Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Initial Development And Testing Of An Adaptive Mission Planner For A Small Unmanned Underwater Vehicle
Download Initial Development And Testing Of An Adaptive Mission Planner For A Small Unmanned Underwater Vehicle full books in PDF, epub, and Kindle. Read online Initial Development And Testing Of An Adaptive Mission Planner For A Small Unmanned Underwater Vehicle ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Initial Development and Testing of an Adaptive Mission Planner for a Small Unmanned Underwater Vehicle by :
Download or read book Initial Development and Testing of an Adaptive Mission Planner for a Small Unmanned Underwater Vehicle written by and published by . This book was released on 2003 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Adaptive Mission Planner (AMP) was developed for the REMUS Unmanned Underwater Vehicle (UUV) in order to have the vehicle react to real-time sensor data and alter course for the purpose of chemical plume tracing. In order for a UUV to track a plume autonomously, it must implement search strategies in an intelligent manner as dictated by environmental circumstances without human intervention. Throughout the mission, the UUV will combine the sensed flow and concentration information to construct a map of likely source or plume locations. This AMP has been designed and tested in simulation at the University of California, Riverside, and has now been installed on the SPAWARSYSCEN-SD REMUS UUV. This paper will describe the search strategies and initial field tests which use the AMP to break away from the vehicle's pre-programmed missions. Two sets of experiments are described herein. The first uses bathymetry as the environmental driving input. The second uses chemical concentration as the primary input.
Book Synopsis Proceedings of the ... International Symposium on Technology and the Mine Problem by :
Download or read book Proceedings of the ... International Symposium on Technology and the Mine Problem written by and published by . This book was released on 2004 with total page 988 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Essentials of Machine Olfaction and Taste by : Takamichi Nakamoto
Download or read book Essentials of Machine Olfaction and Taste written by Takamichi Nakamoto and published by John Wiley & Sons. This book was released on 2016-04-18 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Essentials of Machine Olfaction and Taste This book provides a valuable information source for olfaction and taste which includes a comprehensive and timely overview of the current state of knowledge of use for olfaction and taste machines Presents original, latest research in the field, with an emphasis on the recent development of human interfacing Covers the full range of artificial chemical senses including olfaction and taste, from basic through to advanced level Timely project in that mobile robots, olfactory displays and odour recorders are currently under research, driven by commercial demand
Book Synopsis Semantic-based Adaptive Mission Planning for Unmanned Underwater Vehicles by : Pedro Patron
Download or read book Semantic-based Adaptive Mission Planning for Unmanned Underwater Vehicles written by Pedro Patron and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Vehicles in Support of Naval Operations by : National Research Council
Download or read book Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.
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 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).
Author :Committee on Undersea Vehicles and National Needs Publisher :National Academies Press ISBN 13 :0309588723 Total Pages :114 pages Book Rating :4.3/5 (95 download)
Book Synopsis Undersea Vehicles and National Needs by : Committee on Undersea Vehicles and National Needs
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Book Synopsis Reactive Planning and On-line Mapping for Chemical Plume Tracing by : Shuo Pang
Download or read book Reactive Planning and On-line Mapping for Chemical Plume Tracing written by Shuo Pang and published by . This book was released on 2004 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robust Online Adaptive Sensor-driven Survey Planning for Single and Multiple Autonomous Underwater Vehicles by : Liam Daniel Paull
Download or read book Robust Online Adaptive Sensor-driven Survey Planning for Single and Multiple Autonomous Underwater Vehicles written by Liam Daniel Paull and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of the thesis is to propose new survey planning methods for autonomous underwater vehicles (AUVs). Historical approaches to the problem usually involve preplanning paths before the start of the survey in a structured, either zig-zag or lawn mower, pattern. This has three notable shortcomings: 1) The AUV may not be able to follow the prescribed path exactly, for example if there are unexpected disturbances, 2) Object detection in imagery obtained from the survey is dependent on many factors, some of which may not be known a priori, resulting in overly conservative plans, and 3) In the absence of pre-placed beacons, once the vehicle submerges, its location estimate will drift, again resulting in deviation from the pre-specified path. These issues are overcome here using new online and adaptive approaches to survey planning. First, an algorithm is developed that maintains a model of the area coverage over the workspace in real-time and plans paths within that workspace. This sensordriven algorithm is also able to account for uncertainty in the factors that affect object detection while underway. Second, the algorithm is augmented to explicitly account for the uncertainty in the A UV location estimate. The link between area coverage and state estimation is made. It is motivated that for coverage, estimating the full trajectory ( or smoothing) as opposed to just the present pose ( or filtering) is beneficial. In addition, the planning strategies previously developed are augmented to operate within the new probabilistic framework. The main benefit of the proposed approach is that it is robust to localization sensor noise and can guarantee coverage in a real field coverage sense not just a planning sense. Finally, the algorithms are extended to coverage with multiple AUVs. If a team of AUVs possess precisely synchronized clocks, then when they communicate underwater they can also calculate their relative ranges from the time-of-flight of the acoustic signals. A cooperative trajectory estimation algorithm is developed that is particularly well-suited to operate within the challenging underwater communications channel. Data to be transmitted in each broadcast communication scales linearly with the number of vehicles in the AUV team and does not backlog in the case of communication failures, which are common underwater. The algorithms are tested in simulation and in the field on the Iver2 AUV. These tests show the effectiveness of the proposed methods.
Book Synopsis A Computer Simulation Study of Mission Planning and Control for the NPS Autonomous Underwater Vehicle by : Douglas B. Nordman
Download or read book A Computer Simulation Study of Mission Planning and Control for the NPS Autonomous Underwater Vehicle written by Douglas B. Nordman and published by . This book was released on 1989 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles by : Francesco Fanelli
Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Book Synopsis Autonomous Underwater Vehicle (AUV) Path Planning and Adaptive On-board Routing for Adaptive Rapid Environmental Assessment by : Ding Wang (Ph. D.)
Download or read book Autonomous Underwater Vehicle (AUV) Path Planning and Adaptive On-board Routing for Adaptive Rapid Environmental Assessment written by Ding Wang (Ph. D.) and published by . This book was released on 2007 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) As a special case, a thermocline- oriented AUV yoyo control and control parameter optimization methods for AREA are also developed. Finally, some AUV control algorithms for capturing fronts are developed. A frame-work for real-time TL forecasts is developed. This is the first time that TL forecasts have been linked with ocean forecasts in real-time. All of the above ideas and methods developed were tested in two experiments, FAF05 in the northern Tyrrhenian Sea in 2005 and MB06 in Monterey Bay, CA in 2006. The latter MB06 sea exercise was a major field experiment sponsored by the Office of Naval Research and the thesis compiles significant findings from this effort.
Download or read book Oceans 2003 written by and published by . This book was released on 2003 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions by :
Download or read book Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions written by and published by . This book was released on 1999 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary research objective of the SAUVIM project is to develop an autonomous underwater vehicle capable of intervention missions. Unlike fly-by or survey type AUVs, SAUVIM possesses a manipulator work package. and an advanced control and sensory systems for navigation, stationkeeping and manipulation. The vehicle also possesses state-of-the-art technology for composite pressure vessel development and genetic algorithm based adaptive and intelligent path-planning methodology. The vehicle will be flexible to a diverse field of applications due to the modularity of the hardware architecture. An independent mission sensor package can be modified to specific scientific. data-gathering or intervention tasks. The pioneering research and development in the intervention based underwater vehicle technology will address new potentials in the hazardous. unstructured underwater environment.
Book Synopsis Path Planning of AUVs for Adaptive Sampling by : Namik Kemal Yilmaz
Download or read book Path Planning of AUVs for Adaptive Sampling written by Namik Kemal Yilmaz and published by . This book was released on 2005 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) A real-world problem is also solved by the second method taking two different approaches. The first approach (static approach) involves a three-day-long adaptive sampling mission using the uncertainty information available on the first day. The second approach (dynamic approach) involves updating of the uncertainty information for each day using data assimilation features of the Harvard Ocean Prediction System and the Error Subspace Statistical Estimation system. The dynamic method is illustrative of how path planning for adaptive sampling fits into modern dynamic data driven oceanography. The results from the dynamic approach show that the uncertainty of the forecast decreases and becomes confined to a smaller region, indicating the strength of the method.
Book Synopsis Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms Onto an Unmanned Underwater Vehicle (UUV). by :
Download or read book Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms Onto an Unmanned Underwater Vehicle (UUV). written by and published by . This book was released on 2007 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a vehicle capable of rotating in place or having a fraction of a meter turning radius is needed to conduct the mission. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. The novel controllers are expected to be nonlinear due to the fact that the vehicle is translating at nonzero attitude or translating in a direction different from that of the surface. Non-linear controller that compensates for non-linear forces (such as drag, buoyancy/gravity) was designed, installed onto the UUV test-bed, and in-water tested. The structure of a controller is hierarchical such that an "inner loop" non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate "outer-loop" nonlinear controller is used based on what mission or part of the mission is desired.
