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Control Systems Architecture Navigation And Communication Research Using The Nps Phoenix Underwater Vehicle
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Book Synopsis Control Systems Architecture, Navigation, and Communication Research Using the NPS Phoenix Underwater Vehicle by :
Download or read book Control Systems Architecture, Navigation, and Communication Research Using the NPS Phoenix Underwater Vehicle written by and published by . This book was released on 2005 with total page 35 pages. Available in PDF, EPUB and Kindle. Book excerpt: While there has always been a need to determine the global position of an underwater vehicle, in some missions involving search, mapping, and intervention with objects, navigation to local area landmarks is more appropriate and precise. All aspects of autonomous search have been of interest to us for some time now, and we have recently developed and extended our robot control system architecture using Prolog as a rule based mission specification language to drive vehicle missions involving motion around targets of interest. In particular, we have studied the use of onboard scanning sonar to perform local area navigation. Additionally, we have installed a new low cost short / long baseline acoustic communications / navigation system called DiveTracker, and are developing filtering software that would combine inputs from several sources having different update rates and levels of precision to produce high update rate navigational information with the precision afforded by the low update rate reference. Also, the DiveTracker system affords a low cost acoustic communications system that can be used for low rate message sending and retrieval from autonomous vehicles.
Book Synopsis A Summary of Research 1995 by : United States. Naval Postgraduate School, Monterey, CA.
Download or read book A Summary of Research 1995 written by United States. Naval Postgraduate School, Monterey, CA. and published by . This book was released on 1995 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Information Systems for Divers and Autonomous Underwater Vehicles Operating in Very Shallow Water and Surf Zone Regions by :
Download or read book Information Systems for Divers and Autonomous Underwater Vehicles Operating in Very Shallow Water and Surf Zone Regions written by and published by . This book was released on 1999 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Acoustic Underwater Navigation of the Phoenix Autonomous Underwater Vehicle Using the Divetracker System by : Arthur W. Scrivener
Download or read book Acoustic Underwater Navigation of the Phoenix Autonomous Underwater Vehicle Using the Divetracker System written by Arthur W. Scrivener and published by . This book was released on 1996-03-01 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) require a navigation system in order to conduct useful functions. This research was an experimental investigation of the commercial DiveTracker underwater acoustic navigation system used onboard the NPS Phoenix AUV. Tests conducted with the DiveTracker system proved that the system could be used successfully in AUV navigation while submerged and revealed that more precise positioning could be obtained through postconditioning of the DiveTracker output ranges, rather than prefiltering.
Book Synopsis Merging Virtual and Real Execution Level Control Software for the Phoenix Autonomous Underwater Vehicle by : Michael L. Burns
Download or read book Merging Virtual and Real Execution Level Control Software for the Phoenix Autonomous Underwater Vehicle written by Michael L. Burns and published by . This book was released on 1996-09-01 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School (NPS) is developing an AUV, Phoenix. The Phoenix has the capability of precise navigation, however too much time is needed to validate a new section of code. NPS is also developing a virtual AUV, which has the capability of being networked, having flexible missions, and having a quick feedback of results when validating new portions of code. The virtual AUV has a drawback of never being tested for real world precision. This thesis discusses the steps taken to combine these two sets of control code to obtain the maximum functionality that will drive either the virtual or actual AUV and produce a faster feedback response to newly developed code. As a result of this effort, the newly developed control code has successfully driven both the actual and virtual AUVs and provides a means for readily validating new code. Also this new control code has given the AUV research group the ability to perform distributed software development, test all AUV hardware from either the onboard or offboard computers, conduct flexible missions, and test missions in the virtual world prior to conducting them with the AUV.
Book Synopsis Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux by :
Download or read book Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux written by and published by . This book was released on 1790 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Digital Signal Processing Applications by :
Download or read book Digital Signal Processing Applications written by and published by . This book was released on 2000 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Technology written by and published by . This book was released on 1998 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems by :
Download or read book 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems written by and published by . This book was released on 2003 with total page 1132 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Current Developments in Underwater Vehicle Control and Navigation: The NPS ARIES AUV. by :
Download or read book Current Developments in Underwater Vehicle Control and Navigation: The NPS ARIES AUV. written by and published by . This book was released on 2000 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multi-rate, multi-process software architecture for the ARIES is provided. The architecture is designed to operate using a single computer processor or two independent, cooperating processors linked through a network interface for improved load balancing. A dual computer implementation is presented here since each processor assumes different tasks for mission operation. Also included is a section on the underwater navigation method used. It involves the use of a real-time extended Kalman filter that fuses all sensor data and computes the real time position, orientation, velocity, etc., of the vehicle. Issues of navigational accuracy of the filter are also discussed. The work concludes with a discussion of using the ARIES as a communications server in a multi-vehicle environment. It is proposed to use the ARIES as a mobile communications relay between a command and control station on the surface and multiple vehicles operating below. The advantages of using a mobile relay over fixed buoys are discussed.
Book Synopsis Proceedings of the Technology and the Mine Problem Symposium by : Albert M. Bottoms
Download or read book Proceedings of the Technology and the Mine Problem Symposium written by Albert M. Bottoms and published by . This book was released on 1996 with total page 756 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle by : Ray Charles Rogers
Download or read book A Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle written by Ray Charles Rogers and published by . This book was released on 1989 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Specific tasking/total military mission concepts for subsea tasks have been developed that demand substantially more endurance and range than can be provided by manned submersibles and remotely operated vehicles, respectively. Small autonomous unmanned systems can provide the best combination of speed, endurance, range, depth capacity, and flexibility needed to make these concepts realizable. As the U.S. military has continued to identify more and more tasks that can be performed by autonomous systems, the NPG has heightened its research efforts to develop an experimental autonomous underwater vehicle (AUV) to address these requirements. A series of NPS AUV simulation systems have been developed that couple knowledge-based mission planning and control systems with 3-D visualization (graphics) workstations that communicate across an interprocess communications network. Development of these simulation systems have produced an extremely useful 'laboratory environment' for rapid prototyping of AUV planning, navigation, and control subsystems software. This thesis updates and extends the formats of functionality of the simulation systems to include a Mission Planning and Control Workstation as a prototype for use aboard AUV deployment vessels, upgrades mission profiles, and incorporates improvements to the software interface between the mission planning and control subsystem and the 3-D visualization subsystem. Keywords: Three dimensional display systems; Interactive graphics; Theses.(edc).
Download or read book Computer & Control Abstracts written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion by :
Download or read book Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion written by and published by . This book was released on 1996 with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures. The functionalities required of such vehicles and their relation to 'intelligent control' technology is discussed. In particular, the use of Prolog as a computer language for the specification of the discrete event system (DES) aspects of the mission control is proposed. The connections between a Prolog specification and the more common Petri Net graphical representation of a DES are made Links are made between activation commands, transitioning signals. and the continuous state dynamic control system (DC S) responsible for vehicle stabilization. Details are given of the NPS Phoenix vehicle implementation at the present time, together with experimental validation of the concepts outlined using a simplified example mission. The paper ends with a listing of questions and concerns for the evaluation of software controllers A list of references is given for readers interested in this subject.
Book Synopsis Guidance and Control System for an Autonomous Underwater Vehicle by : Michael John Cloutier
Download or read book Guidance and Control System for an Autonomous Underwater Vehicle written by Michael John Cloutier and published by . This book was released on 1990 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School (NPS) is currently involved in a long-term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software.
Book Synopsis Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV) by : Bradley J. Leonhardt
Download or read book Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV) written by Bradley J. Leonhardt and published by . This book was released on 1996-03-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School Autonomous Underwater Vehicle (AUV), Phoenix, has a well developed lower level architecture (Execution level) while the upper, Strategic and especially the Tactical, levels need refinement. To be useful in the fleet an easier means of creating mission code for the Strategic level is required. A software architecture needed to be implemented at the Tactical level on-board Phoenix which can accommodate multi-processes, multi- languages, multiprocessors and control hard real time constraints existing at the Execution level. Phoenix also did not have a path replanning capability prior to this thesis. The approach taken is to provide Phoenix a user friendly interface for the autogeneration of human readable mission code and the creation and implementation of a Tactical level control architecture onboard Phoenix to include path replanning. The approach utilizes Rational Behavior Model (RBM) architectural design principles. This thesis focuses on the Officer of the Deck and replanning at the Tactical level, and refinement of the Captain at the Strategic level. While further testing is necessary, Phoenix is now capable of behaving as a truly autonomous vehicle. Results of this thesis show that nontechnical personnel can generate Prolog code to perform missions on-board Phoenix. Path replanning and obstacle avoidance software are also implemented. Most important this thesis demonstrates successful operation of all three levels of the RBM architecture on-board Phoenix.
Book Synopsis Proceedings of the 1995 American Control Conference by :
Download or read book Proceedings of the 1995 American Control Conference written by and published by . This book was released on 1995 with total page 1098 pages. Available in PDF, EPUB and Kindle. Book excerpt:
