Mission Planning And Mission Control Software For The Phoenix Autonomous Underwater Vehicle Auv

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Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV)

Author : Bradley J. Leonhardt
Publisher :
ISBN 13 : 9781423574101
Total Pages : 253 pages
Book Rating : 4.5/5 (741 download)

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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.

Phoenix Autonomous Underwater Vehicle Recovery Software Reference

Author : Duane Davis
Publisher :
ISBN 13 : 9781423581284
Total Pages : 312 pages
Book Rating : 4.5/5 (812 download)

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Book Synopsis Phoenix Autonomous Underwater Vehicle Recovery Software Reference by : Duane Davis

Download or read book Phoenix Autonomous Underwater Vehicle Recovery Software Reference written by Duane Davis and published by . This book was released on 1996-09-01 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies convert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This report contains source code implemented on the Phoenix AUV in support of recovery in a small stationary tube. Implementation involves the development of low-level behaviors for sonar and vehicle control, mil-level tactics for recovery planning, and a mission-planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors include the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented.

Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube

Author : Duane T. Davis
Publisher :
ISBN 13 : 9781423576518
Total Pages : 206 pages
Book Rating : 4.5/5 (765 download)

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Book Synopsis Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube by : Duane T. Davis

Download or read book Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube written by Duane T. Davis and published by . This book was released on 1996-09-01 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.

Proceedings of the Technology and the Mine Problem Symposium

Author : Albert M. Bottoms
Publisher :
ISBN 13 :
Total Pages : 756 pages
Book Rating : 4.:/5 (318 download)

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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:

A Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle

Author : Ray Charles Rogers
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (227 download)

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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).

Merging Virtual and Real Execution Level Control Software for the Phoenix Autonomous Underwater Vehicle

Author : Michael L. Burns
Publisher :
ISBN 13 : 9781423575641
Total Pages : 242 pages
Book Rating : 4.5/5 (756 download)

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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.

NPS AUV Workbench

Author : Chim S. Lee
Publisher :
ISBN 13 : 9781423516019
Total Pages : 219 pages
Book Rating : 4.5/5 (16 download)

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Book Synopsis NPS AUV Workbench by : Chim S. Lee

Download or read book NPS AUV Workbench written by Chim S. Lee and published by . This book was released on 2004-03-01 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: The absence of common software platforms for Autonomous Underwater Vehicle (AUV) mission planning and analysis is an ongoing impediment to collaborative work between research institutions, their partners, and end users, This thesis details the design and implementation of a distributable application to facilitate AUV mission planning and analysis. Java-based open-source libraries and a component-based framework provide diverse functionalities. The extensible Markup Language (XML) is used for data storage and message exchange, Extensible 3D (X3D) Graphics for visualization and XML Schema-based Binary Compression (XSBC) for data compression. The AUV Workbench provides an intuitive cross-platform-capable tool with extensibility to provide for future enhancements such as agent-based control, asynchronous reporting and communication, loss-free message compression and built-in support for mission data archiving. This thesis also investigates the Jabber instant messaging protocol, showing its suitability for text and file messaging in a tactical environment. Exemplars show that the XML backbone of this open-source technology can be leveraged to enable both human and agent messaging with improvements over current systems. Integrated Jabber instant messaging support makes the NPS AUV Workbench the first custom application supporting XML Tactical Chat (XTC).

NPS AUV Workbench: Collaborative Environment for Autonomous Underwater Vehicles (AUV) Mission Planning and 3D Visualization

Author :
Publisher :
ISBN 13 :
Total Pages : 219 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis NPS AUV Workbench: Collaborative Environment for Autonomous Underwater Vehicles (AUV) Mission Planning and 3D Visualization by :

Download or read book NPS AUV Workbench: Collaborative Environment for Autonomous Underwater Vehicles (AUV) Mission Planning and 3D Visualization written by and published by . This book was released on 2004 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: The absence of common software platforms for Autonomous Underwater Vehicle (AUV) mission planning and analysis is an ongoing impediment to collaborative work between research institutions, their partners, and end users, This thesis details the design and implementation of a distributable application to facilitate AUV mission planning and analysis. Java-based open-source libraries and a component-based framework provide diverse functionalities. The extensible Markup Language (XML) is used for data storage and message exchange, Extensible 3D (X3D) Graphics for visualization and XML Schema-based Binary Compression (XSBC) for data compression. The AUV Workbench provides an intuitive cross-platform-capable tool with extensibility to provide for future enhancements such as agent-based control, asynchronous reporting and communication, loss-free message compression and built-in support for mission data archiving. This thesis also investigates the Jabber instant messaging protocol, showing its suitability for text and file messaging in a tactical environment. Exemplars show that the XML backbone of this open-source technology can be leveraged to enable both human and agent messaging with improvements over current systems. Integrated Jabber instant messaging support makes the NPS AUV Workbench the first custom application supporting XML Tactical Chat (XTC).

A Multiple Criteria Decision Support System for Autonomous Underwater Vehicle Mission Planning and Control

Author : Madjid Tavana
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)

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Book Synopsis A Multiple Criteria Decision Support System for Autonomous Underwater Vehicle Mission Planning and Control by : Madjid Tavana

Download or read book A Multiple Criteria Decision Support System for Autonomous Underwater Vehicle Mission Planning and Control written by Madjid Tavana and published by . This book was released on 2009 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The growing use of autonomous air, surface, ground and underwater systems is continually demonstrating new military and commercial possibilities and applications. The state of the art in the planning and control of autonomous underwater vehicles (AUVs) is largely precarious because AUVs provide infrequent feedback, operate autonomously for long periods of time and yet have little knowledge of their dynamic environment. Consequently, mission planning and control is typically conducted based on human expert knowledge of vehicle capabilities, some level of observed environmental conditions and ad-hoc optimization with little assistance from computers. While the human expert offers a significant ability to mentally process data, the result typically lacks numeric and quantitative analysis of alternatives. Navigation of AUVs in the complex ocean environment involves time dependent dynamics, resulting in a problem that is computationally prohibitive for the use of brute force optimization techniques. Although some research has been conducted for specific types of missions, and "greedy" global-optimization approaches have been investigated, no systematic and coherent approach to the requirement exists. We propose a dynamic multiple criteria decision support system (DSS) that considers dynamic and episodic ocean phenomenon to provide reasonable and in-context recommendations with respect to the stated objective and subjective mission goals. Multi-criteria decision analysis (MCDA), analytic network process (ANP) and fuzzy sets are used in the model to reduce the vehicle routing solution space and maximize time-on station in adverse environments. The proposed system can be an added hierarchical layer on the top of a mission planning system currently under development by the United States Navy.

A Computer Simulation Study of Mission Planning and Control for the NPS Autonomous Underwater Vehicle

Author : Douglas B. Nordman
Publisher :
ISBN 13 :
Total Pages : 78 pages
Book Rating : 4.:/5 (81 download)

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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:

A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle

Author : Seow Meng Ong
Publisher :
ISBN 13 :
Total Pages : 184 pages
Book Rating : 4.:/5 (8 download)

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Book Synopsis A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle by : Seow Meng Ong

Download or read book A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle written by Seow Meng Ong and published by . This book was released on 1990 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from deep-ocean exploration to anti-submarine warfare. Indeed, the feasibility of short range, special-purpose vehicles (whether autonomous or remotely operated) is no longer in question. The research efforts have now begun to shift their focus on development of reliable, longer range, high-endurance and fully autonomous systems. One of the major underlying technologies required to realize this goal is Artificial Intelligence (AI). The latter offers great potential to endow vehicles with the intelligence needed for fully automated and extended range capability; this involves the increased application of AI techniques to support mission planning and execution, navigation and contingency planning. This thesis addresses two issues associated with the above goal for Autonomous Underwater Vehicles (AUV's). Firstly, a new approach is proposed for path planning in underwater environments that is capable of dealing with uncharted obstacles and which requires significantly less planning time and computer memory. Secondly, it explores the use of expert system technology in the planning of AUV missions. (KR).

Unmanned Vehicle Mission Planning Using 4D Forecasts

Author :
Publisher :
ISBN 13 :
Total Pages : 4 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Unmanned Vehicle Mission Planning Using 4D Forecasts by :

Download or read book Unmanned Vehicle Mission Planning Using 4D Forecasts written by and published by . This book was released on 2008 with total page 4 pages. Available in PDF, EPUB and Kindle. Book excerpt: We are engaged in the development of mission planning software for autonomous underwater vehicles (AUVs) supporting the Naval Oceanographic Office's underwater glider and AUV programs. Planning missions for underwater vehicles require the consideration of "static" features such as bathymetry, territorial boundaries, and shipping lanes and also time variant features such as water density, sea state, and currents that can be estimated using model forecasts. These myriad considerations result in a 4D x N geospatial- temporal constraint satisfaction problem, where N is the number of factors and D is typically represented as a value at a specific (x, y, z) location and time t. The difficulty inherent in this decision-making process is the simultaneous manipulation and visualization of these variables, which is accomplished today through human observation of multiple 2D slices of the 4D x N cube. Another complicating factor is the large size of the forecast datasets, which can approach a gigabyte in size.

Ada Implementation of Concurrent Execution of Multiple Tasks in the Strategic and Tactical Levels of the Rational Behavior Model for the NPS Phoenix Autonomous Underwater Vehicle (AUV)

Download Ada Implementation of Concurrent Execution of Multiple Tasks in the Strategic and Tactical Levels of the Rational Behavior Model for the NPS Phoenix Autonomous Underwater Vehicle (AUV) PDF Online Free

Author : Michael John Holden
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Ada Implementation of Concurrent Execution of Multiple Tasks in the Strategic and Tactical Levels of the Rational Behavior Model for the NPS Phoenix Autonomous Underwater Vehicle (AUV) by : Michael John Holden

Download or read book Ada Implementation of Concurrent Execution of Multiple Tasks in the Strategic and Tactical Levels of the Rational Behavior Model for the NPS Phoenix Autonomous Underwater Vehicle (AUV) written by Michael John Holden and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Current autonomous vehicle control systems are limited to inefficient sequential operation because of a lack of concurrency in program execution. When one segment of a sequential control system is delayed or fails, the remaining segments cannot be executed unless extensive error-handling routines are invoked. Undersea robotic vehicles in particular are subject to potential catastrophic loss in the event of minor program faults. The problem addressed by this thesis is to provide concurrent execution and higher level abstraction in reliable and maintainable control software, specifically for the Naval Postgraduate School's Phoenix Autonomous Underwater Vehicle (AUV) and within the framework of the Rational Behavior Model (RBM) Strategic and Tactical Levels. The approach taken for this work was to design and implement the RBM Strategic and Tactical level control software using Ada. The program design adds concurrency using the Ada task construct to create objects that perform separate operations simultaneously. For comparison purposes, the same functionality in a non-concurrent program was also implemented in the LISP programming language. The result was a concurrent REM control software system in Ada, including a mission planner and mission controller, which can replace the existing sequential mix of software. This work was validated through successful man-in-the-loop simulation of several behavioral doctrines modeling the interaction found aboard manned submarines.

An XML-Based Mission Command Language for Autonomous Underwater Vehicles (AUVs)

Author : Darrin L. Hawkins
Publisher :
ISBN 13 : 9781423501312
Total Pages : 132 pages
Book Rating : 4.5/5 (13 download)

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Book Synopsis An XML-Based Mission Command Language for Autonomous Underwater Vehicles (AUVs) by : Darrin L. Hawkins

Download or read book An XML-Based Mission Command Language for Autonomous Underwater Vehicles (AUVs) written by Darrin L. Hawkins and published by . This book was released on 2003-06-01 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are now being introduced into the fleet to improve Mine Warfare capabilities. Several AUVs are under government-contracted development. Mission planning and data reporting vary between vehicles and systems. This variation does not pose an immediate problem, as only one AUV is typically in operation at any given time. However, as more AUVs are put into production, cooperative operations will become possible and consistent mission commands will be necessary for multiple AUVs. Without a single mission command language, multiple systems will require multiple languages. Extensible Markup Language (XML) and related technologies may be used to facilitate interoperability between dissimilar AUVs and extract and integrate mission data into Navy C41 systems. XML makes archive maintenance easier, XML documerts can be accessed via an http server, and, in root form XML is transferable on the fly by stylesheet. This thesis presents an XML-based mission command for the command and control of AUVs. In addition, this thesis discusses XML technology and how XML is a viable means of achieving interoperability. Furthermore, this thesis provides an example mission file using existing software, and demonstrates the future of XML in AUV technology. Finally, this work provides demonstration scripts and compelling arguments for the use of an XML-based mission command language to command all AUVs.

Artificial Intelligence and Mobile Robots

Author : David Kortenkamp
Publisher : American Association for Artif
ISBN 13 :
Total Pages : 406 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Artificial Intelligence and Mobile Robots by : David Kortenkamp

Download or read book Artificial Intelligence and Mobile Robots written by David Kortenkamp and published by American Association for Artif. This book was released on 1998 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: The mobile robot systems described in this book were selected from among the best available implementations by leading universities and research laboratories. These are robots that have left the lab and been tested in natural and unknown environments. They perform many different tasks, from giving tours to collecting trash. Many have distinguished themselves (usually with first- or second-place finishes) at various indoor and outdoor mobile robot competitions. Each case study is self-contained and includes detailed descriptions of important algorithms, including pseudo-code. Thus this volume serves as a recipe book for the design of successful mobile robot applications. Common themes include navigation and mapping, computer vision, and architecture. Contributors Ronald Arkin, Tucker Balch, Michael Brady, Don Brutzman, Arno Bucken, R. James Firby, Erann Gat, Tony Healy, Ian Horswill, Housheng Hu, Sven Koenig, Kurt Konolige David Kortenkamp, Dave Marco, Bob McGhee, Robin Murphy, Karen Myers, Illah Nourbakhsh, Peter Prokopowicz, Bill Schiller, Reid Simmons, Michael Swain, Sebastian Thrun

The Handbook of Applied Expert Systems

Author : Jay Liebowitz
Publisher : CRC Press
ISBN 13 : 0429606974
Total Pages : 740 pages
Book Rating : 4.4/5 (296 download)

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Book Synopsis The Handbook of Applied Expert Systems by : Jay Liebowitz

Download or read book The Handbook of Applied Expert Systems written by Jay Liebowitz and published by CRC Press. This book was released on 2019-07-23 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Applied Expert Systems is a landmark work dedicated solely to this rapidly advancing area of study. Edited by Jay Liebowitz, a professor, author, and consultant known around the world for his work in the field, this authoritative source covers the latest expert system technologies, applications, methodologies, and practices. The book features contributions from more than 40 of the world's foremost expert systems authorities in industry, government, and academia. The Handbook is organized into two major sections. The first section explains expert systems technologies while the second section focuses on applied examples in a wide variety of industries. Key topics covered include fuzzy systems, genetic algorithm development, machine learning, knowledge representation, and much more.

Autonomous Underwater Vehicles

Author : Jing Yan
Publisher : Springer Nature
ISBN 13 : 9811660964
Total Pages : 222 pages
Book Rating : 4.8/5 (116 download)

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Book Synopsis Autonomous Underwater Vehicles by : Jing Yan

Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.