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Development of an autonomous unmanned surface vehicle (USV) that may serve as a mother ship for a small unmanned aerial vehicle (UAV) and a small autonomous underwater vehicle (AUV), in support of surface autonomy in sensing and surveillance missions, is described. The USV development includes implementation of low-level controls, stereovision perception, and a task-oriented high-level planner, which...
A graphical tool to qualitative analysis of underwater unmanned vehicles and cable-like flexible structures is presented. The software provides a realistic virtual environment where the dynamic behavior of different underwater systems can be studied from numerical simulation to generate animations.
Rapid technical advancement has seen a move away from more traditional methods of mine clearance operations such as the use of divers in favour of using unmanned and remote vehicles. Remotely Operated Vehicles (ROVs) are now used extensively in offshore and military operations for complex inspection tasks where Dynamic Positioning (DP) software is used to reduce operator workload and provide stability...
Traditionally unmanned undersea vehicles (UUVs) have been large, complex and expensive. Development of UUVs has been driven by defense and commercial requirements. This has allowed for extensive research and development budgets and long development cycles. This paper briefly discuses these historic drivers and how this situation has changed. It focuses on a new compact affordable UUV. In 2015, several...
The global need for sustainable development has never been greater. Solutions to provide food, water, energy and economic security to a growing global population that is increasingly coastal will necessarily involve the ocean. Every coastal country should be able to monitor their own waters, share their data as appropriate, and respond to actionable forecasts and information that supports a sustainable...
The islands have plentiful renewable energy resources. Fully use of these renewable energy sources will greatly improve the power supply capacity and quality of the offshore micro grid. Considering the randomness and intermittence of the output of these renewable energy sources, it is a good choice to add energy storage devices into the grid to improve the reliability and stability of the system output...
Docking an autonomous underwater vehicle is a critical part of many current and envisioned Navy, commercial, and scientific missions. In the Defense Advanced Research Projects Agency's (DARPA) Tactical Undersea Network Architectures (TUNA) program, docking a vehicle is a key enabler for several of the proposed concepts of operation. To support the program, a series of risk reduction tests were performed...
A real sea survey result of sea floor at Middle Okinawa Trough by a hovering type AUV (Autonomous Underwater Vehicle) HOBALIN is reported. The depth of the survey target area is almost the intended limit of the AUV and it was the first time for the AUV to dive down to that depth since the AUV dived first time into the real sea almost one year ago. The operation of the survey with the AUV was done...
In the past years the Autonomous Underwater Vehicle technology has increased in complexity and expanded its role in the subsea environment. More and more, AUVs are performing critical and key activities. Therefore, Reliability of AUV systems is a topic with crescent relevance in the underwater field. When developing a complex system such as an AUV some issues might appear during the execution of hardware...
Traditional methods of system verification call for the repeated exercise of that system in its intended environment to give confidence that it will operate as designed. Autonomous systems, however, are systems designed for sophisticated operation in stochastic environments that specifically handle the unexpected; testing all possible operational scenarios for such systems is intractably complex....
Autonomous underwater vehicles (AUVs) used to locate multiple acoustic-tagged fish have previously been unable to alter their pre-programmed search paths to obtain precise position estimates. This problem is solved by the development of payload control software (Synthetic Aperture Override, SAOVR) that initiates maneuvers with trajectories favorable for estimating the tag's location from a synthetic...
In this paper we consider the problem of autonomous landing on a horizontally moving platform with vertical unpredictable oscillatory dynamics using a quadrotor system. The quadrotor is equipped with an external Raspberry PI as a companion computer used for communications. The task is divided in two subproblems: tracking and landing. We present the algorithms involved for the entire procedure; a PI...
In this paper we present a proof-of-concept for an hydro acoustic fish-tag position estimation and tracking system. In our field-tested concept, a formation of Unmanned Surface Vehicles (USV) creates a mobile array of low-cost hydro acoustic fish-tag receivers. The array of receivers is able to estimate fish-tag locations and follow the fish on open waters, significantly increasing capabilities as...
One of the most common ways of collecting ocean data is to deploy sensors from the surface, allowing to understand the variation of water properties with depth. Autonomous vertical profilers are robotic vehicles that replace human operators in this task. They form a particular class of autonomous underwater vehicles that move predominantly along the vertical axis, typically with reduced control on...
This paper proposes a novel online software nonlinearity correction algorithm for acoustic active monitoring in aquatic environments. Based on irregular time resampling (time warping), coupled with statistical estimation, the estimated reference function is available for further match filtering at the reception.
Caches are traditionally organized as a rigid hierarchy, with multiple levels of progressively larger and slower memories. Hierarchy allows a simple, fixed design to benefit a wide range of applications, since working sets settle at the smallest (i.e., fastest and most energy-efficient) level they fit in. However, rigid hierarchies also add overheads, because each level adds latency and energy even...
PHP is the dominant server-side scripting language used to implement dynamic web content. Just-in-time compilation, as implemented in Facebook's state-of-the-art HipHopVM, helps mitigate the poor performance of PHP, but substantial overheads remain, especially for realistic, large-scale PHP applications. This paper analyzes such applications and shows that there is little opportunity for conventional...
This paper demonstrates the usage of Kvazaar open-source HEVC intra encoder in 4K real-time video encoding. In this setup, a raw 4K video is shot by an action camera, captured by an HDMI capture card, encoded in real-time by Kvazaar ultrafast preset on a 22-core Intel Xeon processor, sent to a laptop, and decoded by OpenHEVC decoder for playback. The encoding process is visualized on the fly by Kvazaar...
Unit testing is based on the idea that units under test behave in a reproducible and deterministic way. If the unit's code is dependent on external context factors like time or location, these factors have to be controlled in order to produce meaningful results. Spaced repetition mobile learning games in which users are reminded to play at time intervals are based on previous user interaction with...
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