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Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very...
Real-time detection of intermittent events requires continual monitoring and processing of sensor data. A battery-powered device that supports multiple sensing modalities and processing algorithms has the potential to save energy by using expensive sensors and algorithms only when the event of interest is most likely to occur. To develop a policy for sensing and processing management, we adopt maximum...
This paper addresses the utilization of a rapid-prototyping control methodology coupled with a real-time digital simulator to facilitate the instantiation of a 10kW multilevel neutral point clamped (NPC) converter. Multi-level converters offer a wide range of benefits due to their ability to synthesize waveforms with less quantization, resulting in lower THD; and the ability to reduce device stress...
In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization...
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