Proceedings of 1990 Symposium on Autonomous Underwater Vehicle Technology

Washington, DC, USAJune 5 and 6, 1990

Table of Contents

Nontechnical content
Front cover and table of contents
AUV computer architecture
Chair(s): Dr. Randall Shumaker, Naval Research Laboratory, Washington, DC
Keeping layered control simple,  James G. Bellingham, Thomas R. Consi, Robert M. Beaton, and William Hall,  pp. 3-8
Advanced autonomous underwater vehicle software architecture,  Robert B. Schudy and Christiane N. Duarte,  pp. 9-22
Software structure for a simple autonomous underwater vehicle,  Ørnulf Jan Rødseth,  pp. 23-26
AUV system issues
Chair(s): Mr. Rob Leitner, ISAT, Springfield, VA
A generalized contingency alternative matrix for the autonomous untethered vehicle (AUV),  Arthur S. Westneat and Walter L. Clearwaters,  pp. 29-33
Fault-tolerant design optimization: Application to an autonomous underwater vehicle navigation system,  Philip S. Babcock IV and Jeffrey J. Zinchuk,  pp. 34-43
Optimal routing of multiple autonomous underwater vehicles through evolutionary programming,  David B. Fogel and Lawrence J. Fogel,  pp. 44-47
AUV control systems
Chair(s): Mr. Mack D. O'Brien, Jr., Charles Stark Draper Laboratory, Cambridge, MA
A robust depth and speed control system for a low-speed undersea vehicle,  Michael J. Ruth and Douglas E. Humphreys,  pp. 51-58
At-sea testing of an unmanned underwater vehicle flight control system,  Frank Dougherty and Gary Woolweaver,  pp. 65-73
Robustness analysis methods for underwater vehicle control systems,  Brent Appleby, William Bonnice, and Nazareth Bedrossian,  pp. 74-80
Development of motion control system for AUV using neural nets,  Teruo Fujii and Tamaki Ura,  pp. 81-86
Energy systems
Chair(s): Mr. Claude P. Brancart, Charles Stark Draper Laboratory, Arlington, VA
Heat source integration of CBC powerplants for UUV missions,  Allen D. Harper, Jeffrey S. Jansen, and Steven W. Trimble,  pp. 89-99
Development of a rechargeable lithium cell power source,  Patricia H. Smith, Stanley D. James, David L. Chua, and Walter B. Ebner,  pp. 100-104
Enhanced mission duration for an underwater vehicle using a PEM fuelcell power source,  Earl Carey, Richard Lawrance, and Daniel Steiger,  pp. 105-108
Multimode battery,  B. M. L. Rao, S. A. Shah, J. Zakrzewski, R. P. Hamlen, and W. Halliop,  pp. 109-112
Evaluation methodology for AUV energy systems analysis,  William H. Kumm,  pp. 113-120
Navigation and path planning I
Chair(s): Mr. Norman Estabrook, Naval Ocean Systems Center, San Diego, CA
A mission planning expert system for an autonomous underwater vehicle,  S. H. Kwak, S. M. Ong, and R. B. McGhee,  pp. 123-128
A system approach to navigating and piloting small UUV's,  B. L. Hutchinson, B. E. Skov, S. E. Bradley, and F. D. Rowe,  pp. 129-136
Neural network techniques for navigation of AUVs,  Vincent W. Porto and David B. Fogel,  pp. 137-141
Navigation and path planning II
Chair(s): Mr. David W. Jourdain, Meridian Sciences, Inc., Columbia, MD
Slant range and 3D sea floor models for real-time UUV simulation,  Christopher J. Winters,  pp. 145-149
AUV control using geometric constraint-based reasoning,  Thomas C. Smith, Robert Evans, Lou Tychonievich, and John Mantegna,  pp. 150-155
Optimal search tactics,  James H. Hino,  pp. 156-167
Sensor fusion for AUV localization,  V. Rigaud, L. Marcé, J. L. Michel, and P. Borot,  pp. 168-174
Navigation and path planning III
Chair(s): Mr. William W. McFarland, Charles Stark Draper Laboratory, Cambridge, MA
Gravity based navigation of AUV's,  Albert Jircitano, John White, and Daniel Dosch,  pp. 177-180
Design, calibration and evaluation of a two axis correlation log for use on autonomous underwater vehicle,  P. J. Stevens,  pp. 181-185
Correlation-log-based underwater navigation,  Gary Campanella and Warwick Holt,  pp. 186-193
Navigation of unmanned underwater vehicles for scientific surveys,  Richard J. Babb,  pp. 194-198
Collision avoidance
Chair(s): Dr. Ace Summey, Naval Coastal Systems Center, Panama City, FL
A technique for autonomous underwater vehicle route planning,  C. W. Warren,  pp. 201-205
A collision avoidance controller for autonomous underwater vehicles,  Glen N. Williams, Glenn E. Lagace, and Alfred J. Woodfin,  pp. 206-212
Obstacle avoidance using neural networks,  Gordon DeMuth and Steve Springsteen,  pp. 213-215
A comparison of two obstacle avoidance path planners for autonomous underwater vehicles,  John C. Hyland and Stan R. Fox,  pp. 216-222
Obstacle avoidance sonar: An analysis of system requirements and detection performance during near-bottom operation,  Mark T. Shaw,  pp. 223-228
Sensors I
Chair(s): Mr. Fred Newton, Triton Technology, Inc., Watsonville, CA
Optimization of acoustic sensors for autonomous underwater vehicle applications,  Deborah A. Summa, Jeffrey W. Amos, and George P. Coble,  pp. 231-237
Information augmentation of passive tracking for autonomous underwater vehicles,  Mukund N. Desai, Milton B. Adams, and John Irza,  pp. 238-247
Autonomous interpretation of side scan sonar returns,  Anthony R. Castellano and Brian C. Gray,  pp. 248-253
High resolution broadband FFT beamformer simulation and analysis,  Randolph F. Follett,  pp. 254-259
Sensors II
Chair(s): Mr. William Labouda, Honeywell Advanced System Center, Arlington, VA
"New technology" magnetic attitude sensors in autonomous underwater vehicle (AUV) applications,  J. Thomas Fowler,  pp. 263-269
The TV-trackmeter: An underwater non-contact position sensor,  M. Bellin, D. Maddalena, and R. Visentin,  pp. 270-274
Adaptive underwater target tracking via a generalized Kalman filter,  Ferial El-Hawary,  pp. 275-279
A pixel range gated imaging system for underwater viewing and range finding,  Zhuoyu Yin, S. X. Zhang, X. M. Guo, Y. J. Zhu, and B. Q. Yi,  pp. 280-285
Acoustic communications
Chair(s): Dr. George Pappas, Amron Corporation, Falls Church, VA
Improved underwater acoustic communication for AUVs,  Mark Fiorillo, John Irza, and Ira Ekhaus,  pp. 289-295
High data rate acoustic telemetry for moving ROVs in a fading multipath shallow water environment,  Josko A. Catipovic and Lee E. Freitag,  pp. 296-303
Description of and experimental results for a high data rate underwater acoustic telemetry link,  Lee E. Estes, Gilbert Fain, and Paul Caron,  pp. 304-312
Interleaver performance for FSK transmission on the acoustic fading channel,  Michael A. Deaett and Paul P. Audi,  pp. 313-317