This article focuses on the problem of identifying and discriminating trajectories (as sequences of situations connected by transition-dynamics) in a mobile robot setup. The continuous time dynamics are segmented and scaled by transition sensations between significantly different static situations. The complementary information out of static attractors and dynamical transitions is fused in a canonical way and under hard real-time constraints. Based on the generated and continuously adapted trajectory models, a global topological model is maintained and attributed suiting the needs of robust qualitative navigation tasks. Neither a global position nor any other global metrical description is generated or employed by this approach, thus it is not meant to fulfil global precision requirements. The presented results describe physical experiments with autonomous robots in unprepared environments.
{"title":"Global spatial modeling based on dynamics identification according to discriminated static sensations","authors":"E. Barakova, U. Zimmer","doi":"10.1109/UT.2000.852566","DOIUrl":"https://doi.org/10.1109/UT.2000.852566","url":null,"abstract":"This article focuses on the problem of identifying and discriminating trajectories (as sequences of situations connected by transition-dynamics) in a mobile robot setup. The continuous time dynamics are segmented and scaled by transition sensations between significantly different static situations. The complementary information out of static attractors and dynamical transitions is fused in a canonical way and under hard real-time constraints. Based on the generated and continuously adapted trajectory models, a global topological model is maintained and attributed suiting the needs of robust qualitative navigation tasks. Neither a global position nor any other global metrical description is generated or employed by this approach, thus it is not meant to fulfil global precision requirements. The presented results describe physical experiments with autonomous robots in unprepared environments.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"36 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":"125068179","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}
Submersible vehicles in composites have higher efficiency (low weight-to-displacement ratio) than vehicles in metal materials. The sandwich shell has a high buckling resistance load due to its high stiffness. The material failure strength is predicted by applying the Cai-Wu failure criterion, and the buckling load is calculated by applying the buckling theory considering of the effects of shear deformation. The paper introduces the research of the effects of the lamination configuration and the thickness of sandwich cores on the collapse depth and also analyzes the influences of the thickness of sandwich faceplates and thickness of sandwich cores on the collapse depth. The conclusion drawn from the paper can be applied for the design of submersible vehicle.
{"title":"Design of submersible vehicles in sandwich composites","authors":"L. Tao, X. Qinan, C. Jianping, Qian Min","doi":"10.1109/UT.2000.852557","DOIUrl":"https://doi.org/10.1109/UT.2000.852557","url":null,"abstract":"Submersible vehicles in composites have higher efficiency (low weight-to-displacement ratio) than vehicles in metal materials. The sandwich shell has a high buckling resistance load due to its high stiffness. The material failure strength is predicted by applying the Cai-Wu failure criterion, and the buckling load is calculated by applying the buckling theory considering of the effects of shear deformation. The paper introduces the research of the effects of the lamination configuration and the thickness of sandwich cores on the collapse depth and also analyzes the influences of the thickness of sandwich faceplates and thickness of sandwich cores on the collapse depth. The conclusion drawn from the paper can be applied for the design of submersible vehicle.","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":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129438660","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, G. Reader, E. Clavelle, J. Kady, M. Carl
The need to commercially, scientifically and militarily exploit the oceans has increased dramatically over the last 30 years. With this requirement has been generated the need for efficient underwater vessels capable of extended endurance, autonomy, high reliability and increased power density. In the past the majority of these vessels have been powered by secondary batteries, however, with the previous criteria in mind, batteries are in many instances no longer capable of meeting mission objectives. Advancements in air independent heat engines requires the use of stored chemical energy, normally in the form of hydrocarbon fuel and an oxidant. In the latter case, the oxidant volumetric and gravimetric storage densities can be changed by storing or deriving the oxygen from several different sources such as pure oxygen, oxygen rich compounds and oxygen extraction from seawater by electrolysis or membranes. Each oxygen source offers a different oxygen liberation capability, as well as dissimilar storage densities. Apart from the physical properties of the different oxidants, they each require a different type of containment and operating system. All of these factors will affect the total oxygen system weight and volume requirements. To understand the trade-offs involved in the oxidant system used for a particular vehicle and mission profile, this paper assesses the selection and evaluation of the possible oxygen sources required for hydrocarbon fuelled heat engines.
{"title":"Oxidant selection and evaluation for subsea power systems","authors":"I. Potter, G. Reader, E. Clavelle, J. Kady, M. Carl","doi":"10.1109/UT.2000.852555","DOIUrl":"https://doi.org/10.1109/UT.2000.852555","url":null,"abstract":"The need to commercially, scientifically and militarily exploit the oceans has increased dramatically over the last 30 years. With this requirement has been generated the need for efficient underwater vessels capable of extended endurance, autonomy, high reliability and increased power density. In the past the majority of these vessels have been powered by secondary batteries, however, with the previous criteria in mind, batteries are in many instances no longer capable of meeting mission objectives. Advancements in air independent heat engines requires the use of stored chemical energy, normally in the form of hydrocarbon fuel and an oxidant. In the latter case, the oxidant volumetric and gravimetric storage densities can be changed by storing or deriving the oxygen from several different sources such as pure oxygen, oxygen rich compounds and oxygen extraction from seawater by electrolysis or membranes. Each oxygen source offers a different oxygen liberation capability, as well as dissimilar storage densities. Apart from the physical properties of the different oxidants, they each require a different type of containment and operating system. All of these factors will affect the total oxygen system weight and volume requirements. To understand the trade-offs involved in the oxidant system used for a particular vehicle and mission profile, this paper assesses the selection and evaluation of the possible oxygen sources required for hydrocarbon fuelled heat engines.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"1 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":"116547261","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}
Y. Osada, H. Fujimoto, K. Koizumi, T. Kanazawa, H. Murakami
The authors carried out an experiment in April 1999 by using a 2 m-square surface buoy and the RV Tansei-maru, Ocean Research Institute, University of Tokyo. Three GPS antennae were fixed on the top of the buoy and an acoustic transducer on the bottom. GPS reference station for kinematic GPS positioning from the study area was set at Aburatsubo, about 35 km away. Both the reference station and the GPS receivers installed on the buoy were recorded at 1 Hz sampling. An acoustic ranging system was developed under the Ocean Hemisphere Project, but the resolution of the acoustic ranging was 10 cm. Three acoustic transponders were deployed on the seafloor at about 1400 m water depth. The authors carried out acoustic positioning every 20 s for 30-60 minutes. The effect of motion of the buoy was only removed using the data of the GPS receivers; the problem was that timing of acoustic measurements was not so precise. The repeatability of the buoy's positioning is estimated to be 20-30 cm. The objective was to establish sea-floor reference points for the measurement of tectonic plate movements and crustal deformations.
{"title":"Precise acoustic ranging and positioning: a progress report","authors":"Y. Osada, H. Fujimoto, K. Koizumi, T. Kanazawa, H. Murakami","doi":"10.1109/UT.2000.852561","DOIUrl":"https://doi.org/10.1109/UT.2000.852561","url":null,"abstract":"The authors carried out an experiment in April 1999 by using a 2 m-square surface buoy and the RV Tansei-maru, Ocean Research Institute, University of Tokyo. Three GPS antennae were fixed on the top of the buoy and an acoustic transducer on the bottom. GPS reference station for kinematic GPS positioning from the study area was set at Aburatsubo, about 35 km away. Both the reference station and the GPS receivers installed on the buoy were recorded at 1 Hz sampling. An acoustic ranging system was developed under the Ocean Hemisphere Project, but the resolution of the acoustic ranging was 10 cm. Three acoustic transponders were deployed on the seafloor at about 1400 m water depth. The authors carried out acoustic positioning every 20 s for 30-60 minutes. The effect of motion of the buoy was only removed using the data of the GPS receivers; the problem was that timing of acoustic measurements was not so precise. The repeatability of the buoy's positioning is estimated to be 20-30 cm. The objective was to establish sea-floor reference points for the measurement of tectonic plate movements and crustal deformations.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"57 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":"128176176","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 November 1999, the Naval Oceanographic Office and the Naval Meteorology and Oceanography Command hosted the third annual AUV Fest in the Gulf of Mexico north of Ship Island, MS. The participants were several AUV research groups funded by the office of Naval Research. The vehicles were from Florida Atlantic University, Lockheed-Perry Corp., Woods Hole Oceanographic Institution, the Naval Postgraduate School, and the Autonomous Undersea Systems Institute. The demonstrations consisted of a series of exercises and tasks designed to test the ability of these vehicles to collect military and scientific oceanographic data. These missions included near-shore rapid environmental assessment and mine detection, the results of these demonstrations are presented from the navy viewpoint of using the AUV as a practical tool for data collection for operational support.
{"title":"Results of the 1999 Naval Oceanographic Office AUV technology demonstration (AUV Fest '99)","authors":"K. Schexnayder, W. C. Pettway, K. Sharp","doi":"10.1109/UT.2000.852549","DOIUrl":"https://doi.org/10.1109/UT.2000.852549","url":null,"abstract":"In November 1999, the Naval Oceanographic Office and the Naval Meteorology and Oceanography Command hosted the third annual AUV Fest in the Gulf of Mexico north of Ship Island, MS. The participants were several AUV research groups funded by the office of Naval Research. The vehicles were from Florida Atlantic University, Lockheed-Perry Corp., Woods Hole Oceanographic Institution, the Naval Postgraduate School, and the Autonomous Undersea Systems Institute. The demonstrations consisted of a series of exercises and tasks designed to test the ability of these vehicles to collect military and scientific oceanographic data. These missions included near-shore rapid environmental assessment and mine detection, the results of these demonstrations are presented from the navy viewpoint of using the AUV as a practical tool for data collection for operational support.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"2009 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":"132821895","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}
The US Navy has conducted numerous studies on the use of unmanned submersibles, largely for high-risk missions where there is a significant probability of loss of life. In 1988, the Naval Surface Warfare Center, White Oak Detachment, under the sponsorship of the Office of Naval Technology, funded an exploratory development contract to Texas A&M University (TAMU) to develop a controller for Naval Autonomous Underwater Vehicles. The resulting control concept was fully developed and demonstrated, in both laboratory and at-sea tests. The paper discusses the laboratory and at-sea validation of the TAMU autonomous underwater vehicle controller.
{"title":"The Texas A&M University autonomous underwater vehicle controller","authors":"E. Nelson, S. McClaran, G. Williams, M. McDermott","doi":"10.1109/UT.2000.852507","DOIUrl":"https://doi.org/10.1109/UT.2000.852507","url":null,"abstract":"The US Navy has conducted numerous studies on the use of unmanned submersibles, largely for high-risk missions where there is a significant probability of loss of life. In 1988, the Naval Surface Warfare Center, White Oak Detachment, under the sponsorship of the Office of Naval Technology, funded an exploratory development contract to Texas A&M University (TAMU) to develop a controller for Naval Autonomous Underwater Vehicles. The resulting control concept was fully developed and demonstrated, in both laboratory and at-sea tests. The paper discusses the laboratory and at-sea validation of the TAMU autonomous underwater vehicle controller.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"42 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":"132329346","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}
Automatic wet welding technique with local dry space by water jet curtain has proved its high quality of mechanical properties in weld metal. The most important point to keep high weld quality is precise nozzle positioning. The light cutting method by slit laser beam is promising for shape recognition in air condition. Water proof containers for laser emitter and video camera were prepared for underwater seam tracking of weld line in turbid water. A total light path length in turbid water was shortened as far as possible by acrylic windows on laser emitter and video camera to improve image quality. Emitted laser line became dim by scattering through turbid water. However, it was able to detect groove geometry. Good seam tracking can be carried out. Another trial to get cleat image was carried out by ultrasonic beam scanning; groove geometry can be extracted even when the see-through length is less than 15 mm.
{"title":"Image processing for wet welding in turbid condition","authors":"Y. Ogawa","doi":"10.1109/UT.2000.852587","DOIUrl":"https://doi.org/10.1109/UT.2000.852587","url":null,"abstract":"Automatic wet welding technique with local dry space by water jet curtain has proved its high quality of mechanical properties in weld metal. The most important point to keep high weld quality is precise nozzle positioning. The light cutting method by slit laser beam is promising for shape recognition in air condition. Water proof containers for laser emitter and video camera were prepared for underwater seam tracking of weld line in turbid water. A total light path length in turbid water was shortened as far as possible by acrylic windows on laser emitter and video camera to improve image quality. Emitted laser line became dim by scattering through turbid water. However, it was able to detect groove geometry. Good seam tracking can be carried out. Another trial to get cleat image was carried out by ultrasonic beam scanning; groove geometry can be extracted even when the see-through length is less than 15 mm.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"6 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":"121677044","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 past, ensuring safe diving operations on coastal construction projects has typically been the sole responsibility of the individual divers. However, it takes a concerted effort by both the project proponent as well as the construction contractor to guarantee a safe dive operation. Conducting successful underwater construction requires state-of-the-art equipment, specialized training and the ability to adapt to a constantly changing work and natural environment. The paper elaborates on the US Army Corps of Engineers' dive regulations and its intent. The paper addresses the differences between construction diving and engineering inspection diving. The author shows specific examples of diving operations at construction projects in the Pacific.
{"title":"Safe diving operations on near-shore coastal construction projects","authors":"D. Meyers","doi":"10.1109/UT.2000.852594","DOIUrl":"https://doi.org/10.1109/UT.2000.852594","url":null,"abstract":"In the past, ensuring safe diving operations on coastal construction projects has typically been the sole responsibility of the individual divers. However, it takes a concerted effort by both the project proponent as well as the construction contractor to guarantee a safe dive operation. Conducting successful underwater construction requires state-of-the-art equipment, specialized training and the ability to adapt to a constantly changing work and natural environment. The paper elaborates on the US Army Corps of Engineers' dive regulations and its intent. The paper addresses the differences between construction diving and engineering inspection diving. The author shows specific examples of diving operations at construction projects in the Pacific.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"123 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":"122154911","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}
The Australian Maritime Engineering Cooperative Research Centre, in collaboration with the Defence Science and Technology Organisation (DSTO) and Curtin University, has been involved in the determination of the hydrodynamic characteristics of uninhabited underwater vehicles (UUV) used by the Royal Australian Navy and the offshore oil and gas industry. These characteristics are essential for the design of low level motion controllers and for the development of computer simulations. DSTO has designed and built a horizontal planar motion mechanism (HPMM), the first facility of its type in Australia, specifically for the determination of the manoeuvring characteristics of UUVs. The capability of the HPMM facility, and of the additional facilities located at the Australian Maritime College, are presented. The preliminary results of a project is also presented. The aim of the project was to determine the effect on the manoeuvring characteristics of a generic flatfish UUV of lateral thruster ducts.
{"title":"Hydrodynamic testing of underwater vehicles at the Australian Maritime Engineering Co-operative Research Centre","authors":"A. Heron, A. Duncan, B. Anderson","doi":"10.1109/UT.2000.852590","DOIUrl":"https://doi.org/10.1109/UT.2000.852590","url":null,"abstract":"The Australian Maritime Engineering Cooperative Research Centre, in collaboration with the Defence Science and Technology Organisation (DSTO) and Curtin University, has been involved in the determination of the hydrodynamic characteristics of uninhabited underwater vehicles (UUV) used by the Royal Australian Navy and the offshore oil and gas industry. These characteristics are essential for the design of low level motion controllers and for the development of computer simulations. DSTO has designed and built a horizontal planar motion mechanism (HPMM), the first facility of its type in Australia, specifically for the determination of the manoeuvring characteristics of UUVs. The capability of the HPMM facility, and of the additional facilities located at the Australian Maritime College, are presented. The preliminary results of a project is also presented. The aim of the project was to determine the effect on the manoeuvring characteristics of a generic flatfish UUV of lateral thruster ducts.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"20 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":"126722793","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}
The ocean represents 97% of the worlds biological habitat. It is also the mantel which covers 70% of the world's surface through which we reach for aggregates, places of gold and diamonds, petroleum and gas deposits, food and metaliforous deposits as well as defend our sovereign interests and as a dump for waste. ROVs are being and AUVs will be used as platforms to explore and exploit the world's oceans. The paper considers current ROV and AUV applications, proposes new missions, reviews design issues and considers design directions of new vehicles and explores the potential of heterogeneous systems which use vehicles in conjunction with bottom mounted sensors which are connected to a shore based station.
{"title":"Underwater technology 2000 ROVs and AUVs: tools for exploring, exploiting and defending the ocean frontier","authors":"J. McFarlane","doi":"10.1109/UT.2000.852588","DOIUrl":"https://doi.org/10.1109/UT.2000.852588","url":null,"abstract":"The ocean represents 97% of the worlds biological habitat. It is also the mantel which covers 70% of the world's surface through which we reach for aggregates, places of gold and diamonds, petroleum and gas deposits, food and metaliforous deposits as well as defend our sovereign interests and as a dump for waste. ROVs are being and AUVs will be used as platforms to explore and exploit the world's oceans. The paper considers current ROV and AUV applications, proposes new missions, reviews design issues and considers design directions of new vehicles and explores the potential of heterogeneous systems which use vehicles in conjunction with bottom mounted sensors which are connected to a shore based station.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"1 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":"129266055","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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