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}
Pub Date : 2014-09-01DOI: 10.1109/OCEANS.2014.7003041
Lihong Zhang, V. Mašek, N. Sanatdoost
Underwater/under-ice navigation systems are dependent on the precision of the embedded inertial measurement unit. The performance of MEMS-based gyroscopes, one of the most important inertial sensors, is heavily affected by fabrication imperfection and environmental variation. In this paper we propose and optimize a new mechanical structure for Z-axis tuning-fork gyroscopes along with atmospheric pressure packaging. We have focused on, first, applying gap-varying capacitive sensing method to enhance the sensor resolution, and second, optimizing the design by modifying the location and shape of suspending frame/cantilevers as well as tuning their parameters to make the gyroscope structure more robust against fabrication variation. Our numerical analyses show that the optimized gyroscope structure is more immune to fabrication imperfection, and the proposed sensing structure is able to provide better output capacitance response to external rotation, compared to the previously published work.
{"title":"Design of cost-effective reliable MEMS gyroscopes for underwater/under-ice applications","authors":"Lihong Zhang, V. Mašek, N. Sanatdoost","doi":"10.1109/OCEANS.2014.7003041","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003041","url":null,"abstract":"Underwater/under-ice navigation systems are dependent on the precision of the embedded inertial measurement unit. The performance of MEMS-based gyroscopes, one of the most important inertial sensors, is heavily affected by fabrication imperfection and environmental variation. In this paper we propose and optimize a new mechanical structure for Z-axis tuning-fork gyroscopes along with atmospheric pressure packaging. We have focused on, first, applying gap-varying capacitive sensing method to enhance the sensor resolution, and second, optimizing the design by modifying the location and shape of suspending frame/cantilevers as well as tuning their parameters to make the gyroscope structure more robust against fabrication variation. Our numerical analyses show that the optimized gyroscope structure is more immune to fabrication imperfection, and the proposed sensing structure is able to provide better output capacitance response to external rotation, compared to the previously published work.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"10 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":"122207213","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.2014.7003129
W. Duan, Y. R. Zheng
An iterative bidirectional soft decision feedback equalizer (Bi-SDFE) is proposed for robust multiple-input multiple-output (MIMO) underwater acoustic (UWA) communications. The proposed Bi-SDFE use a time-reversed soft decision feedback equalizer (SDFE) in conjunction with a normal SDFE to lower the error propagation in severe inter-symbol interference (ISI) channels. The extrinsic information at the equalizer outputs are combined to improve the reliability and reduce the probability of catastrophic performance. Besides, the normalized least mean squares (NLMS) algorithm is adopted to iteratively estimate the MIMO UWA channel for the equalizer. The performance of the proposed algorithm is verified by the SPACE08 experiment. The processing results show that the iterative Bi-SDFE can effectively improve system performance and data efficiency in time varying MIMO UWA channel.
{"title":"Bidirectional soft-decision feedback equalization for robust MIMO underwater acoustic communications","authors":"W. Duan, Y. R. Zheng","doi":"10.1109/OCEANS.2014.7003129","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003129","url":null,"abstract":"An iterative bidirectional soft decision feedback equalizer (Bi-SDFE) is proposed for robust multiple-input multiple-output (MIMO) underwater acoustic (UWA) communications. The proposed Bi-SDFE use a time-reversed soft decision feedback equalizer (SDFE) in conjunction with a normal SDFE to lower the error propagation in severe inter-symbol interference (ISI) channels. The extrinsic information at the equalizer outputs are combined to improve the reliability and reduce the probability of catastrophic performance. Besides, the normalized least mean squares (NLMS) algorithm is adopted to iteratively estimate the MIMO UWA channel for the equalizer. The performance of the proposed algorithm is verified by the SPACE08 experiment. The processing results show that the iterative Bi-SDFE can effectively improve system performance and data efficiency in time varying MIMO UWA channel.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"9 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":"122273373","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}
Thermal glider is a new type of underwater glider which harvests its propulsive energy from the thermocline in the ocean. Compared with traditional electric underwater glider, the thermal glider may achieve a much longer duration and range. The heat exchangers on the underwater glider can be mounted above the hull, below the hull, and by the sides of the hull. In this paper, hydrodynamic analysis is conducted for the thermal glider with the three heat exchanger layout designs using computational fluid dynamics. Impact of the layout design on glide efficiency and static stability is investigated, using lift to drag ratio and dimensionless position lever as the evaluation parameters. Result shows that the thermal glider is statically stable with the heat exchangers. The layout of the heat exchangers greatly affects the static stability of the glider, while little influence has been found on the glide efficiency. It is also found that taking glide efficiency and static stability into consideration, the heat exchangers are better mounted below the hull. The result provides theoretical guidance for thermal glider design.
{"title":"Heat exchanger layout for a thermal underwater glider","authors":"Yanan Yang, Yanhui Wang, Zhiliang Wu, Yuhong Liu, Hongwei Zhang, Shuxin Wang","doi":"10.1109/OCEANS.2014.7003274","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003274","url":null,"abstract":"Thermal glider is a new type of underwater glider which harvests its propulsive energy from the thermocline in the ocean. Compared with traditional electric underwater glider, the thermal glider may achieve a much longer duration and range. The heat exchangers on the underwater glider can be mounted above the hull, below the hull, and by the sides of the hull. In this paper, hydrodynamic analysis is conducted for the thermal glider with the three heat exchanger layout designs using computational fluid dynamics. Impact of the layout design on glide efficiency and static stability is investigated, using lift to drag ratio and dimensionless position lever as the evaluation parameters. Result shows that the thermal glider is statically stable with the heat exchangers. The layout of the heat exchangers greatly affects the static stability of the glider, while little influence has been found on the glide efficiency. It is also found that taking glide efficiency and static stability into consideration, the heat exchangers are better mounted below the hull. The result provides theoretical guidance for thermal glider design.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"29 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":"122341997","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.2014.7003049
Samareh Attarsharghi, V. Mašek
In the North Atlantic Ocean accurate prediction of the trajectory of icebergs would enable optimization of shipping routes and offshore production processes. In this paper, we investigate the practical aspects of the proposed current measurement technique which is based on transit time method and cross correlation signal processing in a flow tank. The experiments are carried out as a prototype of a larger network of acoustic transducers to investigate the feasibility and/or limitations of this system for measuring the average-shallow depth current in the ocean.
{"title":"Ocean current monitoring via cross-correlation technique and node synchronisation","authors":"Samareh Attarsharghi, V. Mašek","doi":"10.1109/OCEANS.2014.7003049","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003049","url":null,"abstract":"In the North Atlantic Ocean accurate prediction of the trajectory of icebergs would enable optimization of shipping routes and offshore production processes. In this paper, we investigate the practical aspects of the proposed current measurement technique which is based on transit time method and cross correlation signal processing in a flow tank. The experiments are carried out as a prototype of a larger network of acoustic transducers to investigate the feasibility and/or limitations of this system for measuring the average-shallow depth current in the ocean.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"16 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":"126945487","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.2014.7003244
D. Wallace, B. de Young, S. Iverson, J. LaRoche, F. Whoriskey, M. Lewis, P. Archambault, F. Davidson, D. Gilbert, B. Greenan, P. Pepin, C. Johnson, D. Hebert, Neil Gall, J. Hanlon, S. Rysgaard, B. Carter, Randy Gillespie, Dwight House, P. Snelgrove, P. Myers, M. Babin, P. Holthus, World Ocean Council, A. Rae
We review opportunities, impediments, regional scope and principles for a Canadian contribution to an Integrated Atlantic Ocean Observing System (IAOOS) in the context of the Galway Alliance. This contribution should build on what exists, plan ahead for data management and data access, be flexible and sustainable, encourage international involvement, be science-led, foster research aggregation, and have close links to remote sensing, data assimilation and prediction programs. Existing programs that can contribute are described, and new initiatives that will broaden relevance of the Observing System are identified, including biological/ ecosystem observations. Specific platforms and technologies for both near-shore and offshore waters are listed, together with areas where new developments are needed. Finally, we outline a strategy for the development of an Atlantic Canada Regional Ocean Observing System (ACROOS).
{"title":"A Canadian contribution to an integrated Atlantic ocean observing system (IAOOS)","authors":"D. Wallace, B. de Young, S. Iverson, J. LaRoche, F. Whoriskey, M. Lewis, P. Archambault, F. Davidson, D. Gilbert, B. Greenan, P. Pepin, C. Johnson, D. Hebert, Neil Gall, J. Hanlon, S. Rysgaard, B. Carter, Randy Gillespie, Dwight House, P. Snelgrove, P. Myers, M. Babin, P. Holthus, World Ocean Council, A. Rae","doi":"10.1109/OCEANS.2014.7003244","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003244","url":null,"abstract":"We review opportunities, impediments, regional scope and principles for a Canadian contribution to an Integrated Atlantic Ocean Observing System (IAOOS) in the context of the Galway Alliance. This contribution should build on what exists, plan ahead for data management and data access, be flexible and sustainable, encourage international involvement, be science-led, foster research aggregation, and have close links to remote sensing, data assimilation and prediction programs. Existing programs that can contribute are described, and new initiatives that will broaden relevance of the Observing System are identified, including biological/ ecosystem observations. Specific platforms and technologies for both near-shore and offshore waters are listed, together with areas where new developments are needed. Finally, we outline a strategy for the development of an Atlantic Canada Regional Ocean Observing System (ACROOS).","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"63 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":"127042389","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.2014.7003188
Romain Michalec, C. Pradalier
We introduce our first work on terrain-based navigation of autonomous underwater vehicles using sidescan sonars and sidescan sonar maps. It consists in estimating the state of the vehicle from its inertial proprioceptions and sidescan exteroceptions using a particle filter. The novelty is the use of sidescan acoustic perceptions and sidescan sonar maps instead of single-beam bottom-looking acoustic perceptions and bathymetric maps. Also, the approach is not landmark-based. Our first simulations, although conducted under simplifying hypotheses, show that the approach is valid and may be applied to more complex situations.
{"title":"Sidescan sonar aided inertial drift compensation in autonomous underwater vehicles","authors":"Romain Michalec, C. Pradalier","doi":"10.1109/OCEANS.2014.7003188","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003188","url":null,"abstract":"We introduce our first work on terrain-based navigation of autonomous underwater vehicles using sidescan sonars and sidescan sonar maps. It consists in estimating the state of the vehicle from its inertial proprioceptions and sidescan exteroceptions using a particle filter. The novelty is the use of sidescan acoustic perceptions and sidescan sonar maps instead of single-beam bottom-looking acoustic perceptions and bathymetric maps. Also, the approach is not landmark-based. Our first simulations, although conducted under simplifying hypotheses, show that the approach is valid and may be applied to more complex situations.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"120 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":"123761625","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.2014.7003235
A. Dzvonkovskaya, C. Merz, Yonggang Liu, R. Weisberg, T. Helzel, L. Petersen
High-frequency (HF) radar systems located at the coast are well-known as a measurement tool for synoptic online mapping of ocean surface current fields. These radars use surface electromagnetic wave propagation coupled to the salty ocean surface and are capable of monitoring thousands of square kilometers of the ocean surface. For oceanographic applications, low transmit power HF radar beamforming systems have been developed for operation in the 3-30 MHz frequency band. These systems require the use of a linear array of receive antenna elements whose inter-element spacing is dependent upon the operational frequency chosen. This paper presents a new approach of applying the Multiple Input Multiple Output (MIMO) technique with a synthesized antenna aperture to a compact HF ocean radar. The initial results show that the MIMO HF radar configuration with collocated receive antennas can be used for both oceanographic measurements and ship tracking applications. Initial MIMO results also reveal that positive results can be achieved from a reduced length receive array without reducing overall system performance. The comparison between standard and MIMO configurations has been focused on the estimation of surface current velocities and comparison with in-situ acoustic Doppler current profiler (ADCP) measurements.
{"title":"Initial surface current measurements on the West Florida shelf using WERA HF ocean radar with multiple input multiple output (MIMO) synthetic aperture","authors":"A. Dzvonkovskaya, C. Merz, Yonggang Liu, R. Weisberg, T. Helzel, L. Petersen","doi":"10.1109/OCEANS.2014.7003235","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003235","url":null,"abstract":"High-frequency (HF) radar systems located at the coast are well-known as a measurement tool for synoptic online mapping of ocean surface current fields. These radars use surface electromagnetic wave propagation coupled to the salty ocean surface and are capable of monitoring thousands of square kilometers of the ocean surface. For oceanographic applications, low transmit power HF radar beamforming systems have been developed for operation in the 3-30 MHz frequency band. These systems require the use of a linear array of receive antenna elements whose inter-element spacing is dependent upon the operational frequency chosen. This paper presents a new approach of applying the Multiple Input Multiple Output (MIMO) technique with a synthesized antenna aperture to a compact HF ocean radar. The initial results show that the MIMO HF radar configuration with collocated receive antennas can be used for both oceanographic measurements and ship tracking applications. Initial MIMO results also reveal that positive results can be achieved from a reduced length receive array without reducing overall system performance. The comparison between standard and MIMO configurations has been focused on the estimation of surface current velocities and comparison with in-situ acoustic Doppler current profiler (ADCP) measurements.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"39 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":"126615329","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.2014.7003196
Sara Pensieri, R. Bozzano, M. Schiano, Laura Pensieri, F. Traverso, A. Trucco, P. Picco, A. Bordone
Underwater acoustic measurements have been recently carried out in Tethys Bay (Ross Sea, Antarctica) during the XXIX Italian Antarctic Expedition to support acoustic propagation studies in the area and to investigate the environmental noise. Tethys Bay is a small deep cove close to the Antarctic Italian base Mario Zucchelli Station (Baia Terra Nova -74°42' S e 164°07' E) and covered with sea-ice for most of the year. During the period of the experiment (November 2013) the pack-ice had an almost constant thickness of about 2.2 m, so that the measurements were performed deploying the instruments into the sea from holes drilled through the pack ice. The holes were located along the bay axis at a distance of about 500 m each other. The sea depth was around 200 m except for the hole close to the coast, where the sea depth was only 25 m. An hydrophone RESON TC 4032 was located in the outermost hole, while the acoustic source, a transceiver transmitting FSK pulses at 11 kHz, was placed in sequence in the other three holes. Every time, the measurements were performed at 0, 20 and 45 m depth for each configuration. Furthermore during the experiment, sea temperature, salinity and currents, as well as the main meteorological parameters were continuously measured. The analysis here reported mainly focuses on the acquired acoustic passive data. The passive measurements evidenced that the signal was generally dominated by different sounds from seals, which was prevailing on the noise due to human activities.
在第29届意大利南极考察期间，最近在特提斯湾(南极洲罗斯海)进行了水声测量，以支持该地区的声传播研究并调查环境噪声。特提斯湾是一个小深海湾，靠近意大利南极基地Mario Zucchelli站(Baia Terra Nova -74°42' S e 164°07' e)，一年中的大部分时间都被海冰覆盖。在实验期间(2013年11月)，浮冰的厚度几乎不变，约为2.2米，因此测量是通过在浮冰上钻的洞将仪器部署到海里进行的。这些孔沿海湾轴线分布，彼此相距约500米。除了靠近海岸的洞外，海水深度在200米左右，只有25米。水听器RESON TC 4032位于最外面的孔中，而声源，一个发送11 kHz FSK脉冲的收发器，依次放置在其他三个孔中。每次，对每种配置分别在0、20和45米深度进行测量。实验期间，连续测量了海温、盐度、海流及主要气象参数。本文的分析主要集中在采集的声被动数据上。被动测量表明，信号通常由来自海豹的不同声音主导，而人类活动引起的噪音占主导地位。
{"title":"Environmental acoustic noise observations in Tethys Bay (Terra Nova Bay, Ross Sea, Antarctica)","authors":"Sara Pensieri, R. Bozzano, M. Schiano, Laura Pensieri, F. Traverso, A. Trucco, P. Picco, A. Bordone","doi":"10.1109/OCEANS.2014.7003196","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003196","url":null,"abstract":"Underwater acoustic measurements have been recently carried out in Tethys Bay (Ross Sea, Antarctica) during the XXIX Italian Antarctic Expedition to support acoustic propagation studies in the area and to investigate the environmental noise. Tethys Bay is a small deep cove close to the Antarctic Italian base Mario Zucchelli Station (Baia Terra Nova -74°42' S e 164°07' E) and covered with sea-ice for most of the year. During the period of the experiment (November 2013) the pack-ice had an almost constant thickness of about 2.2 m, so that the measurements were performed deploying the instruments into the sea from holes drilled through the pack ice. The holes were located along the bay axis at a distance of about 500 m each other. The sea depth was around 200 m except for the hole close to the coast, where the sea depth was only 25 m. An hydrophone RESON TC 4032 was located in the outermost hole, while the acoustic source, a transceiver transmitting FSK pulses at 11 kHz, was placed in sequence in the other three holes. Every time, the measurements were performed at 0, 20 and 45 m depth for each configuration. Furthermore during the experiment, sea temperature, salinity and currents, as well as the main meteorological parameters were continuously measured. The analysis here reported mainly focuses on the acquired acoustic passive data. The passive measurements evidenced that the signal was generally dominated by different sounds from seals, which was prevailing on the noise due to human activities.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"49 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":"127580010","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.2014.7003140
Sarah E. Houts, S. Rock
Providing a series of images of a site over time with a survey-class AUV presents numerous challenges, particularly in the process of getting close to rugged terrain with a motion-constrained vehicle in an uncertain environment. To deal with this, a baseline approach presented in previous work by the authors plans spline-based trajectories based on an a priori map of the terrain, allowing for improved performance over purely reactive control schemes. This paper extends that approach to account for uncertainty in the environment, both in the knowledge of the terrain and the motion of the vehicle, providing additional robustness and safety, while minimizing the potential loss in performance. The trajectory optimization approach is demonstrated over simulated terrain.
{"title":"Trajectory planning for motion-constrained AUVs in uncertain environments","authors":"Sarah E. Houts, S. Rock","doi":"10.1109/OCEANS.2014.7003140","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003140","url":null,"abstract":"Providing a series of images of a site over time with a survey-class AUV presents numerous challenges, particularly in the process of getting close to rugged terrain with a motion-constrained vehicle in an uncertain environment. To deal with this, a baseline approach presented in previous work by the authors plans spline-based trajectories based on an a priori map of the terrain, allowing for improved performance over purely reactive control schemes. This paper extends that approach to account for uncertainty in the environment, both in the knowledge of the terrain and the motion of the vehicle, providing additional robustness and safety, while minimizing the potential loss in performance. The trajectory optimization approach is demonstrated over simulated terrain.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"353 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":"132305234","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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