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Game theory is a tool that may be used to model a player as an intelligent being - one who seeks to optimize his own performance while taking into account the performance of his opponent. However, it is often challenging to apply the theory in practice. In the naval environment, this approach may be used, for instance, to find the best strategy for an Autonomous Underwater Vehicle (AUV) while considering...
The use of Autonomous Underwater Vehicles (AUVs) is now widespread among the underwater observation and survey. Because AUVs are not restricted by an umbilical cable, we think that AUVs have the most suitable form to collect ocean data or work depending on subjects of survey efficiently in the same way as the sea lives with various forms. For example, form to collect ocean data while cruising in a...
Autonomous Underwater Vehicle (AUV) technology has significant research potential, specifically for harsh maritime environment operations. Memorial University of Newfoundland recognized this potential and in 2005 the University commissioned an International Submarine Engineering Explorer AUV to be built. The Marine Environmental Research Lab for Intelligent Vehicles (MERLIN) was established to manage,...
This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF prioritization depending on which maneuver the vehicle is about to do. DOF prioritization has allowed us...
This paper explored the opportunities for using unmanned surface vehicles for anti-submarine warfare. Areas of the problem where such vehicles are likely to contribute value are discussed, along with an approach for developing and utilizing such vehicles.
JAMSTEC has been developed underwater vehicles and observation equipments required for a variety of study about oceanography. Among the many research fields about deep-sea, in Japan there has been a growing interest in seabed resources from a few years ago. Then we had developed an AUV “Yumeiruka” to perform seabed resource survey. As one of the most significant feature of the shape of “Yumeiruka”,...
Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication. In this paper, we propose an approach for near-surface waterborne...
This paper proposes a method of ice-relative dead reckoning for underwater vehicles operating beneath moving sea ice. Our proposed method integrates vehicle velocities in a geodeitically-referenced frame through the use of a vehicle-mounted upward-looking Doppler sonar to measure relative ice-vehicle velocities, vehicle-mounted north-seeking gyrocompass to estimate vehicle heading, and two deployable...
Development of localization method is crucial for underwater vehicles to navigate in underwater environments. This paper presents a method of localization for underwater vehicles using acoustic signal. Artificial underwater acoustic sources are used as landmarks in underwater environment and underwater vehicle performs localization by acquiring acoustic signals transmitted from the sources. TDOA based...
This paper proposes a rapid path-planning and replanning system for Unmanned Underwater Vehicles (UUVs) that navigate in environments where subsea structures and other vehicles may be present. The proposed method is based on the Voronoi diagram, which is used to generate an initial set of connected waypoints (a roadmap) in the three-dimensional (3D) space, ensuring a certain clearance to avoid collisions...
Japan Agency for Marine Earth Science and Technology (JAMSTEC) has started a new project “submarine resource research project” in April 2011. We decided to advance the development of work class ROV “KAIKO Mk-IV” as fourth KAIKO's vehicle applied for submarine resource exploration. “KAIKO Mk-IV” construction started in April 2011 and it completed in March 2013. Then, its sea trials have been carried...
In this paper, a robust stereo vision-based sea docking for autonomous underwater vehicles (AUVs) for sea bottom battery recharging is presented. Docking station is unidirectional one which requires high homing accuracy and robustness against difference disturbances. Real-time pose tracking was developed using stereo vision from two cameras and known 3D marker. Real time relative pose estimation was...
This paper presents a hybrid visual servo controller for underwater vehicles by exploiting a combination of measured Euclidean information and image information of a single feature. A dynamic inversion-based neural network control scheme is proposed for tracking of the reference trajectory generated from a constant target pose. A single-hidden-layer (SHL) feedforward neural network, in conjunction...
A control algorithm for velocity tracking of autonomous underwater vehicles (AUV) is presented in this work. The controller is realized using the transformed equations of motion obtained from the inertia matrix decomposition. The control gains contain dynamics of the vehicle, which cause that the motion strictly depend on the system parameters. The stability of the system together with the controller...
In recent times, we may notice some new designs of underwater vehicles, which imitate living underwater organisms, e.g. a fish. These vehicles are called biomimetic. They are driven by undulating propulsion, imitating wavy motion of fins. In the paper, problem of mathematical modeling of underwater vehicle with undulating propulsion is undertaken. This model can be used, e.g. for initial tuning of...
In this paper a mathematical model for the whole control system (vehicle, steering gear and controller) is presented. The system was subjected to a few different optimization methods: Ultimate Sensitivity Tuning Method, Systematic Tuning Method, as well as a cost function (integral of quadratic dynamic error). This criterion is used to minimize a fuel consumption. Selection of the controller is examined...
In this paper, control reconfiguration problem in a team of multi-agent systems subject to actuator faults and environmental disturbances is studied. The proposed distributed control strategy has the capability of being reconfigured by using local information when a fault is detected and identified. It ensures that in absence of disturbances the faulty agent errors remain bounded while its output...
Recently, increasing efforts have been focused on the development and adoption of autonomous underwater vehicles (AUVs) for various applications. However, the GPS signals are usually unavailable, the vehicle dynamics is very uncertain, and the complicated vision based localization algorithms may not work well in the underwater environments. Hence, accurate and timely state estimation using low-cost...
Underwater vehicles have been developed over the last six decades for potential uses in scientific, commercial, environmental, and military purposes, and always utilized to perform difficult tasks in cluttered environments such as deep-sea mining, underwater sampling and oceanic investigations. Since underwater vehicles have nonlinear and highly coupled dynamics, motion control can be difficult when...
The paper describes the development and the main characteristics of a low-cost Unmanned Underwater Vehicles (UUV) built by the Mechatronics and Dynamic Modelling Laboratory (MDM Lab) of the University of Florence. This vehicle is named FeelHippo, and it is an Autonomous Underwater Vehicle (AUV) purposely developed to participate to the 2013 edition of the Student Autonomous Underwater Vehicle Challenge-Europe...
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