The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a few important practice-oriented requirements for optimal path planning for the AUV “SLOCUM Glider” as well as solutions using fast graph based algorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure...
The REMUS-100 Hull and Harbor vehicle is being developed by the Ocean Systems Laboratory (OSL) at the Woods Hole Oceanographic Institution, under Office of Naval Research (ONR) funding. The purpose of the vehicle is autonomous search and survey in close confines, such as harbors, finger piers and ship or submarine hulls. Initial tests of the system confirmed the unique suitability of this vehicle...
During processing, visualization and analysis of multi-variable oceanographic data sets from an AUV it can be challenging to both maintain overview and pay attention to detail. We here describe a software system intended to bridge this gap and discuss its application on ADCP and CTD data recently acquired by the HUGIN 1000 AUV in the Barents Sea. The software, ANCOR II, features interactive graphics...
The problem of navigation in a spatially variable current is reviewed, and for a certain class of mathematically-describable functions, solved for minimum time in closed form.
The Flying Fish unmanned seaplane, shown capable of self-managed sequences of independent flight during testing with the first generation vehicle, has been updated with the creation of second generation research vehicle that incorporates solar-energy harvesting. The new Flying Fish possesses a unique capability set that lends itself to mission concepts involving long term deployment approaching perpetual...
It is often crucial in most of today's Autonomous Underwater Vehicles (AUVs) missions that the vehicle position be known precisely. Navigation performance of an Aided Inertial Navigation System (AINS) is always limited by the accuracy of sensors. In this paper we focus on enhancing performance of the AINS via micronavigation, which exploits a so-called Displaced Phase Center Antenna (DPCA) technique...
In AUV habitat mapping and exploration missions, a prior habitat map with associated uncertainty has the potential to guide the design of AUV deployments more effectively than a bathymetric map alone. We present and characterize an approach for learning predictive models of benthic habitats as a function of seabed terrain features. The models were learned by correlating limited-coverage high resolution...
The Iver2 Autonomous Underwater Vehicle remote helm functionality provides an open system interface, which allows users to easily integrate their own sensors, and take full control over the vehicle in real time. The remote helm option provides a separate CPU to communicate with the main vehicle control CPU. The remote helm API provides all the commands when interfacing the Iver2 to a user control...
The bottom following control problem of an underactuated autonomous underwater vehicle (AUV) was addressed in this paper. In order to deal with the parameter variations and uncertainties due to time-varying hydrodynamic damps, the RBF neural network (NN) was introduced to estimate unknown terms where an adaptive law was chosen to guarantee optimal estimation of the weight of NN. Based on the Lyapunov...
The objective of the paper is to understand, characterize and enhance the achievable performance of the system of a state-of-the-art marine observation device, the Oceanserver IVER2 Autonomous Underwater Vehicle(AUV), in the Singapore coastal zone and with regard to accurate sampling of oceanographic properties. This paper discusses modifications made to the AUV, in order to make it useful for experiments...
The Wave Glider, a wave-powered unmanned maritime vehicle (UMV), represents a novel and unique approach to persistent ocean presence. Wave Gliders harvest the abundant energy contained in ocean waves to provide essentially limitless propulsion. The Wave Glider can operate as a vessel, covering long distances in the ocean, or as a station-keeping platform. Wave Gliders have demonstrated long open-ocean...
Thermoclines play a key role in ocean circulation, marine ecology, and underwater acoustics. In oceanographic surveys, it is often desirable to detect the thermocline and track its spatio-temporal variation. Mobility of an autonomous underwater vehicle (AUV) makes it an efficient platform for thermocline tracking. In this paper, we present a fully autonomous algorithm for detecting and tracking the...
Compared to traditional labor-intensive manual design approaches, automated conceptual and parametric design for unmanned underwater vehicles (UUV's) can be executed at dramatically lower cost using a novel Automated Vehicle Conceptual Design Utility (AVCDU) developed at Lockheed Martin MS2. This utility automates the UUV spiral design process in a way similar to tools from more established disciplines...
In March and April 2010, an ISE Explorer Autonomous Underwater Vehicle (AUV), built for Natural Resources Canada (NRCan), was deployed to Canada's high Arctic. Its mission was to undertake under-ice bathymetric surveys in support of Canada's submission to establish the outer limits of its continental shelf under the United Nations Convention on the Law of the Sea (UNCLOS). During this deployment several...
Inspection Repair and Maintenance (IRM) of Deepwater Oil and Gas infrastructure is currently limited to the capability provided by today's work class Remotely Operated Vehicles. A significant portion of ROV operations underutilize their work capabilities for routine tasks such as inspection, survey, and light intervention and yet still require large dynamically positioned surface vessels and large,...
Autonomous underwater vehicles (AUVs) have the demonstrated technical capability to support environmental characterization for commercial, research, and military applications. The track record of AUVs in this mission area over the past decade has resulted in a growing confidence in the reliability and performance of AUVs, and with this confidence comes a rapid increase in the expected breadth and...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
Inertial measurement units (IMUs) are widely used for navigation and calibration purposes on unmanned autonomous vehicles. This paper provides a comparative survey and evaluation of the low-cost IMUs focusing on both the possible sensor packages and the available software solutions. Several example IMUs are compared in detail including inertial only IMUs, GPS-coupled IMUs, and hobbyist-level IMUs...
This paper describes a new filtering framework of multisensor fusion and its application to the low-cost strapdown inertial navigation system of an Unmanned Aerial Vehicle (UAV). The navigation system fuses various sources of sensor information from low-cost sensor suites such as an Inertial Measurement Unit (IMU), a Global Positioning System (GPS), and a three-axis magnetometer in the new framework...
In this paper we present the design and implementation of a telematic network to provide real-time location based services for tactical units which interconnects soldiers, weapons systems, fire control units, sensors, reconnaissance and surveillance radars, as well as unmanned aerial vehicles, with company-level command and control centers to the national center at the command level and the Defense...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.