Proceedings of 1992 Symposium on Autonomous Underwater Vehicle Technology

Washington, DC, USAJune 2 and 3, 1992

Table of Contents

Nontechnical content
Front cover and table of contents
Back cover
Vehicle design I
Integrated simulation for rapid development of autonomous underwater vehicles,  Donald P. Brutzman, Yutaka Kanayama, and Michael J. Zyda,  pp. 3-10
Local-remote telerobotics for underwater vehicles,  Paul G. Backes and Mark K. Long,  pp. 11-15
Naval architectural and power system selection for underwater vessels,  I. J. Potter, G. T. Reader, and J. G. Hawley,  pp. 16-21
Semi-autonomous underwater vehicles for shallow water mine-clearing,  R. Peter Bonasso, Dana R. Yoerger, and W. Kenneth Stewart,  pp. 22-28
Self-powered underwater vehicle for MCM operations (MIN MK2 system),  Stefano Ghignone, Claudio Podestà, Sergio La Regina, and Carlo Muià,  pp. 29-45
Mission management/control I
Autonomous vehicle software taxonomy,  William D. Hall and Milton B. Adams,  pp. 49-64
Experimental verification of mission planning by autonomous mission execution and data visualization using the NPS AUV II,  A. J. Healey and D. B. Marco,  pp. 65-72
Multi-sensor based AUV with distributed vehicle management architecture,  Teruo Fujii, Tamaki Ura, Yoji Kuroda, Yoshiaki Nose, and Hiroyuki Chiba,  pp. 73-78
AUV path planning: An A* approach to path planning with consideration of variable vehicle speeds and multiple, overlapping, time-dependent exclusion zones,  Kevin P. Carroll, Stephen R. McClaran, Eric L. Nelson, David M. Barnett, Donald K. Friesen, and Glen N. Williams,  pp. 79-84
Integrated mission planning architectures for unmanned underwater vehicles,  Mike Pouliot and Jeffrey T. Smith,  pp. 85-90
Three-dimensional path planning for AUV,  Liu Shuzhong and Song Guoning,  pp. 91-94
A simple approach to planning and executing complex AUV missions,  Mimi Kao, Geoff Weitzel, Xichi Zheng, and Mervin Black,  pp. 95-102
Vehicle design II
Dynamic simulation tools for the analysis and design of AUV's,  Paolo Baiardi, Giuseppe Casalino, Riccardo Bono, Giorgio Cannata, and Gianmarco Veruggio,  pp. 105-108
Hydrodynamics of simple robot arm/body configurations,  Carlos Rivera and Michael Hinchey,  pp. 109-111
A new jet propulsion device for small subsea robots,  Karen Muggeridge and Michael Hinchey,  pp. 112-115
AUV's trends over the world in the future decade,  Liu Yongkuan,  pp. 116-127
Mission management/control II
A neural network approach to failure diagnostics for underwater vehicles,  A. J. Healey,  pp. 131-134
An experimental comparison of hierarchical and subsumption software architectures for control of an autonomous underwater vehicle,  R. B. Byrnes, D. L. MacPherson, S. H. Kwak, R. B. McGhee, and M. L. Nelson,  pp. 135-141
Layered control of a practical AUV,  Xichi Zheng,  pp. 142-147
FTMP: A protocol for distributed fault tolerant operating system services,  David K. Hess, David R. Safford, Udo W. Pooch, and Glen N. Williams,  pp. 148-151
User interface design strategies for AUVC software development,  Eric L. Nelson, John F. DeSoi, John W. Mollenhauer, Stephen R. McClaran, Kevin P. Carroll, Udo W. Pooch, and Glen N. Williams,  pp. 152-157
Adaptive testing of controllers for autonomous vehicles,  Alan C. Schultz, John J. Grefenstette, and Kenneth A. De Jong,  pp. 158-164
Communications
An improved acoustic communications system for autonomous underwater vehicles,  William R. Garmer,  pp. 167-174
Energy/propulsion
A knowledge based aid for the selection of autonomous underwater vehicle (AUV) energy systems,  J. G. Hawley and G. T. Reader,  pp. 177-180
Aluminum silver oxide reserve primary battery for small submersibles,  Kenneth J. Gregg and Marilyn J. Niksa,  pp. 181-183
Fuel cell power system development for submersibles,  Robert L. Rosenfeld, Paul R. Prokopius, and Alfred P. Meyer,  pp. 184-188
Sensors I
Automatic camera control for AUVs: A comparison of image assessment methods,  J. S. Chu, L. A. Lieberman, and P. Downes,  pp. 191-201
Use of laser scanning system on mobile underwater platforms,  Alan Gordon,  pp. 202-205
Sensors II
High-resolution monopulse piezopolymer sonar sensor,  Shawn E. Burke and Paul A. Rosenstrach,  pp. 209-214
A low frequency high resolution sonar for AUV's,  John W. Irza and John A. Halsema,  pp. 215-218
A shaped PVDF hydrophone for producing low sidelobe beampatterns,  W. Jack Hughes and Charles W. Allen,  pp. 219-223
An acoustic lens sonar using micromechanical hydrophones for unmanned undersea vehicles,  J. J. Bernstein and P. A. Rosenstrach,  pp. 224-227
3-D reconstruction of small underwater objects using high-resolution sonar data,  Lawrence Rosenblum and Behzad Kamgar-Parsi,  pp. 228-235
Synthetic aperture beamforming with automatic phase compensation for high frequency sonars,  Robert W. Sheriff,  pp. 236-245
Weight, volume, and power consumption reductions in side look sonar systems for autonomous underwater vehicles,  Paul E. Jaenke,  pp. 246-258
A new adaptive signal detector in the noises,  Jun-Qin Huang, Xiao-Feng Meng, Song Li, and De-Guang Huang,  pp. 259-263
Launch & recover and navigation
A distributed launch and recovery system for an AUV and a manned submersible,  Robert C. Gwin III and Jeffrey T. Smith,  pp. 267-278
A launch and recovery system for an autonomous underwater vehicle "Explorer",  Wang Ditang, Kang Shouquan, Guan Yulin, Lin Yang, and Liu Dalu,  pp. 279-281
Robot crane for underwater vehicles automatic launching and retrieval,  Stefano Ghignone and Claudio Podesta,  pp. 282-290
Incorporation of global positioning system into autonomous underwater vehicle navigation,  S. H. Kwak, J. B. McKeon, J. R. Clynch, and R. B. McGhee,  pp. 291-297
The application of the correlation sonar to autonomous underwater vehicle navigation,  Brian L. Grose,  pp. 298-303
Hyperbolic acoustic navigation for underwater vehicles: Implementation and demonstration,  James G. Bellingham, Thomas R. Consi, Usha Tedrow, and Diane Di Massa,  pp. 304-309