. Jun, Jin-Yeong Park, H. Shim","doi":"10.1109/AUV.2012.6380727","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380727","url":null,"abstract":"This paper presents the design and implementation of control architecture for the ISiMI6000 AUV (Autonomous Underwater Vehicle) which is developing by MOERI-KIOST. The ISiMI6000 AUV is a sea-trial AUV up to the 6,000m depth. The control architecture of the ISiMI6000 AUV is a hybrid architecture consisting of the mission layer, the behavior layer, the logical sensor layer, and the library layer. The mission layer is in charge of the high level control of the AUV using TML (Tiny Mission Language). The TML can represent any mission easily and freely because it provides most functionality supported by general programming language. The behavior layer decides the AUV action by deterministic behavior arbitration mechanism. The logical sensor layer manages input data from sensors, output data from actuators, and environment data for AUV control using shared data pool. The library layer contains many useful libraries for fundamental functions such as hardware interface, communication and real-time management. The real-time management module provides soft real-time characteristic using software timer without real-time operating system. The control architecture has been implemented in two single board computers and two microcontrollers using C language and its software structure is hierarchy and modular.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"65 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":"117025430","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.2012.6380724
M. Haroutunian, A. Murphy
This paper is a part of the Nature in Engineering for Monitoring the Oceans (NEMO) project, investigating bio-inspiration to improve the performance of Unmanned Untethered Underwater Vehicles (UUUVs). Since biological systems (i.e. marine animals) are natives to the oceans, successfully surviving through time, they have been the source of this approach. NEMO's earlier investigations highlighted biological capabilities desirable for UUUV operations, including speed, speed range and manoeuvrability. These are significantly superior compared to current engineered systems. However, not all desirable characteristics are evident in the same species. Considering the mismatch between the “missions” of biological and engineered systems, no single specific biological system is able to fulfil all the desired UUUV mission requirements. Therefore, means are required to obtain the myriad of information from the biological world and adjust them to engineering needs. This paper describes the algorithm of an Optimum System Selector (OSS) demonstrating its methodology and explaining modules such as estimating the drag of biological systems and indication of their propulsive efficiency. The OSS is implemented to output the appropriate combination for a bio-inspired UUUV design, based on its mission. The OSS comprises missions as inputs, the decision maker, and the outputs. Mission profiles also account for capabilities unique to biological systems such as high manoeuvrability. The decision maker takes into account three main modules; speed and propulsion, manoeuvrability and upright stability. The fitness-for-purpose function of the selector consists of the energetic cost of the proposed combination, as well as the trade-off between the three modules due to the multi-functionality of the biological systems. The output consists of body and control surfaces design, propulsion and manoeuvring systems. Through this method, OSS is an excellent guide to transform complex biological data for the future design and development of UUUVs.
{"title":"Mission based Optimum System Selector for Bio-inspired Unmanned Untethered Underwater Vehicles","authors":"M. Haroutunian, A. Murphy","doi":"10.1109/AUV.2012.6380724","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380724","url":null,"abstract":"This paper is a part of the Nature in Engineering for Monitoring the Oceans (NEMO) project, investigating bio-inspiration to improve the performance of Unmanned Untethered Underwater Vehicles (UUUVs). Since biological systems (i.e. marine animals) are natives to the oceans, successfully surviving through time, they have been the source of this approach. NEMO's earlier investigations highlighted biological capabilities desirable for UUUV operations, including speed, speed range and manoeuvrability. These are significantly superior compared to current engineered systems. However, not all desirable characteristics are evident in the same species. Considering the mismatch between the “missions” of biological and engineered systems, no single specific biological system is able to fulfil all the desired UUUV mission requirements. Therefore, means are required to obtain the myriad of information from the biological world and adjust them to engineering needs. This paper describes the algorithm of an Optimum System Selector (OSS) demonstrating its methodology and explaining modules such as estimating the drag of biological systems and indication of their propulsive efficiency. The OSS is implemented to output the appropriate combination for a bio-inspired UUUV design, based on its mission. The OSS comprises missions as inputs, the decision maker, and the outputs. Mission profiles also account for capabilities unique to biological systems such as high manoeuvrability. The decision maker takes into account three main modules; speed and propulsion, manoeuvrability and upright stability. The fitness-for-purpose function of the selector consists of the energetic cost of the proposed combination, as well as the trade-off between the three modules due to the multi-functionality of the biological systems. The output consists of body and control surfaces design, propulsion and manoeuvring systems. Through this method, OSS is an excellent guide to transform complex biological data for the future design and development of UUUVs.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 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":"121834252","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.2012.6380723
A. Gottschall
The last decade has established the underwater glider as an important platform for oceanographic research. To further the capabilities of glider research three Florida Institute of Technology students have been actively designing a glider that is considerable cheaper than commercial gliders. This vehicle introduces external wing control surfaces for steering and a mechanical buoyancy engine. The aim of the work in progress is to develop a fully functional underwater glider as a platform for oceanographic research and design of underwater navigation and control algorithms. This goal is to be reached through a complete redesign and unification of the previous control components of both systems and the implementation of device driver libraries. Mechanical components such as the buoyancy engine have been reviewed and field tested off the Atlantic coast of Florida during the summer of 2012. Designed for a maximum depth of 100m the glider's payload bays will enable the usage of various instruments in the coastal shelf region. The low weight (less than 25 kg) and small size (2m in length) allows deployments from small boats. GPS navigation, radio frequency and satellite communication (when surfaced) will make the glider an excellent vehicle for student research. Completion is expected for December 2012.
{"title":"Design of an underwater glider for education and research","authors":"A. Gottschall","doi":"10.1109/AUV.2012.6380723","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380723","url":null,"abstract":"The last decade has established the underwater glider as an important platform for oceanographic research. To further the capabilities of glider research three Florida Institute of Technology students have been actively designing a glider that is considerable cheaper than commercial gliders. This vehicle introduces external wing control surfaces for steering and a mechanical buoyancy engine. The aim of the work in progress is to develop a fully functional underwater glider as a platform for oceanographic research and design of underwater navigation and control algorithms. This goal is to be reached through a complete redesign and unification of the previous control components of both systems and the implementation of device driver libraries. Mechanical components such as the buoyancy engine have been reviewed and field tested off the Atlantic coast of Florida during the summer of 2012. Designed for a maximum depth of 100m the glider's payload bays will enable the usage of various instruments in the coastal shelf region. The low weight (less than 25 kg) and small size (2m in length) allows deployments from small boats. GPS navigation, radio frequency and satellite communication (when surfaced) will make the glider an excellent vehicle for student research. Completion is expected for December 2012.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 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":"116520741","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.2012.6380752
G. Troni, L. Whitcomb
We report preliminary results of an in-water test-tank experimental evaluation of recently reported methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and attitude sensors arising in the navigation of underwater vehicles. Unlike previous reports employing high-cost high-accuracy attitude sensors, including true-North-seeking gyrocompasses and high-precision accelerometers, we address the case of using attitude sensing with a low-cost Micro-electro-mechanical systems (MEMS) attitude and heading reference system. We report a comparative experimental evaluation of several recently reported calibration methods when employing low-cost MEMS attitude sensors. The methods are experimentally evaluated using data obtained with the Johns Hopkins University (JHU) remotely operated underwater vehicle in the JHU Hydrodynamic Test Facility. We report the preliminary results of comparative analysis of the performance of recently reported calibration methods and a most previously technique indicating satisfactory performance of the proposed methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and low-cost MEMS-based attitude sensors.
{"title":"Preliminary experimental evaluation of in-situ calibration methods for MEMS-based attitude sensors and Doppler sonars in underwater vehicle navigation","authors":"G. Troni, L. Whitcomb","doi":"10.1109/AUV.2012.6380752","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380752","url":null,"abstract":"We report preliminary results of an in-water test-tank experimental evaluation of recently reported methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and attitude sensors arising in the navigation of underwater vehicles. Unlike previous reports employing high-cost high-accuracy attitude sensors, including true-North-seeking gyrocompasses and high-precision accelerometers, we address the case of using attitude sensing with a low-cost Micro-electro-mechanical systems (MEMS) attitude and heading reference system. We report a comparative experimental evaluation of several recently reported calibration methods when employing low-cost MEMS attitude sensors. The methods are experimentally evaluated using data obtained with the Johns Hopkins University (JHU) remotely operated underwater vehicle in the JHU Hydrodynamic Test Facility. We report the preliminary results of comparative analysis of the performance of recently reported calibration methods and a most previously technique indicating satisfactory performance of the proposed methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and low-cost MEMS-based attitude sensors.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"36 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":"123912530","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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