Pub Date : 2014-09-01DOI: 10.1109/OCEANS.2014.7003070
Sarah E. Webster, Craig M. Lee, J. Gobat
This paper presents an under-ice acoustic navigation system developed for Seaglider, a buoyancy-driven autonomous underwater vehicle (AUV), and post-processed navigation results from one of fourteen glider deployments between 2006 and 2014 in Davis Strait. Seagliders typically receive all geolocation information from global positioning system (GPS) signals received while they are at the surface, and perform dead reckoning while underwater. Extended under-ice deployments, where access to GPS is denied due to the inability of the glider to surface, require an alternative source of geolocation information. In the deployments described herein, geolocation information is provided by range measurements from mooring-mounted acoustic navigation sources at fixed, known locations. In this paper we describe the navigation system used in Davis Strait and present navigation results from a six degree-of-freedom Kalman filter using post-processed navigation data.
{"title":"Preliminary results in under-ice acoustic navigation for seagliders in Davis Strait","authors":"Sarah E. Webster, Craig M. Lee, J. Gobat","doi":"10.1109/OCEANS.2014.7003070","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003070","url":null,"abstract":"This paper presents an under-ice acoustic navigation system developed for Seaglider, a buoyancy-driven autonomous underwater vehicle (AUV), and post-processed navigation results from one of fourteen glider deployments between 2006 and 2014 in Davis Strait. Seagliders typically receive all geolocation information from global positioning system (GPS) signals received while they are at the surface, and perform dead reckoning while underwater. Extended under-ice deployments, where access to GPS is denied due to the inability of the glider to surface, require an alternative source of geolocation information. In the deployments described herein, geolocation information is provided by range measurements from mooring-mounted acoustic navigation sources at fixed, known locations. In this paper we describe the navigation system used in Davis Strait and present navigation results from a six degree-of-freedom Kalman filter using post-processed navigation data.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115614841","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003219
J. Singleton, R. Bachmayer, B. de Young
Observation of the ocean environment is key to attaining the knowledge and understanding required to predict its evolving state and to respond to its condition. However, manned observation and collection of high resolution oceanographic data over long periods of time is both expensive and hazardous. Various autonomous profiling platforms have been developed to address the issue but there still exists the opportunity to develop efficient, robust, and reliable, low cost platforms to provide the data. In this paper we present the development of a new autonomous profiling system for areas along the continental shelf. The proposed design is a moored vehicle that will profile the water column by controlling the predetermined ascent/descent routine of an instrumentation payload though the use of a buoyancy engine. One of its unique features is the use of a subsea mooring to secure the profiler while still providing the ability to profile the entire water column and make a telemetry link. The profiler has two modes of dynamic behavior during its profile. One mode is similar to that of a profiler which follows a mooring line, while the other mode is similar to a winched profiler.
{"title":"Development of a new autonomous underwater moored mobile profiler","authors":"J. Singleton, R. Bachmayer, B. de Young","doi":"10.1109/OCEANS.2014.7003219","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003219","url":null,"abstract":"Observation of the ocean environment is key to attaining the knowledge and understanding required to predict its evolving state and to respond to its condition. However, manned observation and collection of high resolution oceanographic data over long periods of time is both expensive and hazardous. Various autonomous profiling platforms have been developed to address the issue but there still exists the opportunity to develop efficient, robust, and reliable, low cost platforms to provide the data. In this paper we present the development of a new autonomous profiling system for areas along the continental shelf. The proposed design is a moored vehicle that will profile the water column by controlling the predetermined ascent/descent routine of an instrumentation payload though the use of a buoyancy engine. One of its unique features is the use of a subsea mooring to secure the profiler while still providing the ability to profile the entire water column and make a telemetry link. The profiler has two modes of dynamic behavior during its profile. One mode is similar to that of a profiler which follows a mooring line, while the other mode is similar to a winched profiler.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115781806","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003243
Arnaud Jaegler, Gilles Gaonach
Hydrophones phase and gain dispersions have a deep impact on conventional beampatterns of line arrays, by affecting the sidelobe level. Indeed, high sidelobe levels threaten the detection of weak sources in the presence of strong jammers. Sensors failures are even more critical. Sensors surveillance algorithms are therefore essential to the array performances. They often consist in selecting valid sensors whose power spectral densities are close to a certain estimated mean within a certain fixed or estimated standard deviation. These statistics estimations first take the assumption of no sensors failures, and require parameters settings. After having recalled the impact of sensors dispersions and sensors failures on conventional beampatterns, parameter free sensors surveillance algorithms are proposed. They are based on information criteria, such as Stochastic Complexity Minimization or Akaike Information Criteria. These sensors selection methods are compared to the more traditional methods described above on synthetic data and sea trial signals.
{"title":"Information theory based sensor surveillance","authors":"Arnaud Jaegler, Gilles Gaonach","doi":"10.1109/OCEANS.2014.7003243","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003243","url":null,"abstract":"Hydrophones phase and gain dispersions have a deep impact on conventional beampatterns of line arrays, by affecting the sidelobe level. Indeed, high sidelobe levels threaten the detection of weak sources in the presence of strong jammers. Sensors failures are even more critical. Sensors surveillance algorithms are therefore essential to the array performances. They often consist in selecting valid sensors whose power spectral densities are close to a certain estimated mean within a certain fixed or estimated standard deviation. These statistics estimations first take the assumption of no sensors failures, and require parameters settings. After having recalled the impact of sensors dispersions and sensors failures on conventional beampatterns, parameter free sensors surveillance algorithms are proposed. They are based on information criteria, such as Stochastic Complexity Minimization or Akaike Information Criteria. These sensors selection methods are compared to the more traditional methods described above on synthetic data and sea trial signals.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"248 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113972111","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003198
A. Williams
Testing and calibrating a current meter is part of bringing a new design into production. The opportunity to demonstrate this has been provided by the re-engining of the acoustic differential travel-time current meter, MAVS (Modular Acoustic Velocity Sensor) [1]. In 2012, the supplier of the controller used by MAVS announced End of Life for their product. A search for a suitable replacement took a year, and in summer 2013, the CF2 by Persistor [2] was selected. The interface board to adapt the CF2 to the footprint of its predecessor on the MAVS mother board was designed in midsummer 2013 and laid out in the fall of 2013. Circuit boards were etched in late fall of 2013 and the first prototype was tested in January 2014. A significant trial of the interface board was to adapt the 3.3v CF2 to the 5v logic of MAVS with minimum impact on the well-tested and validated MAVS. This required level shifter circuits for both up shifting and down shifting on the interface board. These were tested without the new code required to run the program of measurement. Power switching imposes another constraint since it is necessary to turn off the 5v logic between measurement bursts while the 3.3v CF2 is still running. An up shifter circuit requires that the output never be lower voltage than the input but without the 5v logic powered there is an issue, solved for now by a voltage limiting Schottky diode to protect the up shifter when powered down. The consequences on the powered down 5v logic have yet to be tested.
{"title":"Current meter performance with CF2 controller","authors":"A. Williams","doi":"10.1109/OCEANS.2014.7003198","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003198","url":null,"abstract":"Testing and calibrating a current meter is part of bringing a new design into production. The opportunity to demonstrate this has been provided by the re-engining of the acoustic differential travel-time current meter, MAVS (Modular Acoustic Velocity Sensor) [1]. In 2012, the supplier of the controller used by MAVS announced End of Life for their product. A search for a suitable replacement took a year, and in summer 2013, the CF2 by Persistor [2] was selected. The interface board to adapt the CF2 to the footprint of its predecessor on the MAVS mother board was designed in midsummer 2013 and laid out in the fall of 2013. Circuit boards were etched in late fall of 2013 and the first prototype was tested in January 2014. A significant trial of the interface board was to adapt the 3.3v CF2 to the 5v logic of MAVS with minimum impact on the well-tested and validated MAVS. This required level shifter circuits for both up shifting and down shifting on the interface board. These were tested without the new code required to run the program of measurement. Power switching imposes another constraint since it is necessary to turn off the 5v logic between measurement bursts while the 3.3v CF2 is still running. An up shifter circuit requires that the output never be lower voltage than the input but without the 5v logic powered there is an issue, solved for now by a voltage limiting Schottky diode to protect the up shifter when powered down. The consequences on the powered down 5v logic have yet to be tested.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124284183","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003226
S. Williams, R. Pomerleau, R. Hasanen
The next generation smart port power supply has been designed to provide new features and improved performance. These ports allow for the software based configuration of instrument port voltages and communications protocols providing the greatest possible flexibility in instrument to junction box interfacing. This article describes the benefits of the software configurable smart port implementation discussed in [1]. Next generation improvements made to the line insulation monitor, in-line noise filtering and power supply efficiency based off lessons learned and feedback on the initial NEPTUNE project are also discussed.
{"title":"Software configurable smart ports in seafloor networks","authors":"S. Williams, R. Pomerleau, R. Hasanen","doi":"10.1109/OCEANS.2014.7003226","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003226","url":null,"abstract":"The next generation smart port power supply has been designed to provide new features and improved performance. These ports allow for the software based configuration of instrument port voltages and communications protocols providing the greatest possible flexibility in instrument to junction box interfacing. This article describes the benefits of the software configurable smart port implementation discussed in [1]. Next generation improvements made to the line insulation monitor, in-line noise filtering and power supply efficiency based off lessons learned and feedback on the initial NEPTUNE project are also discussed.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125168033","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003173
S. Ishibashi, Y. Ota, H. Yoshida, M. Sugesawa, F. Fan
JAMSTEC developed some new underwater vehicles. One of them is “OTOHIME”. Because it was designed as a multi-mission type, it has not only the cruising ability but also the working ability through its skid is exchanged or desorbed. In order it to perform various missions, its control system was newly developed as a multi-CPU control unit. The control system is mainly composed of seven CPUs and they are connected to each other with an Ether-network. And each CPU executes some different processes and controls some different devices which are installed into it, respectively. Thus the control system can realize the load distribution of a CPU, the trouble detection of the system, the function compensation and the self-restoration owing to the information sharing applying the Ether-network. Now, sea trials were carried out in order to verify the performance of some new technologies which have been already applied into it. And then the utility of the control system was also confirmed.
{"title":"Multi-mission underwater vehicle “OTOHIME” and its control system","authors":"S. Ishibashi, Y. Ota, H. Yoshida, M. Sugesawa, F. Fan","doi":"10.1109/OCEANS.2014.7003173","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003173","url":null,"abstract":"JAMSTEC developed some new underwater vehicles. One of them is “OTOHIME”. Because it was designed as a multi-mission type, it has not only the cruising ability but also the working ability through its skid is exchanged or desorbed. In order it to perform various missions, its control system was newly developed as a multi-CPU control unit. The control system is mainly composed of seven CPUs and they are connected to each other with an Ether-network. And each CPU executes some different processes and controls some different devices which are installed into it, respectively. Thus the control system can realize the load distribution of a CPU, the trouble detection of the system, the function compensation and the self-restoration owing to the information sharing applying the Ether-network. Now, sea trials were carried out in order to verify the performance of some new technologies which have been already applied into it. And then the utility of the control system was also confirmed.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129523659","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003004
N. Stark, A. Hay, Greg Trowse
Soil mechanical properties of the seabed are related to a number of challenges in the development of ocean renewable energy. Early site assessment is an important part of the development of an ocean renewable energy project, and soil mechanical and sediment dynamical site characteristics should already be addressed at this stage. However, the suitability of the site for the installation of a ocean renewable energy converter (OREC) is still under evaluation and budgets are often strongly limited at this stage of the project. It follows that there is a need for cost-efficient survey strategies. Different methods have been tested in a tidal energy project in the Bay of Fundy, Canada, and a wave energy project in Yakutat, Alaska. Camera systems displayed sediment type, abundance of rocks, plants and small-scale bedforms. Portable free-fall penetrometers were deployed for testing of sediment strength and stratification at the uppermost seafloor. Areas of different sediment strength were identified, and loose, poorly compacted sediment layers quantified. Additionally, rocks and bedrock faces which were covered by a thin sediment layer and remained undetected by seafloor imaging sonars and grab samples, were found. Buried pressure sensors were used in preliminary experiments to monitor pore pressure variations with wave forcing and test the susceptibility to sediment liquefaction. First surveys using these methods attested that they deliver valuable information with regard to sediment and soil mechanical characteristics, while being deployable from local small fishery or harbor authority vessels. Availability of such vessels and devices is high, while purchasing/renting costs are rather low. This allows to perform such tests very cost-effectively, and thus provides a promising strategy for early site assessment in ocean structure engineering before larger budgets are available.
{"title":"Cost-effective geotechnical and sedimentological early site assessment for ocean renewable energies","authors":"N. Stark, A. Hay, Greg Trowse","doi":"10.1109/OCEANS.2014.7003004","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003004","url":null,"abstract":"Soil mechanical properties of the seabed are related to a number of challenges in the development of ocean renewable energy. Early site assessment is an important part of the development of an ocean renewable energy project, and soil mechanical and sediment dynamical site characteristics should already be addressed at this stage. However, the suitability of the site for the installation of a ocean renewable energy converter (OREC) is still under evaluation and budgets are often strongly limited at this stage of the project. It follows that there is a need for cost-efficient survey strategies. Different methods have been tested in a tidal energy project in the Bay of Fundy, Canada, and a wave energy project in Yakutat, Alaska. Camera systems displayed sediment type, abundance of rocks, plants and small-scale bedforms. Portable free-fall penetrometers were deployed for testing of sediment strength and stratification at the uppermost seafloor. Areas of different sediment strength were identified, and loose, poorly compacted sediment layers quantified. Additionally, rocks and bedrock faces which were covered by a thin sediment layer and remained undetected by seafloor imaging sonars and grab samples, were found. Buried pressure sensors were used in preliminary experiments to monitor pore pressure variations with wave forcing and test the susceptibility to sediment liquefaction. First surveys using these methods attested that they deliver valuable information with regard to sediment and soil mechanical characteristics, while being deployable from local small fishery or harbor authority vessels. Availability of such vessels and devices is high, while purchasing/renting costs are rather low. This allows to perform such tests very cost-effectively, and thus provides a promising strategy for early site assessment in ocean structure engineering before larger budgets are available.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130535348","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003192
M. Biagi, S. Rinauro, S. Colonnese, R. Cusani, G. Scarano
In this paper we investigate how to rephrase the concepts of cognitive access, originally developed for radio communications, in the framework of underwater acoustic communications. Differently from classical cognitive radio access, where each signal at the receiver is generated by a communication source, in the underwater scenario acoustic signals at the general receive node are likely to be due to communication source as well as natural/artificial acoustic sources (e.g mammals, ship engines and so forth). In order to maximize the access probability for cognitive acoustic nodes, we then focus on understanding the nature of the sensed interference via the tools of image classification, being the image the spectrogram of the acquired signal.
{"title":"Understanding interference by cognitive nodes: The underwater case","authors":"M. Biagi, S. Rinauro, S. Colonnese, R. Cusani, G. Scarano","doi":"10.1109/OCEANS.2014.7003192","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003192","url":null,"abstract":"In this paper we investigate how to rephrase the concepts of cognitive access, originally developed for radio communications, in the framework of underwater acoustic communications. Differently from classical cognitive radio access, where each signal at the receiver is generated by a communication source, in the underwater scenario acoustic signals at the general receive node are likely to be due to communication source as well as natural/artificial acoustic sources (e.g mammals, ship engines and so forth). In order to maximize the access probability for cognitive acoustic nodes, we then focus on understanding the nature of the sensed interference via the tools of image classification, being the image the spectrogram of the acquired signal.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128658869","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003253
E. M. Garcia, C. Chang, Hongrae Park, M. Bernitsas
For many decades now, the idea of Vortex-Induced Vibrations (VIV) being modeled as a lock-in phenomenon of a mass-spring-dashpot system with an ideal added mass term has prevailed. In 2000, it was suggested by Vikestad et al. [1] that VIV may be modeled as a resonance phenomenon with variable natural frequency due to a variable added-mass term. In this paper, the variable added-mass approach is used for analysis of VIV at various added damping values. Additionally, Vandiver's damping coefficient c* is used [2] to correlate damping to lift. The findings are that: 1. The oscillation frequency is in unity with the mean of the natural frequency with variable added mass for each period of oscillation during VIV lock-in no matter the damping value. 2. The time-averaged variable added mass coefficient is shown to vary with an increasing damping coefficient, where below a reduced velocity of approximately seven, increased damping indicates increased added mass. After a reduced velocity of approximately seven, however, increased damping results in decreased added mass. 3. Vandiver's damping coefficient c* plotted against the nondimensional amplitude follows very closely to c*A/D = max lift coefficient = square root of 0.79 [3]. A handful of cases did exceed square root of 0.79 but only marginally.
{"title":"Effect of damping on variable added mass and lift of circular cylinders in vortex-induced vibrations","authors":"E. M. Garcia, C. Chang, Hongrae Park, M. Bernitsas","doi":"10.1109/OCEANS.2014.7003253","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003253","url":null,"abstract":"For many decades now, the idea of Vortex-Induced Vibrations (VIV) being modeled as a lock-in phenomenon of a mass-spring-dashpot system with an ideal added mass term has prevailed. In 2000, it was suggested by Vikestad et al. [1] that VIV may be modeled as a resonance phenomenon with variable natural frequency due to a variable added-mass term. In this paper, the variable added-mass approach is used for analysis of VIV at various added damping values. Additionally, Vandiver's damping coefficient c* is used [2] to correlate damping to lift. The findings are that: 1. The oscillation frequency is in unity with the mean of the natural frequency with variable added mass for each period of oscillation during VIV lock-in no matter the damping value. 2. The time-averaged variable added mass coefficient is shown to vary with an increasing damping coefficient, where below a reduced velocity of approximately seven, increased damping indicates increased added mass. After a reduced velocity of approximately seven, however, increased damping results in decreased added mass. 3. Vandiver's damping coefficient c* plotted against the nondimensional amplitude follows very closely to c*A/D = max lift coefficient = square root of 0.79 [3]. A handful of cases did exceed square root of 0.79 but only marginally.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128707089","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003099
Jeffrey M. Walls, R. Eustice
This paper reports on an algorithm for planning a practical trajectory for a surface vehicle that provides range measurements to an autonomous underwater vehicle (AUV). We consider server-client cooperative localization in which a server vehicle provides relative range constraints to minimize the uncertainty of a client vehicle. Our approach assumes the nominal client mission plan is available and draws potential server trajectories from a set of parameterized trajectory classes. We provide a comparative evaluation over several simulations, for both a single client and multiple clients, demonstrating that our algorithm computes operationally practical server paths and performs well relative to existing planning frameworks.
{"title":"Toward informative planning for cooperative underwater localization","authors":"Jeffrey M. Walls, R. Eustice","doi":"10.1109/OCEANS.2014.7003099","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003099","url":null,"abstract":"This paper reports on an algorithm for planning a practical trajectory for a surface vehicle that provides range measurements to an autonomous underwater vehicle (AUV). We consider server-client cooperative localization in which a server vehicle provides relative range constraints to minimize the uncertainty of a client vehicle. Our approach assumes the nominal client mission plan is available and draws potential server trajectories from a set of parameterized trajectory classes. We provide a comparative evaluation over several simulations, for both a single client and multiple clients, demonstrating that our algorithm computes operationally practical server paths and performs well relative to existing planning frameworks.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115955331","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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