Design of a PID control based on the nonlinear H/sub /spl infin// optimal control technique for autonomous underwater robots (AUVs) is presented. First of all, by reparameterizing the conventional PID control in terms of the reference error feedback (REF), the PID control is tuned using the single parameter called the REF gain on account of the nonlinear L/sub 2/-gain analysis. One of the biggest differences arising in the control of such an AUV lies in the slow control and measurement frequency with significant measurement corruption and severe thruster saturation and it is quite difficult to tune the PID control gains. The numerical simulations employing the AUV, called the ODIN, will verify that the proposed control is also effective in such a situation.
{"title":"Nonlinear H/sub /spl infin// optimal PID control of autonomous underwater vehicles","authors":"J. Park, W. Chung, J. Yuh","doi":"10.1109/UT.2000.852540","DOIUrl":"https://doi.org/10.1109/UT.2000.852540","url":null,"abstract":"Design of a PID control based on the nonlinear H/sub /spl infin// optimal control technique for autonomous underwater robots (AUVs) is presented. First of all, by reparameterizing the conventional PID control in terms of the reference error feedback (REF), the PID control is tuned using the single parameter called the REF gain on account of the nonlinear L/sub 2/-gain analysis. One of the biggest differences arising in the control of such an AUV lies in the slow control and measurement frequency with significant measurement corruption and severe thruster saturation and it is quite difficult to tune the PID control gains. The numerical simulations employing the AUV, called the ODIN, will verify that the proposed control is also effective in such a situation.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127037665","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}
We have been developing the underwater ultrasonic imaging system to view some objects in turbid water. A purpose of the development of the system is to get images in order to operate remote-controlled underwater construction machines. In turbid water, optical visibility is limited because light is both attenuated and scattered. But acoustic waves have the ability to penetrate turbid water in which optics do not work. This system consists of transducer unit and control unit. The ultrasonic frequency is 600 kHz. This system using acoustic holography will be able to get real-time 3D image. The 3D image can be reconstructed by means of a single transmitting and receiving process. The operating range for distance is 1-10 m and field of view is 80/spl times/80 cm at 10 m. We carried out experiment with this imaging system in the water tank. We obtained 2D acoustic image of objects (balls) which were 9 m away.
{"title":"Underwater imaging system using acoustic holography","authors":"K. Shirai, T. Fujimoto, T. Harada","doi":"10.1109/UT.2000.852527","DOIUrl":"https://doi.org/10.1109/UT.2000.852527","url":null,"abstract":"We have been developing the underwater ultrasonic imaging system to view some objects in turbid water. A purpose of the development of the system is to get images in order to operate remote-controlled underwater construction machines. In turbid water, optical visibility is limited because light is both attenuated and scattered. But acoustic waves have the ability to penetrate turbid water in which optics do not work. This system consists of transducer unit and control unit. The ultrasonic frequency is 600 kHz. This system using acoustic holography will be able to get real-time 3D image. The 3D image can be reconstructed by means of a single transmitting and receiving process. The operating range for distance is 1-10 m and field of view is 80/spl times/80 cm at 10 m. We carried out experiment with this imaging system in the water tank. We obtained 2D acoustic image of objects (balls) which were 9 m away.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130287815","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}
Fugro Survey and ISE are developing a modular AUV for deep water, commercial site survey. The Explorer AUV is intended initially for operations in depths of up to 3500 meters where it will conduct seabed surveys more economically than deep tow systems. Explorer will carry a full suite of seabed survey equipment including a multibeam echosounder (swathe bathymetry), dual frequency sidescan sonar and subbottom profiler, magnetometer, and conductivity temperature and depth probe (CTD). The vehicle will have a top speed of 2.5 meters per second and a range of 300 km with the capability of upgrading the range to 750 km with a fuel cell. Throughout its survey mission, the vehicle will maintain a navigational accuracy sufficient to meet the oil industry requirement of data positioning accuracy within 5 to 20 meters. Development of the vehicle commenced in the summer of 1999. In this paper, the authors review the factors and trade-off considerations which led to the selection of the Explorer vehicle configuration, pressure hull design, power source, control, navigational and positioning, sensor data management and acoustic telemetry, and finally, the approach to launch and recovery.
{"title":"Explorer-a modular AUV for commercial site survey","authors":"J. Ferguson, A. Pope","doi":"10.1109/UT.2000.852528","DOIUrl":"https://doi.org/10.1109/UT.2000.852528","url":null,"abstract":"Fugro Survey and ISE are developing a modular AUV for deep water, commercial site survey. The Explorer AUV is intended initially for operations in depths of up to 3500 meters where it will conduct seabed surveys more economically than deep tow systems. Explorer will carry a full suite of seabed survey equipment including a multibeam echosounder (swathe bathymetry), dual frequency sidescan sonar and subbottom profiler, magnetometer, and conductivity temperature and depth probe (CTD). The vehicle will have a top speed of 2.5 meters per second and a range of 300 km with the capability of upgrading the range to 750 km with a fuel cell. Throughout its survey mission, the vehicle will maintain a navigational accuracy sufficient to meet the oil industry requirement of data positioning accuracy within 5 to 20 meters. Development of the vehicle commenced in the summer of 1999. In this paper, the authors review the factors and trade-off considerations which led to the selection of the Explorer vehicle configuration, pressure hull design, power source, control, navigational and positioning, sensor data management and acoustic telemetry, and finally, the approach to launch and recovery.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121878045","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}
K. Asakawa, J. Kojima, Y. Kato, S. Matsumoto, N. Kato
AQUA EXPLORER 2 (AE2) is a small-sized autonomous underwater vehicle (AUV) which can autonomously track and measure burial depth of underwater cables. Since AE2 first launched in 1997, it has carried out three sea trials and five cable-inspection missions. The total length of inspected cables exceeds 400 kilometers. In this paper, the basic design concept, cable tracking performance, acoustic links, and results of sea-trials are presented.
AQUA EXPLORER 2 (AE2)是一种小型自主水下航行器(AUV)，可以自主跟踪和测量水下电缆的埋深。自从AE2于1997年首次下水以来，它已经进行了三次海上试验和五次电缆检查任务。检查电缆总长度超过400公里。本文介绍了该系统的基本设计概念、电缆跟踪性能、声链路以及海试结果。
{"title":"Autonomous underwater vehicle AQUA EXPLORER 2 for inspection of underwater cables","authors":"K. Asakawa, J. Kojima, Y. Kato, S. Matsumoto, N. Kato","doi":"10.1109/UT.2000.852551","DOIUrl":"https://doi.org/10.1109/UT.2000.852551","url":null,"abstract":"AQUA EXPLORER 2 (AE2) is a small-sized autonomous underwater vehicle (AUV) which can autonomously track and measure burial depth of underwater cables. Since AE2 first launched in 1997, it has carried out three sea trials and five cable-inspection missions. The total length of inspected cables exceeds 400 kilometers. In this paper, the basic design concept, cable tracking performance, acoustic links, and results of sea-trials are presented.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121778126","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}
I. Potter, E. Clavelle, G. Reader, J. Kady, M. Carl
In hydrocarbon fuelled air-independent power system research, whether an internal/external combustion heat engine, or fuel cell, an exhaust gas management system is required. In previous research many techniques have been proposed for the control and/or removal of the combustion generated exhaust products, notably heat exchangers and carbon dioxide separation techniques. However, there has been little research on the merits of one system verses another for a particular vehicle application and engine. To address the systems and their applicability to a particular power system and vehicle, the paper assesses and evaluates exhaust gas management systems for a Stirling engine driven diver propulsion vehicle.
{"title":"Exhaust gas management systems for underwater heat engines","authors":"I. Potter, E. Clavelle, G. Reader, J. Kady, M. Carl","doi":"10.1109/UT.2000.852556","DOIUrl":"https://doi.org/10.1109/UT.2000.852556","url":null,"abstract":"In hydrocarbon fuelled air-independent power system research, whether an internal/external combustion heat engine, or fuel cell, an exhaust gas management system is required. In previous research many techniques have been proposed for the control and/or removal of the combustion generated exhaust products, notably heat exchangers and carbon dioxide separation techniques. However, there has been little research on the merits of one system verses another for a particular vehicle application and engine. To address the systems and their applicability to a particular power system and vehicle, the paper assesses and evaluates exhaust gas management systems for a Stirling engine driven diver propulsion vehicle.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"205 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131398884","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}
M. Ageev, A.A. Boreyko, V.E. Gornak, Y. Matvienko, A. Scherbatyuk, Yu.V. Vanlin, V. Zolotarev
TSL (tunnel sea lion) is a specialized self-propelled underwater vehicle with data-command link to operator on a support ship by fiber-optical cable. The autonomous use of TSL is possible. TSL is designed for sonar and video inspection of extended water-filled tunnels and for shallow-water applications. A modernized version of TSL that is currently used also as a carrier of sensors and equipment for execution of different scientific programs and students projects is described in the paper.
{"title":"Modernized TSL-underwater robot for tunnel and shallow-water inspection","authors":"M. Ageev, A.A. Boreyko, V.E. Gornak, Y. Matvienko, A. Scherbatyuk, Yu.V. Vanlin, V. Zolotarev","doi":"10.1109/UT.2000.852521","DOIUrl":"https://doi.org/10.1109/UT.2000.852521","url":null,"abstract":"TSL (tunnel sea lion) is a specialized self-propelled underwater vehicle with data-command link to operator on a support ship by fiber-optical cable. The autonomous use of TSL is possible. TSL is designed for sonar and video inspection of extended water-filled tunnels and for shallow-water applications. A modernized version of TSL that is currently used also as a carrier of sensors and equipment for execution of different scientific programs and students projects is described in the paper.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132847556","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}
In hopes to expand underwater observation and research, the Institute of Industrial Science (IIS) at the University of Tokyo started an extensive research and development of autonomous underwater vehicle (AUV) in 1984. Developed AUV are the "R-One Robot" and two "Twin-Burgers" and so on. The R-One Robot is equipped with a closed cycle Diesel engine system and it successfully completed a twelve hour operation of long range autonomous diving in the Pacific Ocean in 1998. Utilizing the testbed robots, many intelligent systems, especially those for underwater vision systems have been developed, The success of these AUV at the IIS has led to the establishment of the "Underwater Technology Research Center" which opened on April 1st, 1999. This new center also plans to collaborate both nationally and internationally with other facilities for further research for development of AUV and other new underwater observation systems. This paper presents what the IIS did in the field of AUV technology and what the new research center is going to do.
{"title":"Establishment of Underwater Technology Research Center at the Institute of Industrial Science of the University of Tokyo and its activities on AUV development","authors":"T. Ura","doi":"10.1109/UT.2000.852531","DOIUrl":"https://doi.org/10.1109/UT.2000.852531","url":null,"abstract":"In hopes to expand underwater observation and research, the Institute of Industrial Science (IIS) at the University of Tokyo started an extensive research and development of autonomous underwater vehicle (AUV) in 1984. Developed AUV are the \"R-One Robot\" and two \"Twin-Burgers\" and so on. The R-One Robot is equipped with a closed cycle Diesel engine system and it successfully completed a twelve hour operation of long range autonomous diving in the Pacific Ocean in 1998. Utilizing the testbed robots, many intelligent systems, especially those for underwater vision systems have been developed, The success of these AUV at the IIS has led to the establishment of the \"Underwater Technology Research Center\" which opened on April 1st, 1999. This new center also plans to collaborate both nationally and internationally with other facilities for further research for development of AUV and other new underwater observation systems. This paper presents what the IIS did in the field of AUV technology and what the new research center is going to do.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133156122","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}
In the Gulf of Mexico, gas hydrate mounds form along intersections of faults with the sea floor. The mounds can change greatly within a matter of days or weeks. A project to install a multisensor station to monitor the sea floor and water column in the vicinity of a gas hydrate mound in the northern Gulf of Mexico has been initiated. The intention is to assemble a station which will monitor physical and chemical parameters of the sea water and bottom sediments on a more-or-less continuous basis over an extended period of time. The result will be a time varying computer model of the station's environment from which stability of the sea floor and factors associated with the formation and dissociation of gas hydrates may be assessed. Also, the data collected will be available for planning hydrate exploration and, eventually, for analyzing the impact of mining hydrates from the ocean floor.
{"title":"A remote station to monitor sea floor stability and gas hydrate outcrops in the Gulf of Mexico","authors":"J. Woolsey, T. McGee, C. Partouche","doi":"10.1109/UT.2000.852574","DOIUrl":"https://doi.org/10.1109/UT.2000.852574","url":null,"abstract":"In the Gulf of Mexico, gas hydrate mounds form along intersections of faults with the sea floor. The mounds can change greatly within a matter of days or weeks. A project to install a multisensor station to monitor the sea floor and water column in the vicinity of a gas hydrate mound in the northern Gulf of Mexico has been initiated. The intention is to assemble a station which will monitor physical and chemical parameters of the sea water and bottom sediments on a more-or-less continuous basis over an extended period of time. The result will be a time varying computer model of the station's environment from which stability of the sea floor and factors associated with the formation and dissociation of gas hydrates may be assessed. Also, the data collected will be available for planning hydrate exploration and, eventually, for analyzing the impact of mining hydrates from the ocean floor.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132639436","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}
Deals with (1) development of a three-motor-driven mechanical pectoral fin (3MDMPF) and its hydrodynamic characteristics and (2) development of an autonomous underwater vehicle equipped with the pair of 3MDMPFs named "BASS III" and its swimming performance. The flapping motion 3MDMPF can produce is effective in increasing the thrust force. BASS Ill has high maneuverability such as ascending and descending both in forward and backward directions, turning at almost same point and lateral swimming.
{"title":"Development of biology-inspired autonomous underwater vehicle \"BASS III\" with high maneuverability","authors":"Naomi Kato, Wiku W. Bugi, Yoshihiro Suzuki","doi":"10.1109/UT.2000.852520","DOIUrl":"https://doi.org/10.1109/UT.2000.852520","url":null,"abstract":"Deals with (1) development of a three-motor-driven mechanical pectoral fin (3MDMPF) and its hydrodynamic characteristics and (2) development of an autonomous underwater vehicle equipped with the pair of 3MDMPFs named \"BASS III\" and its swimming performance. The flapping motion 3MDMPF can produce is effective in increasing the thrust force. BASS Ill has high maneuverability such as ascending and descending both in forward and backward directions, turning at almost same point and lateral swimming.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122698802","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}
We present an estimation of boundary parameters and prediction of transmission loss using a sound propagation channel model based on ray acoustics, and sound propagation data collected in field experiments are presented. Comparison between the predicted results and the experiment data indicates that the adopted sound propagation channel model is effective, both the selection and estimation methods on boundary parameters are reasonable, and the prediction performance of transmission loss is favorable.
{"title":"Estimation of boundary parameters and prediction of transmission loss based upon ray acoustics","authors":"G. Yuhong, Fan Minyi, Hui Junying","doi":"10.1109/UT.2000.852571","DOIUrl":"https://doi.org/10.1109/UT.2000.852571","url":null,"abstract":"We present an estimation of boundary parameters and prediction of transmission loss using a sound propagation channel model based on ray acoustics, and sound propagation data collected in field experiments are presented. Comparison between the predicted results and the experiment data indicates that the adopted sound propagation channel model is effective, both the selection and estimation methods on boundary parameters are reasonable, and the prediction performance of transmission loss is favorable.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114499266","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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