Proceedings of 1994 Symposium on Autonomous Underwater Vehicle Technology

Cambridge, Massachusetts, USAJuly 19 and 20, 1994

Table of Contents

Nontechnical content
Front cover and table of contents
Back cover
Vehicle systems I
Distribution of guidance, navigation, and control functionality in the explosive ordnance disposal autonomous underwater vehicle robotic work packages program,  G. M. Trimble and R. E. Markett,  pp. 1-6
Smart communications system (SMARTCOMMS),  Thomas A. Frank and Alan L. Sheridan,  pp. 7-12
Remote environmental measuring units,  Christopher von Alt, Ben Allen, Thomas Austin, and Roger Stokey,  pp. 13-19
Underwater vision
Real-time video mosaicking of the ocean floor,  Richard L. Marks, Stephen M. Rock, and Michael J. Lee,  pp. 21-27
The role of vision for underwater vehicles,  J. Santos-Victor and J. Sentieiro,  pp. 28-35
An AUV vision system for target detection and precise positioning,  Homer H. Pien, Donald E. Gustafson, and William F. Bonnice,  pp. 36-43
Software architectures I
Activity-based mission planning and plan management for autonomous vehicles,  William D. Hall and Jay A. Farrell,  pp. 45-53
A concurrent, object-oriented implementation for the tactical level of the rational behavior model software architecture for UUV control,  Se-Hung Kwak and Frederick P. B. Thornton Jr.,  pp. 54-60
Distributed decentralized architecture for autonomous cooperative operation of multiple agent system,  Arie Yavnai,  pp. 61-67
Vehicle systems II
The control system of a small virtual AUV,  Gianmarco Veruggio, Riccardo Bono, and Massimo Caccia,  pp. 69-74
SPV--Self-powered underwater platform for MCM search and classification sonars,  C. Podestà and S. Ghignone,  pp. 75-78
Experimental study on an underwater robotic vehicle: ODIN,  S. K. Choi, G. Y. Takashige, and J. Yuh,  pp. 79-84
Object detection
A sonar based obstacle avoidance system for AUVs,  G. Conte and S. Zanoli,  pp. 85-91
On shape and range recovery from images of underwater environments,  Shahriar Negahdaripour,  pp. 92-98
Real-time underwater object detection based on an electrically scanned high-resolution sonar,  Lars Henriksen,  pp. 99-104
Software architectures II
An approach to intelligent distributed control for autonomous underwater vehicles,  Samuel M. Smith,  pp. 105-111
Design of a mission management system for the autonomous underwater vehicle MARIUS,  Claire Bizingre, Paulo Oliveira, António Pascoal, Fernando Lobo Pereira, Jean-Paul Pignon, Eduardo Silva, Carlos Silvestre, and João Borges de Sousa,  pp. 112-121
A heuristically constrained dynamic perception architecture for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program,  G. M. Trimble,  pp. 122-127
Vehicle systems III
Tactical/execution level coordination for hover control of the NPS AUV II using onboard sonar servoing,  A. J. Healey, D. B. Marco, R. B. McGhee, D. P. Brutzman, R. Cristi, F. A. Papoulias, and S. H. Kwak,  pp. 129-138
The Ocean Voyager II: An AUV designed for coastal oceanography,  Samuel M. Smith and Stanley E. Dunn,  pp. 139-147
A second generation survey AUV,  J. G. Bellingham, C. A. Goudey, T. R. Consi, J. W. Bales, D. K. Atwood, J. J. Leonard, and C. Chryssostomidis,  pp. 148-155
Underwater communications
Adaptive equalization algorithms for high rate underwater acoustic communications,  John G. Proakis, Milica Stojanovic, and Josko Catipovic,  pp. 157-164
Reduced-complexity RLS estimation for shallow-water channels,  Marko Kocic, David Brady, and Steven Merriam,  pp. 165-170
Noise cancelling performance of an adaptive receiver for underwater communications,  Josko Catipovic, Mark Johnson, and Dennis Adams,  pp. 171-178
Power components
Aluminum fuel cell power sources for long range unmanned underwater vehicles,  Geoffrey M. Scamans, David K. Creber, John H. Stannard, and James E. Tregenza,  pp. 179-186
Electric motor/controller design tradeoffs for noise, weight, and efficiency,  Norman L. Kopp and Gerald W. Brown,  pp. 187-193
Comparison of advanced rechargeable batteries for autonomous underwater vehicles,  J. P. Descroix and G. Chagnon,  pp. 194-197
Vehicle design issues
Design, construction and hydrodynamic testing of the AUV MARIUS,  Per Egeskov, Anders Bjerrum, António Pascoal, Carlos Silvestre, Christian Aage, and Leif Wagner Smitt,  pp. 199-207
An integrated approach to the design and analysis of navigation, guidance and control systems for AUVs,  Daniel Fryxell, Paulo Oliveira, António Pascoal, and Carlos Silvestre,  pp. 208-217
Cable tracking for autonomous underwater vehicle,  Yoshihiko Ito, Naomi Kato, Junichi Kojima, Satoru Takagi, Kenichi Asakawa, and Yuichi Shirasaki,  pp. 218-224
Fuzzy control
An initial assessment of fuzzy logic vessel path control,  Michael G. Parsons, Ailan C. Chubb, Yusong Cao, and Anna G. Stefanopoulou,  pp. 225-232
Fuzzy logic for depth control of unmanned undersea vehicles,  Paul A. DeBitetto,  pp. 233-241
A comparative study of some control systems for a submersible,  Hélio F. Moraes, Roberto M. Sales, Helton P. Cumming, and Wagner M. Silva,  pp. 242-246
Vehicle positioning and motion
Motion minimization of AUVs for improved imaging sensor performance beneath a seaway,  Ronald S. Peterson, Thai C. Nguyen, and Rafael R. Rodriguez,  pp. 247-254
Computational issues in motion planning for autonomous underwater vehicles with manipulators,  Andrew W. Quinn and David M. Lane,  pp. 255-262
Navigation and localization in a partially known environment,  Roberto Cristi,  pp. 263-267
Adaptive control
A quick adaptation method in a neural network based control system for AUVs,  Kazuo Ishii, Teruo Fujii, and Tamaki Ura,  pp. 269-274
Hybrid adaptive control of autonomous underwater vehicle,  Saeed S. Tabaii, Ferial El-Hawary, and Mo El-Hawary,  pp. 275-282
Motion control of an autonomous underwater vehicle with an adaptive feature,  Naomi Ehrich Leonard and P. S. Krishnaprasad,  pp. 283-288
Acoustic sensors
Propagation medium impact on sonar coherent processing for high frequency synthetic aperture imaging,  Charles M. Ciany, George M. Walsh, and Andrew M. Clark,  pp. 289-296
Arctic Ocean trials of Trackpoint ultrashort baseline acoustic positioning systems,  Mervin R. Black and Bruce Butler,  pp. 297-302
Low side-lobe PVDF element using a space tapered electrode,  Michael F. Janik, Patrick Brogan, and Leonard V. Livernois,  pp. 303-308
Multiple vehicles
COLA: A language to support communication between multiple cooperating vehicles,  Elise H. Turner, Steven G. Chappell, Scott A. Valcourt, and Martin J. Dempsey,  pp. 309-316
Using a fleet of autonomous bottom crawling vehicles for surf zone operations,  Christiane N. Duarte and Dominick J. Carlino,  pp. 317-322
Vehicle control architecture for operating multiple vehicles,  Yoji Kuroda, Tamaki Ura, and Koji Aramaki,  pp. 323-329
Thrusters and propulsors
Propeller/stator propulsors for autonomous underwater vehicles,  Mesut Güner and Edward J. Glover,  pp. 331-336
High efficiency, counter-rotating ring thruster for underwater vehicles,  John K. Holt and Dan G. White,  pp. 337-339
Toward an improved understanding of thruster dynamics for underwater vehicles,  A. J. Healey, S. M. Rock, S. Cody, D. Miles, and J. P. Brown,  pp. 340-352
Navigation I
Hybrid navigation system for long range operation,  M. João Rendas and Isabel M. G. Lourtie,  pp. 353-359
Advances in the state of the art for AUV inertial sensors and navigation systems,  R. Cox and S. Wei,  pp. 360-369
Acoustic differential delay & Doppler tracking system for long range AUV positioning and guidance,  Alain H. Carof,  pp. 370-375
Reliability
Failure detection in an autonomous underwater vehicle,  Alec Orrick, Make McDermott, David M. Barnett, Eric L. Nelson, and Glen N. Williams,  pp. 377-382
On-line damage detection for autonomous underwater vehicles,  Graeme J. S. Rae and Stan E. Dunn,  pp. 383-392
A compact underwater acoustic modem,  David Herold and Mark Johnson,  pp. 393-398
Simulation and control
A comparison between H-infinity/Mu-synthesis control and sliding-mode control for robust control of a small autonomous underwater vehicle,  Cedric L. Logan,  pp. 399-416
Submersible control using the linear quadratic Gaussian with Loop Transfer Recovery method,  Douglas L. Juul, Make McDermott, Eric L. Nelson, Dave M. Barnett, and Glen N. Williams,  pp. 417-425
On optimum turning configurations,  Chuck Henry,  pp. 426-433
Improvement of the low-speed control authority of an AUV through hull shaping,  Douglas E. Humphreys,  pp. 434-438
Simulation of UUV environmental sampling in modeled ocean frontal zones,  Edward R. Levine, Andrew Shein, and John Kloske,  pp. 439-442
Navigation II
The application of spread spectrum signaling techniques to underwater acoustic navigation,  Thomas C. Austin,  pp. 443-449
AUV guidance with chemical signals,  T. R. Consi, J. Atema, C. A. Goudey, J. Cho, and C. Chryssostomidis,  pp. 450-455
Ultra-high resolution, biologically inspired sonar,  Sudha S. Reese and John B. Kenney,  pp. 456-461
Acoustic communication between two autonomous underwater vehicles,  Steven G. Chappell, James C. Jalbert, Paul Pietryka, and John Duchesney,  pp. 462-469
A simulation model for AUV navigation,  Séamus T. Tuohy,  pp. 470-478