Relevant bibliographies by topics / AUV

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'AUV'

Author: Grafiati
Published: 4 June 2021
Last updated: 25 May 2024

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Journal articles on the topic "AUV"

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Dong, N., N. H. Nam, K. M. Tuan, and N. V. Hien. "A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs." Advanced Materials Research 1016 (August 2014): 686–93. http://dx.doi.org/10.4028/www.scientific.net/amr.1016.686.

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Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.
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Nishida, Yuya, Takashi Sonoda, Shinsuke Yasukawa, Kazunori Nagano, Mamoru Minami, Kazuo Ishii, and Tamaki Ura. "Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems." Journal of Robotics and Mechatronics 30, no. 2 (April 20, 2018): 238–47. http://dx.doi.org/10.20965/jrm.2018.p0238.

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A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.
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Ren, Ranzhen, Lichuan Zhang, Lu Liu, Dongwei Wu, Guang Pan, Qiaogao Huang, Yuchen Zhu, Yazhe Liu, and Zixiao Zhu. "Multi-AUV Cooperative Navigation Algorithm Based on Temporal Difference Method." Journal of Marine Science and Engineering 10, no. 7 (July 12, 2022): 955. http://dx.doi.org/10.3390/jmse10070955.

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To reduce the cooperative positioning error and improve the navigation accuracy, a single master–slave AUV cooperative navigation method is proposed in this paper, which mainly focuses on planning the optimal path of the master AUV by the time difference (TD) method, under the premise that the path of the slave AUV has been planned. First, the model of multi-AUV cooperative navigation is established, and the observable problem of the system is analyzed. Second, for the single master–slave AUV cooperative navigation system, a Markov decision process (MDP)-based multi-AUV cooperative navigation model is established, and the master AUV path planning method is designed based on the TD method. Finally, the extended Kalman filter (EKF) and unscented Kalman filter (UKF) nonlinear filtering algorithms are applied to simulate and verify the algorithm that is proposed in this paper. The results show that the theoretical positioning error of the slave AUV can be controlled to about 3.2m by planning the path of the master AUV using the TD method. This method can not only reduce the observation error and positioning error of the slave AUV during the whole cooperative navigation process, but also keep the relative measurement distance between the master AUV and the slave AUV within an appropriate range.
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Hu, Qing Yu, Jun Zhou, and Zhi Zha. "Application of PSO-BP Network Algorithm in AUV Depth Control." Applied Mechanics and Materials 321-324 (June 2013): 2025–31. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.2025.

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In order to improve the depth performance of AUV in parking, a PSO-BP algorithm for the depth control is presented. The algorithm can use the standard particle swarm (PSO) as BP neural network learning method, and which can be evolved in the AUV depth adaptive control. The adaptive controller has adopted the double neural network unit. One of controllers is made use the input terminal to output control quantity on the basis of current displacement and vertical acceleration of the AUV. The other can be recognized on-line by the AUV model identifier. The numerical simulations are given to verify the AUV depth adaptive control by the controller. The results show that the proposed algorithm can significantly improve the AUV depth control performance. The convergence speed of AUV depth control is 4.5 times than the PID algorithm, so the efficiency of the AUV depth is vastly perfected.
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Matsuda, Takumi, Yang Weng, Yuki Sekimori, Takashi Sakamaki, and Toshihiro Maki. "One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys." Journal of Robotics and Mechatronics 36, no. 1 (February 20, 2024): 190–200. http://dx.doi.org/10.20965/jrm.2024.p0190.

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This study proposes a simultaneous localization method of a group of autonomous underwater vehicles (AUVs) based on one-way signals to realize distributed oceanographic surveys. Each AUV group consists of a single high-performance AUV (parent AUV) and the other AUVs (child AUVs). The child AUVs estimate their states (position and heading) based on the parent AUV as a positioning reference. By assuming a situation in which many AUV groups are deployed, the child AUVs can receive positioning signals from multiple parent AUVs. Although only the direction information of the parent AUV can be obtained from a signal from one parent AUV, the child AUVs can estimate their states by receiving signals from different parent AUVs. Sea experiments were conducted using an autonomous buoy and an AUV. The effectiveness of the proposed method was evaluated through a navigation simulation based on the sensor data obtained from the experiments.
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Filaretov, V. F., and D. A. Yukhimets. "The Path Planning Method for AUV Group Moving in Environment with Obstacles." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 6 (June 4, 2020): 356–65. http://dx.doi.org/10.17587/mau.21.356-365.

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The new path planning method for AUV group moved in the " leader-followers" mode in a desired formation in an unknown environment with obstacles is proposed in paper. In this case one AUV plays role of AUV-leader, which has information about the mission and plans a safe trajectory of its movement, depending on its purpose and detected obstacles. AUV-followers must move behind the leader, in accordance with their assigned place in formation, using information about the current position of the leader, received via acoustic communication channels, and information about their distances to obstacles, detected by their onboard rangefinders. Due to the low bandwidth of acoustic communication channels, there is a problem of matching the position of the AUV-followers during obstacles avoidance. It is necessary to avoid collisions between AUV of group. This problem is solved by means of the preliminary forming for each follower of the only possible trajectory of movement inside formation which will provide it safe movement relatively other followers when this AUVfollower moves around detected obstacle. This approach allows do not coordinate the current position of the AUV-followers relative to other AUV of group if a high-precision control system is used, and as a result it does not require additional data exchange between the AUV group. In this paper, an approach to the forming of AUV-follower trajectories inside AUV formation and the method of forming the desired position of the AUV-followers on these trajectories are proposed. The effectiveness of the proposed method is confirmed by the results of mathematical modeling.
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Yang, Lichun. "Small Modular AUV Based on 3D Printing Technology: Design, Implementation and Experimental Validation." Brodogradnja 75, no. 1 (January 1, 2024): 1–16. http://dx.doi.org/10.21278/brod75104.

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A small modular autonomous underwater vehicle (AUV) offers several benefits including enhanced mobility, cost-effectiveness, compact and portable structure, and small size. This paper proposes a comprehensive design and implementation approach for a small modular AUV, named as ARMs1.0, utilizing cutting-edge 3D printing technology. The main cabin shell of the AUV features a modular design and is manufactured using 3D printing technology. The control module and sensing equipment are installed in a sealed compartment. To achieve forward, pitching, and yawing motions, the AUV is equipped with ducted propeller and four independent rudders. The modular approach in AUV design has been implemented, considering both the main cabin shell as well as the subsections and segments of the AUV. Additionally, a centralized control system architecture design is developed based on the specific tasks of the AUV. The composition and functions of key units are described in detail, and an autonomous depth-tracking control strategy is formulated. Based on the experimental results for AUV motion in horizontal and vertical planes, including autonomous depth tracking tests, the ARMs1.0 AUV demonstrates the capability to successfully perform required maneuvering tasks. The designed small modular AUV has achieved accurate depth tracking, precise heading following and exhibits excellent maneuverability.
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Zuo, Mingjiu, Guandao Wang, Yongxin Xiao, and Gong Xiang. "A Unified Approach for Underwater Homing and Docking of over-Actuated AUV." Journal of Marine Science and Engineering 9, no. 8 (August 17, 2021): 884. http://dx.doi.org/10.3390/jmse9080884.

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During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed underwater for AUV charging its battery. However, to realize the automatic underwater charging of AUV via a docking station, the accurate and efficient completion of underwater homing and docking is required for AUV. Underwater automatic homing and docking system is of great significance to improve work efficiency and prolong the endurance of AUV save cost. In this paper, a unified approach that involves such as task planning, guidance and control design, thrust allocation has been proposed to provide a complete solution to the problem of homing and docking of an over-actuated AUV. The task-based hybrid target point/line planning and following strategy are proposed for AUV homing and docking. At the beginning of homing, AUV is planned to follow a straight line via the line of sight (LoS) method. Afterward, AUV starts to follow multiple predefined target points until reaching the docking station. At the final stage of docking (within 10 m), a dedicated computer vision algorithm is applied to detect a newly designed LED light array fixed on the docking station to provide accurate guidance for the AUV to dock. The sliding mode control technique is used for the motion control of the AUV allowing robustness. As the AUV configured with eight thrusters is over-actuated, the problem of the thrust allocation is very important and successfully solved using the quadratic programming (QP) optimization method. Finally, the simulations of homing and docking tasks using the AUV are accomplished to verify the proposed approach.
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Liang, Qingwei, Tianyuan Sun, and Junlin Ou. "System Reliable Probability for Multi-AUV Cooperative Systems under the Influence of Current." Journal of Navigation 72, no. 06 (July 5, 2019): 1649–59. http://dx.doi.org/10.1017/s0373463319000298.

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Real multi-Autonomous Underwater Vehicle (AUV) cooperative systems operate in complicated marine environments. The interaction between a multi-AUV cooperative system and its marine environment will affect the reliability of the system. Current is an important influencing factor of multi-AUV cooperative systems. A reliability index of multi-AUV cooperative systems known as System Reliable Probability (SRP) is proposed in this study. A method to calculate SRP is introduced, and the influence of current on SRP is discussed in detail. Current is considered an attack source, and the degree of its influence on SRP is calculated. As an example, the performance of this method is shown on two multi-AUV cooperative systems. Results show that the influence of the same current environment on different structures of the multi-AUV cooperative systems differs. This result provides a reference for the structure selection of multi-AUV systems. This study provides a practical method to estimate the reliability of multi-AUV cooperative systems.
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Pan, Chang Jun, and Ying Qing Guo. "Design and Simulation of High Altitude Air-Launched Automatic Underwater Vehicles." Applied Mechanics and Materials 128-129 (October 2011): 1386–91. http://dx.doi.org/10.4028/www.scientific.net/amm.128-129.1386.

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In this paper, an high altitude air-launched automatic underwater vehicles (AL-AUV) is designed based on the traditional torpedo-like AUV, REMUS. And an additional ex-range gliding wings unit is assembled on the top of AUV, which enable the AUV to be dropped at high altitude and gliding long distance to reach the signed investigating ocean field. The controllable surface on the wings also enhanced the controllability and flexibility of AUV gliding through the air and the ability against the influence of airflow interference. The AUV’s six DOF gliding model is established and a simulation system of AL-AUV is built with Matlab/Simulink. Analyzing the recorded simulation velocity and pitch characteristics of AL-AUV deployed at varying initial velocities and wing area, the optimized wing is selected.
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Dissertations / Theses on the topic "AUV"

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Schultz, James Allen. "Autonomous Underwater Vehicle (AUV) Propulsion System Analysis and Optimization." Thesis, Virginia Tech, 2009. http://hdl.handle.net/10919/33237.

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One of the largest design considerations for autonomous underwater vehicles (AUVâ s) that have specific mission scenarios is the propulsive efficiency. The propulsive efficiency affects the amount of power storage required to achieve a specific mission. As the efficiency increases the volume of energy being stored decreases. The decrease in volume allows for a smaller vehicle, which results in a vehicle that requires less thrust to attain a specific speed. The process of selecting an efficient propulsive system becomes an iterative process between motor, propeller, and battery storage. Optimized propulsion systems for mission specific AUVâ s require costly motor and propeller fabrication which may not be available to the designer. Recent advancements in commercially available electric motors and propellers allows for cost effective propulsion systems. The design space selection of motors and propellers has recently increased due to component demand of remote control airplane and boats. The issue with such systems is how to predict small propeller and small motor performance interactions since remote control motor and propeller designers usually donâ t provide enough information about the performance of their product. The mission statement is to design a propeller and motor combination that will allow an autonomous underwater vehicle to travel large distances while maintaining good efficiency. The vehicle will require 12 N of thrust with a forward velocity of 2 m/s. The propeller needs to be larger than 2.5â due to inflow velocity interaction and smaller than 4â due to loss of thrust when in surface transit due to suction.
Master of Science
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Engelhardtsen, Øystein. "3D AUV Collision Avoidance." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9534.

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An underlying requirement for any Autonomous Underwater Vehicle (AUV) is to navigate through unknown or partly unknown environments while performing certain user specified tasks. The loss of an AUV due to collision is unjustifiable both in terms of cost and replacement time. To prevent such an unfortunate event, one requires a robust and effective Collision Avoidance System (CAS). This paper discusses the collision avoidance problem for the HUGIN AUVs. In the first part, a complete simulator for the HUGIN AUV is implemented in matlab and simulink. This includes a 6 degrees-of-freedom nonlinear AUV model, simulated environment including bottom profile and surface ice, navigation- and guidance functionality and sensor simulators. In the second part a number of well known strategies for the collision avoidance problem is presented with a short analysis of their properties. On the basis of the implemented simulator, a proposed CAS is developed and it’s performance is analyzed. This system is based on simple principles and known collision avoidance strategies, in order to provide effective and robust performance. The proposed system provides feasible solutions during all simulations and the collision avoidance maneuvers are performed in accordance with the specified user demands. The developed simulator and collision avoidance system is expected to provide a suitable framework for further development and possibly a physical implementation on the HUGIN AUVs.

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Åkerström, David. "Militärtekniskt perspektiv på AUV." Thesis, Försvarshögskolan, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-4807.

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Sweden is dependent on secure sea transport. Shorter disruption of imports of fuel and crude oil can be managed with an emergency stock, but a prolonged halt in imports creates problems. For industry, the vulnerability is greater. Fragmented production chains in combination with expenditure reductions in inventory causes a dependency on proper transport of intermediate goods in the manufacturing industry. A lengthy disruption thus involves disruption of production for both domestic consumption and for export goods containing imported parts.In order to secure shipping routes with a limited number of vessels, Mine Counter Measures (MCM) capacity is required, and according to the Armed Forces, developed with new sensors and autonomous vehicles. Sweden has acquired small AUV systems for MCM, and has plans to acquire larger and more advanced. Before any acquisition is implemented, a number of considerations have to be made. How does advanced AUV inflict on existing methods and systems? Is the result is better, is it faster, do we need to make adjustments? The essay aims to examine the military technology influence an AUV have on today's MCM operations. The results of the study can serve as part of the decision support for the Armed Forces and FMV before a purchase of an advanced AUV.The results of the thesis show that Advanced AUV:s, with the qualities they have , can affect the way the Armed Forces are conducting MCM today.
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Brutzman, Donald P. "NPS AUV Integrated Simulation." Thesis, Monterey, Calif. : Naval Postgraduate School, 1992. http://handle.dtic.mil/100.2/ADA248120.

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Thesis (M.S. in Computer Science)--Naval Postgraduate School, March 1992.
Thesis Advisor(s): Kanayama, Yutaka ; Zyda, Michael J. "March 1992." Appendix G videotape located at VHS 5000043. Includes bibliographical references (p. 240-247). Also available in print.
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Seely, William Forrester. "Development of a Power System and Analysis of Inertial System Calibration for a Small Autonomous Underwater Vehicle." Thesis, Virginia Tech, 2004. http://hdl.handle.net/10919/33850.

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Compared to large vehicles acting individually, platoons of small, inexpensive autonomous underwater vehicles have the potential to perform some missions that are commonly conducted by larger vehicles faster, more efficiently, and at a reduced operational cost. This thesis describes the power system of a small, inexpensive autonomous underwater vehicle developed by the Autonomous Systems Controls Laboratory at Virginia Tech.

Reduction in vehicle size and cost reduces the accuracy of navigational sensors, leading to the need for autonomous calibration. Several models of navigational sensors are discussed, and the extended Kalman filter is used to form an observer for each, which are simulated and analyzed.
Master of Science

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LeBas, Phillip J. "Maximizing AUV slow speed performance." Springfield, Va. : Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ada339442.

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Thesis (M.S. in Ocean Engineering) Woods Hole Oceanographic Institution and the Massachusetts Institute of Technology, Sept. 1997.
DTIC Descriptor(s): Underwater Vehicles, Autonomous Navigation, Optimization, Adaptive Control Systems, Pitch (Motion), Equations Of Motion, Hydrodynamic Characteristics, Performance (Engineering), Theses, Low Velocity, Control Theory, Energy Conservation, Submarine Models. Includes bibliographical references (leaves 101-104). Also available online.
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Brunner, Glenn M. "Experimental verification of AUV performance." Thesis, Monterey, California. Naval Postgraduate School, 1988. http://hdl.handle.net/10945/23226.

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Analog Systems, Control Systems, Underwater Vehicles, Adaptive Control Systems, Calibration, Control, Detectors, Diving, Equations, Identification, Input, Least Squares Method, Maneuvers, Models, Performance Tests, Radio Equipment, Recursive Functions, Response, Signals, Theses, Transfer Functions, Vehicles, Vertical Orientation, Water Tanks
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LeBas, Phillip J. (Phillip Jude) 1955. "Maximizing AUV slow speed performance." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/43544.

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Phaneuf, Matthew D. "Experiments with the REMUS AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FPhaneuf.pdf.

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Lee, Chin Siong. "NPS AUV workbench: collaborative environment for autonomous underwater vehicles (AUV) mission planning and 3D visualization." Thesis, Monterey, California. Naval Postgraduate School, 2004. http://hdl.handle.net/10945/1658.

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Approved for public release, distribution is unlimited
alities. 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). Results demonstrate that the AUV Workbench provides a capable testbed for diverse AUV technologies, assisting in the development of traditional single-vehicle operations and agent-based multiple-vehicle methodologies. The flexible design of the Workbench further encourages integration of new extensions to serve operational needs. Exemplars demonstrate how in-mission and post-mission event monitoring by human operators can be achieved via simple web page, standard clients or custom instant messaging client. Finally, the AUV Workbench's potential as a tool in the development of multiple-AUV tactics and doctrine is discussed.
Civilian, Singapore Defence Science and Technology Agency
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Books on the topic "AUV"

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Brutzman, Donald P. NPS AUV Integrated Simulation. Monterey, Calif: Naval Postgraduate School, 1992.

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LeBas, Phillip J. Maximizing AUV slow speed performance. Springfield, Va: Available from National Technical Information Service, 1997.

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Brunner, Glenn M. Experimental verification of AUV performance. Monterey, California: Naval Postgraduate School, 1988.

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Singh, Hanumant. An entropic framework for AUV sensor modelling. [Woods Hole, Mass: Massachusetts Institute of Technology, Woods Hole Oceanographic Institution, Joint Program in Oceanography/Applied Ocean Science and Engineering], 1995.

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United States. Naval Meteorology and Oceanography Command. and Naval Research Laboratory (U.S.), eds. Review of autonomous underwater vehicle (AUV) developments. Stennis Space Center, Miss: Naval Oceanographic and Atmospheric Research Laboratory, 2001.

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Melvin, James E. AUV fault detection using model based observer residuals. Monterey, Calif: Naval Postgraduate School, 1998.

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Good, Michael R. Design and construction of a second generation AUV. Monterey, Calif: Naval Postgraduate School, 1989.

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Caddell, Tymothy Wayne. Three-dimensional path planning for the NPS II AUV. Monterey, Calif: Naval Postgraduate School, 1991.

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Woodford, Thomas James. Propulsion optimization for ABE, an Autonomous Underwater Vehicle (AUV). Springfield, Va: Available from the National Technical Information Service, 1991.

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Brown, James P. Four quadrant dynamic model of the AUV II thruster. Monterey, Calif: Naval Postgraduate School, 1993.

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Book chapters on the topic "AUV"

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Zhang, Jinfei. "AUV/ROV/HOV Hydrostatics." In Encyclopedia of Ocean Engineering, 1–4. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-10-6963-5_258-1.

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Zhang, Jinfei. "AUV/ROV/HOV Stability." In Encyclopedia of Ocean Engineering, 1–3. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-10-6963-5_259-1.

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Jiang, Zhe, and Pengfei Sun. "AUV/ROV/HOV Resistance." In Encyclopedia of Ocean Engineering, 1–4. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-10-6963-5_263-1.

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Feng, Zhengping. "Autonomous Underwater Vehicle (AUV)." In Encyclopedia of Ocean Engineering, 1–7. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-6963-5_44-1.

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Zhang, Jinfei. "AUV/ROV/HOV Stability." In Encyclopedia of Ocean Engineering, 116–18. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-10-6946-8_259.

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Zhang, Jinfei. "AUV/ROV/HOV Hydrostatics." In Encyclopedia of Ocean Engineering, 99–101. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-10-6946-8_258.

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Feng, Zhengping. "Autonomous Underwater Vehicle (AUV)." In Encyclopedia of Ocean Engineering, 82–89. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-10-6946-8_44.

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Prasser, David, and Matthew Dunbabin. "Sensor Network Based AUV Localisation." In Springer Tracts in Advanced Robotics, 285–94. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-13408-1_26.

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Kwon, Soon T., Woon Kyung Baek, and Moon G. Joo. "Implementation of AUV Test-Bed." In Communications in Computer and Information Science, 280–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-22333-4_36.

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Chen, Yunsai, and Kun Liu. "AUV/ROV/HOV Propulsion System." In Encyclopedia of Ocean Engineering, 1–12. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-10-6963-5_266-1.

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Conference papers on the topic "AUV"

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Watanabe, Yoshitaka, Koji Meguro, Mitsuyasu Deguchi, Yukihiro Kida, and Takuya Shimura. "Integrated Acoustic Communication and Positioning System Between an Autonomous Surface Vehicle and Autonomous Underwater Vehicles." In ASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/omae2019-96623.

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Abstract In underwater observation using an autonomous underwater vehicle (AUV), a support vessel typically monitors the AUV to support the observation. In order to make the AUV operation more efficient, an autonomous surface vehicle (ASV) and an acoustic multi-access communication and positioning system have developed. The developed acoustic system achieves multi-access with frequency division multiple access (FDMA) method, and the ASV can monitor up to three AUVs simultaneously. Positioning is performed with super short baseline (SSBL) method. The acoustic device has operation mode in which positioning and communication functions are integrated to achieve efficient uplink and accurate downlink simultaneously. Two observation operations were conducted successfully. In one of those, the ASV communicated with two types of AUVs during observation in 1250m water depth, then multiple access were achieved. Even nadir angle for one AUV became almost 40 degrees, the acoustic communication was performed. In another observation, two cruising AUVs were operated with a vessel and the ASV in 1500m water depth. The ASV monitored one AUV. Condition in case the device is equipped on small body of the ASV was evaluated. The communication was performed in this depth in severe condition. Furthermore integrated sequence of positioning and communication was successfully performed. Requirement in next phase, in which operation depth and number of multiple access are increased, is discussed.
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Fujiwara, Toshifumi, Kangsoo Kim, Masahiko Sasano, Takumi Sato, Shogo Inaba, Akihiro Okamoto, Motonobu Imasato, and Hiroyuki Osawa. "Sea Trials Summarization on Fundamental Formation Control of Multiple Cruising AUVs -2nd Report: 3 Cruising AUVs With 1 ASV Trial, and Hovering AUVs’ AUV-AUV Positioning and Communication-." In ASME 2022 41st International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/omae2022-78370.

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Abstract National Maritime Research Institute (NMRI) has been studying the development of multi-vehicle operation technology for autonomous underwater vehicles (AUVs) and an autonomous surface vehicle (ASV) mainly from the viewpoint of efficient operation. These results were obtained through our participation in the 2nd term Cross-ministerial Strategic Innovation Promotion Program (SIP2), “Innovative Technology for Exploration of Deep Sea Resources” in Japan. In the project, NMRI is promoting an advanced control system for AUVs initiatively together with the lead agency, Japan Agency for Marine-Earth Science and Technology (JAMSTEC). This paper is placed as the second report in the series. The contents of the paper show the results of the fundamental formation control with three cruising AUVs and one ASV in the sea, and the results of AUV-AUV positioning and communication tests with two hovering AUVs. As a result, in the case of the trial of the fundamental formation control, seafloor topography mapping at the coast in Japan was successfully conducted by the AUVs control system. Moreover, two hovering AUVs navigated with positioning and communication each other in the sea having no problem. The results of the two trials are reported and summarized.
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Watanabe, Yoshitaka, Koji Meguro, Mitsuyasu Deguchi, and Takuya Shimura. "Development of Acoustic Communication and Positioning System for Operation of Multiple AUVs." In ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/omae2018-78278.

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In underwater observation using an autonomous underwater vehicle (AUV), a support vessel typically monitors the AUV to support the observation. The AUV have to be positioned to be tracked by the vessel and informed the positioning result for navigation with acoustic communication. This process is significant especially in deep water. The AUV uplinks to inform its status and transmit some observation data in real time, and sometimes be commanded to change the observation plan by downlink from the vessel. Authors planned to use an autonomous surface vehicle (ASV) to track and monitor multiple AUVs for efficient observation. An acoustic multi-access communication and positioning system have developed as one of the elemental technologies for the observation system. The developed acoustic system achieves multi-access with frequency division multiple access (FDMA) method, and the ASV can monitor up to three AUVs simultaneously. Positioning is performed with super short baseline (SSBL) method. The acoustic device has operation mode in which positioning and communication functions are integrated, called as auto mode. In auto mode, uplink packets can be very close and the AUV can uplinks efficiently, and timing of downlink is calculated from positioning result appropriately. Results of two sea trials are shown. The precision of positioning was enough to track the AUV. However random error was much larger than that of SSBL of the vessel, hence some precise method is necessary to keep the quality of observation data high. Communication and auto mode sequence worked well in the sea trial.
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Pham Van, Tien, and Chung Duc Nguyen Dang. "Underwater Searching based on AUV - ASV Cooperation." In 2022 16th International Conference on Ubiquitous Information Management and Communication (IMCOM). IEEE, 2022. http://dx.doi.org/10.1109/imcom53663.2022.9721807.

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Rajala, Andrew G., Dean B. Edwards, and Micheal O’Rourke. "Collaborative Behavior for Vehicle Replacement in AUV Formations." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-80081.

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The Navy would like to use platoons of cooperating Autonomous Underwater Vehicles (AUVs) for large area underwater mine countermeasures (MCM). Collaborative behavior requires a common language, control structure, and logic so the AUVs can coordinate their action through communication. The loss of an AUV (can no longer perform assigned tasks) is a problem the formation is likely to face. The formation must compensate for lost AUVs, or time would be wasted in researching the area. In order to replace a lost AUV, the formation must determine when a vehicle is lost and what to do if a vehicle returns after being declared lost. To address these problems, fuzzy logic was used to determine when an AUV should be replaced, and a logic structure was developed to insert returning AUVs. Computer simulations showed that the logics increased the defined performance index by about 70% over the baseline case.
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Haji, Maha N., Jimmy Tran, Johannes Norheim, and Olivier L. de Weck. "Design and Testing of AUV Docking Modules for a Renewably Powered Offshore AUV Servicing Platform." In ASME 2020 39th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/omae2020-18982.

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Abstract Autonomous Underwater Vehicle (AUV) missions are limited in range and duration by the vehicle’s battery capacity, and sensor payloads are limited by the processing power onboard which is also restricted by the vehicle’s battery capacity. Furthermore, the power consumption of a vehicle’s acoustic system limits the possibility of substantial data transmission, requiring the AUV be retrieved to download most data. The Platform for Expanding AUV exploRation to Longer ranges (PEARL), described in this paper, aims to extend the range and endurance of AUVs while reducing data latency and operating costs. PEARL is an integrated autonomous floating servicing station that utilizes renewable energy to simultaneously provide AUV battery recharging and data uplink via new generation high-bandwidth low-Earth orbit satellite constellations. This paper details the design and testing of two potential AUV docking modules of the PEARL system. The modules are uniquely located near the ocean surface, an energetic environment that presents a particular set of challenges for AUV docking. The results will be used to inform the design of a prototype system to be tested in an ocean setting.
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Bresciani, Matteo, Giovanni Peralta, Francesco Ruscio, Lorenzo Bazzarello, Andrea Caiti, and Riccardo Costanzi. "Cooperative ASV/AUV system exploiting active acoustic localization." In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021. http://dx.doi.org/10.1109/iros51168.2021.9636326.

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Sato, Takumi, Kangsoo Kim, Masahiko Sasano, Akihiro Okamoto, Shogo Inaba, Satoshi Kondo, Hiroshi Matsumoto, Takashi Murashima, Toshifumi Fujiwara, and Hiroyuki Osawa. "Sea Trials of Multiple Heterogenous Cruising AUVs and ASV With Basic Formation Control." In ASME 2023 42nd International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/omae2023-103370.

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Abstract The National Maritime Research Institute (NMRI), in collaboration with the Japan Agency for Marine-Earth Science and Technology (JAMSTEC), is conducting research and development of seafloor observation technology using multiple autonomous underwater vehicles (AUVs) and one autonomous surface vehicle (ASV) under the 2nd SIP project “Innovative Technology for Deep Sea Resource Exploration.” A group of heterogeneous AUVs with different design concepts may have to be controlled when operating multiple AUVs simultaneously. In this study, we developed a basic formation control system that enables various AUV control with minimal software and hardware modifications to ASV and AUVs and successfully tested it in actual sea conditions. Four AUVs and one ASV from different manufacturers were used in the sea trials. The basic formation control system kept all AUVs within acoustic communication range and successfully acquired seafloor topographic data. The tests demonstrated the capability of basic formation control with heterogeneously navigated AUVs. This paper reports and summarizes the test results of those basic formation control tests.
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Hornfeld, Willi. "Status of the Atlas Elektronik’s Modular AUV Family." In 25th International Conference on Offshore Mechanics and Arctic Engineering. ASMEDC, 2006. http://dx.doi.org/10.1115/omae2006-92357.

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As opposed to ROVs (Remotely Operated Vehicles), self-propelled, unmanned autonomous underwater vehicles (AUVs) are becoming increasingly important since, unlike ROVs they can operate completely self-sufficiently, i.e. independent of the carrier platform and cable at practically any depth and for long periods of time, require only minor technical and logistic support and can be used in regions which are inaccessible to manned submersibles or ROVs (e.g. under ice regions). In other words, AUVs are distinguished by a wide range of applications, the extremely high quality of data collected, their very cost-effective operation and the large standoff capability to the carrier platform, the latter bringing about a distinct improvement in terms of carrier platform safety e.g. for military missions. Due to these advantages over conventional systems, AUVs can be employed for a whole variety of applications, such as the following in the commercial sector: • Sea Bed Mapping, • Pipeline and Route Survey, • Inspection/Control, • Site Clearance, • Debris Survey, • Science – Search – Environment – Geology, • Harbour and ship’s hull inspection. Moreover AUVs will play an important role in the military scenario like mine countermeasure as well. Obviously, one single type of AUV will be unable to cover this entire spectrum if — above and beyond the aforementioned applications — one considers the different operating depths ranging from coastal regions (about 10 m) to deep water (approx. 4000 m) and the various possible carrier platforms (helicopters, ships, submarines, shore stations). On the other hand, the development and use of one specific type of AUV for one or a very limited number of mission types would be very expensive, both in terms of costs involved and necessary logistics, and would hardly be acceptable on the market. The solution to this problem is the “modularity” of the AUV subsystems as well as a family concept for the vehicle design. To implement this strategy, ATLAS ELEKTRONIK has forced the development and marketing of an AUV family for a wide array of missions. The family starts with the SeaFox-IQ, a very small and lightweight (40 kg) AUV for 300 m diving depth, based on the extreme successful mine disposal ROV SeaFox. The big brother is the SeaStout, a 100 kg AUV, designed for 300 m too. The SeaOtter Mk1 and SeaOtter Mk2 AUVs are 1500 kg and 1100 kg vehicles for 600 m operations. The leading edge is the AUV DeepC, a 2500 kg experimental vehicle developed for 4000 m depth and up to 60 h endurance. The ATLAS AUV family offer a lot of hard- and software commonality to ensure that serviceability is maintained, while having a high degree of “customisation” in key areas like payload sensor selection ensuring they will meet customer needs.
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Khalid, M. Hassaan, S. Zeeshan Shakeel, S. Ahmed Mansoor, and S. Qasim Hassan. "FATCAR-AUV: Fault Tolerant Control Architecture of AUV." In 2007 International Bhurban Conference on Applied Sciences & Technology. IEEE, 2007. http://dx.doi.org/10.1109/ibcast.2007.4379925.

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Reports on the topic "AUV"

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Darling, Donald, and James Jalbert. Morpheus AUV Development. Fort Belvoir, VA: Defense Technical Information Center, September 2001. http://dx.doi.org/10.21236/ada625155.

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Pederson, R. 2011 AUV objectives. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 2012. http://dx.doi.org/10.4095/290244.

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Willcox, J. S. The Cornerstone AUV Navigator. Fort Belvoir, VA: Defense Technical Information Center, August 2001. http://dx.doi.org/10.21236/ada625405.

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Willcox, J. S., and Christopher M. Smith. The Cornerstone AUV Navigator. Fort Belvoir, VA: Defense Technical Information Center, September 2002. http://dx.doi.org/10.21236/ada626871.

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von Alt, Christopher, and Thomas Austin. Hydrography with Affordable AUV Systems. Fort Belvoir, VA: Defense Technical Information Center, September 1997. http://dx.doi.org/10.21236/ada628674.

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Coleman, Joseph, Kaylani Merrill, Michael O'Rourke, Andrew G. Rajala, and Dean B. Edwards. Identifying Error in AUV Communication. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada459285.

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Leonard, John J. AUV Navigation Investment Strategy Roadmap. Fort Belvoir, VA: Defense Technical Information Center, August 2001. http://dx.doi.org/10.21236/ada625097.

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Horner, D. P., A. J. Healey, and S. P. Kragelund. AUV Experiments in Obstacle Avoidance. Fort Belvoir, VA: Defense Technical Information Center, September 2005. http://dx.doi.org/10.21236/ada474937.

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Healey, Anthony J., A. M. Pascoal, R. Santos, C. Silvestre, P. Oliveira, L. Sebastiao, M. Rufino, and J. Alves. Shallow Water Hydrothermal Vent Survey in Azores With Cooperating ASV and AUV. Fort Belvoir, VA: Defense Technical Information Center, August 1999. http://dx.doi.org/10.21236/ada436043.

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Chen, Xiadong, Dave Marco, Sam Smith, Edgar An, K. Ganesan, and Tony Healey. 6 DOF Nonlinear AUV Simulation Toolbox. Fort Belvoir, VA: Defense Technical Information Center, January 1997. http://dx.doi.org/10.21236/ada436038.

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