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Seabed minerals in form of ferromanganese or polymetallic nodules (PMN) have been reported in the Pacific, Atlantic, and Indian oceans. The distribution of these PMN are influenced by several factors, such as the associated topographic undulations, surface chlorophyll levels, sediment type and thickness, and water depth. Traditionally, determination of the existence and the distribution of PMN involves...
An automated docking system is presented for an autonomous underwater vehicle utilizing light-field imaging for navigation guidance. This article focuses on three major components of the system: docking position acquisition with light-field imaging, optimal docking trajectory planning, and nonlinear trajectory tracking control. With the camera sensor data of each photographic exposure, depth maps...
During the last years, the underwater inspection of industrial assets, archaeological shipwrecks or geological/biological structures has become an area of interest. Nowadays, these inspections are done by divers or remotely operated vehicles (ROVs). This paper presents a preliminary solution for planning automatic underwater inspections for an autonomous underwater vehicle (AUV) assuming an a priori...
This paper discusses the construction of search games as a planning method to optimize the effectiveness of UUV search agents. In our previous work, we applied a receiver operator characteristic (or ROC curve) to model the detection performance of search agents operating in adverse environments where false alarms are prevalent. The area search game was developed to maximize the information collected...
This paper focuses on the problem of seabed survey mission with multiple target points distributed in large scale area. To complete the survey with AUVs in minimum cost, a two-step procedure using greed strategy is presented. In the first step, the locations of so-called anchor points are found by executing k-means algorithm iteratively. In the second step, an ant-cycle system is used to find out...
Planning for oil spill response and other marine activities requires a keen understanding of the weather and other conditions that can be expected in a given area and in a given period of time. It also requires consideratios about how those conditions — wind, waves, visibility, sea ice, etc. — may challenge or preclude on-water operations. The response viability analysis methodology matches data from...
We describe an approach with considerations for the limitations of operating underwater, including low bandwidth communications, for performing UUV collaborative missions. We implement a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs to explicitly account for the limitations of operating...
Alaska's coastal communities are facing increased coastal hazards. Accurate predictive models are necessary to anticipate how various hazards may affect communities over time. Currently, erosion projections do not take into account the non-linear increase in erosion due to warming near-shore water, air, and permafrost. University of Alaska, Anchorage (UAA) is developing an arctic-capable coastal geomorphic...
Planning and controlling autonomous vehicles requires one to be aware of the state of the vehicles and their configurations, the state of environment (obstacles, weather conditions), account for possible changes in mission requirements as well as hardware failures. Operations with multiple autonomous vehicles pose advantages in many scenarios but complicate even further the job of the human operator...
In his best-selling book, War Made New, military historian Max Boot supports his thesis with historical examples to show how technological-driven “Revolutions in Military Affairs” have transformed warfare and altered the course of history. The U.S. military has embraced a wave of technological change that has constituted a true transformation of the way that military forces will fight in the 21st...
We present an intelligent autonomous underwater vehicle (AUV) in-situ sensing system with real-time, on-board, resource-aware adaptive planning, control and sampling not currently available by traditional sampling methods of ship point sampling, moorings, profilers, gliders or AUVs which lack realtime responses, on-board analysis and system-wide reasoning.
This paper presents an autonomous approach of 3-D reconstruction of underwater terrain using multi-level coverage trees. An autonomous underwater vehicle (AUV) equipped with multi-beam sonar sensors, Doppler velocity log (DVL) and inertial measurement unit (IMU) sensors is used to achieve this goal. The underwater 3-D search space is represented by a multi-level coverage tree which is generated online...
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