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Signal Processing and Data Fusion for Autonomous Undersea Vehicles
Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology,, 2005The strategic and tactical applications for autonomous submersibles place great demands on the platforms' passive sonar signal and data processing abilities. It is necessary to overcome the limited acoustic aperture and lack of human supervision by exploiting synergism between front-end signal processing functions and back-end data fusion algorithms ...
J.W. Irza, M.N. Desai
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Underwater docking of autonomous undersea vehicles using optical terminal guidance
Oceans '97. MTS/IEEE Conference Proceedings, 2002Missions in which an autonomous undersea vehicle docks with an underwater node for the purpose of battery recharging and/or data transfer greatly increase the scope of potential applications possible with UUVs. Robust and accurate vehicle guidance to a small, simple and reliable docking structure is a critical capability which must be developed in ...
S. Cowen, S. Briest, J. Dombrowski
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Identifying the parameters of a dynamic autonomous undersea vehicle — environment system
Optoelectronics, Instrumentation and Data Processing, 2008A method for identifying some parameters of a dynamic undersea vehicle — environment system, such as a moment of inertia of rotating drive components with regard to the adjoint moments of inertia and a viscous friction factor of a propeller, is proposed. Simulation validated the high rate of convergence of the desired parameters to the true values.
Yu. N. Zolotukhin +2 more
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CMAC neural network architecture for control of an autonomous undersea vehicle
SPIE Proceedings, 1992The design of an autonomous undersea vehicle (AUV) control system is a significant challenge in light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This paper describes a neural network architecture called Cerebellar Model Arithmetic Computer (CMAC).
Rick F. Comoglio, Abhijit S. Pandya
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Volume 1: Acoustics, Vibration, and Phononics, 2022
Abstract This paper presents the development of an Autonomous Undersea Vehicle (AUV) that is capable of an acoustically stealth delivery of a payload. The payload is composed of a black box noise maker and the goal of this “stealth mission” is to minimize the amplitude of the acoustic signal emitting from the noise maker ...
Matthew Cunha +5 more
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Abstract This paper presents the development of an Autonomous Undersea Vehicle (AUV) that is capable of an acoustically stealth delivery of a payload. The payload is composed of a black box noise maker and the goal of this “stealth mission” is to minimize the amplitude of the acoustic signal emitting from the noise maker ...
Matthew Cunha +5 more
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The Journal of the Acoustical Society of America, 2009
Spatial variability of the seabed in littoral regions is driven by processes that span a large range of space and time scales, ranging from eustatic fluctuations which are more or less global in extent but can have a profound effect on sedimentary layering from hundreds of meters to sub-meter scales, to biologic reworking which might be very local and ...
Charles W. Holland, Peter L. Nielsen
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Spatial variability of the seabed in littoral regions is driven by processes that span a large range of space and time scales, ranging from eustatic fluctuations which are more or less global in extent but can have a profound effect on sedimentary layering from hundreds of meters to sub-meter scales, to biologic reworking which might be very local and ...
Charles W. Holland, Peter L. Nielsen
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Development and Testing of a Dexterous Manipulation Capability for Autonomous Undersea Vehicles
AIAA Infotech@Aerospace Conference, 2009SAMURAI is an electrically-driven robotic manipulator designed for autonomous sampling and recovery of specimens from the sea floor while mounted to an autonomous underwater vehicle (AUV). Autonomous operation is enabled through the use of the autonomous vision system (AVATAR), which employs a pair of IEEE-1394 cameras in deep ocean housings to locate ...
Barrett Dillow +2 more
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Propulsive and maneuvering performance of two joints biorobotic autonomous undersea vehicle SPC-III
2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining ...
Jianhong Liang +4 more
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The Journal of the Acoustical Society of America, 2009
Acoustic reverberation in littoral ocean waveguides is often controlled by small-scale seabed heterogeneities. Thus, validation of reverberation models and development of realistic simulations require measurements of those scales. Clutter features for mid-frequency active sonars span scales from order 1–1000 m.
Charles W. Holland +2 more
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Acoustic reverberation in littoral ocean waveguides is often controlled by small-scale seabed heterogeneities. Thus, validation of reverberation models and development of realistic simulations require measurements of those scales. Clutter features for mid-frequency active sonars span scales from order 1–1000 m.
Charles W. Holland +2 more
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An integrated computational model of an autonomous, visually guided undersea vehicle
Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication, 2002This paper reports progress made on the development of a computational model of a visually guided autonomous underwater vehicle. The model is based on knowledge obtained from laboratory studies in psychophysics and neurophysiology as well as on new developments in computer science.
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