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Terrain-aided navigation is well known as an autonomous navigation method for aircrafts, missiles, underwater vehicles, and etc. The performance of iterative closest contour point (ICCP) algorithm is investigated in this paper deeply. The factors, including, the INS (inertial navigation system) precision, the map resolution, initial INS errors, the sonar accuracy, and the matching path length, which...
This paper presents the experimental results from testing a nonlinear observer on data obtained by an Autonomous Underwater Vehicle (AUV). The observer is modified to only use a pressure sensor instead of position and velocity measurements obtained from a Global Navigation Satellite System (GNSS) receiver. The observer utilizes the pressure sensor as a measurement of depth and the observer is therefore...
This paper describes the design and implementation of a robust position tracking control scheme for an Autonomous Underwater Vehicle (AUV). The proposed controller does not require knowledge of the vehicle's dynamic parameters and guarantees prescribed transient and steady state performance despite the presence of external disturbances acting on the vehicle. The resulting scheme is of low complexity...
This paper presents a novel Vision-based Nonlinear Model Predictive Control (NMPC) scheme for an under-actuated underwater robotic vehicle. In this scheme, the control loop does not close periodically, but instead a self-triggering framework decides when to provide the next control update. Between two consecutive triggering instants, the control sequence computed by the NMPC is applied to the system...
This paper proposes an efficient neural network (NN) controller for the tracking control of an autonomous underwater vehicles (AUV) subject to unknown vehicle dynamics and significant uncertainties. The controller is first designed based on the error dynamics by using backstepping technique. Then, the unknown dynamics and uncertainties of the vehicle are handled by introducing a NN with single-layer...
This paper proposes an UKF(unscented Kalman filter) method for localization and sea level estimation of an underwater vehicle. The method uses the information of both the seabed geometry and depth of the vehicle from sea surface. Since the sea level fluctuates with time due to tide, wave, and precipitation, depth of the vehicle and range data to seabed sometimes mislead the location estimation. If...
A hybrid underwater glider Petrel-II is presented in this paper. It combines behaviors of traditional autonomous underwater vehicle and those of autonomous underwater gliders. It can dive along a saw-tooth trajectory in the gliding mode and autonomously cruise in the level-flight mode. It is characterized by long endurance, long fight range, high cost efficiency, and good maneuverability. The hydrodynamic...
This paper shows that a comprehensive multivariable approach of autopilot design that mixes sliding mode and PID leads to robustly satisfactory results for underwater mobile robot. The 6-DOF linear equations of motion can be divided into three subsystems for speed control, steering, and diving. The sliding mode algorithm is designed for steering control and PID is used for diving and speed control...
Ocean science with a focus on hadal zones is now called hadal science. The study of hadal science needs the special technology support such as landers, unmanned submersibles and manned submersibles. Sending deployments to hadal depths is technically challenging and expensive, consequently, our current understanding of hadal ecological structure is still very much in its infancy. The hadal trenches...
Numerical simulations of hydrodynamic noise are made based on the Large Eddy Simulation for both flow-induced noise and noise from the flow-induced vibration of shell and propeller of an underwater vehicle. All hydrodynamic noises are predicted by using Lighthill's acoustic analogy method, and their variation characteristics along the axial and transverse directions, the radiation directivity and...
With the depletion of land resources, marine resources development and utilization become increasingly apparent. Accompanied by the development of marine resources from nearshore extension to the deep ocean, Unmanned Underwater Vehicles (UUVs) become key instruments. Generally, UUVs include autonomous and tethered types; each has its advantages and disadvantages. Through the use of combined vehicle...
Underwater data collection by using Autonomous Underwater Vehicles (AUVs) is increasing within the oceanographic research community. AUVs are remarkable machines that processed data for gathering local bathymetric information, which have been developed, investigated and utilized for various purposes. In this study, the Iver2 AUV is examined to accomplish location mapping by well-planned trajectory...
As the need and applications of Autonomous Underwater Vehicles (AUVs) increase day by day, the research on AUVs become a popular and important topic now a days. A good number of publications are available periodically. Unfortunately till now a review report on current status of the works done on AUVs is hard to find in literature. This paper presents a comprehensive survey on recent works done on...
This paper presents the construction and control of a turtle-like underwater vehicle, which uses four single axis oscillation flippers for swimming and attitude control. The maneuvers are realized by the composition of appropriate angular offset, vibration amplitude and vibration frequency of the flippers. After analyzing the actuated flippers' motion and the swimming gait, a CPG-based (central pattern...
Vehicle equipment remote fault diagnosis and maintenance are advanced equipment maintenance and support technology emerging with development of computer network communication technology. Operation and maintenance support personnel is closely linked up on-site, by the computer network, with maintenance and support specialist at the base, through which experts at the base provide timely and accurate...
This paper will show how AUV and ROV can complement each other in a scientific mapping campaign in the Trondheim Fjord. To complete this survey, a multidisciplinary approach was necessary to adapt the industrial and military technology to identify and map object of interest (OOI) on the seafloor. NTNU AUR-Lab and FFI mobilized for a collaborative cruise with ROV Minerva equipped with: video camera,...
The coordination between a fleet of ocean automatic vehicles is an interesting area of research. The communication between an Autonomous Underwater Vehicle AUV and in-shore stations is a difficult question. Satellite communications are expensive; they provides only a limited bandwidth and the link is not always guaranteed when it is needed. High speed communications are difficult from underwater vehicles...
Undersea gliders have the capability of travelling further than conventional propelled autonomous vehicles. Their long endurance enables marine scientists to perform in situ observations in a sustainable way, which thus far has only been possible with moorings and surface vessels. In terms of functionality undersea gliders can meet the desired observation requirement. However, previous reliability...
Research for the global warming, submarine earthquake or any ocean environmental fluctuation needs huge range observation. In order to gather various seawater data efficiently, Autonomous Underwater Vehicle (AUV) is very useful. Because the vehicle is able to cruise without tether cable joined to support vessel, and gather data and samples automatically. The development of the power source is one...
This paper addresses the modeling and experimental identification of six degree-of-freedom (6-DOF) coupled nonlinear second order plant models for low-speed, fully-actuated, and neutrally buoyant open-frame underwater vehicles. We report a comparative experimental evaluation of six different candidate plant models whose unknown plant parameters are estimated from data obtained in free-motion vehicle...
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