Proceedings of 1996 Symposium on Autonomous Underwater Vehicle Technology

Monterey, CaliforniaJune 2 - 6, 1996

Table of Contents

Nontechnical content
Front cover and table of contents
Back cover
Vehicles
The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil,  David Barrett, Mark Grosenbaugh, and Michael Triantafyllou,  pp. 1-9
Autonomous underwater vehicle AQUA EXPLORER 1000 for inspection of underwater cables,  Kenichi Asakawa, Junichi Kojima, Yoshihiko Ito, Satoru Takagi, Yuichi Shirasaki, and Naomi Kato,  pp. 10-17
Design of a small, cheap UUV for under-ship inspection and salvage,  David P. Miller,  pp. 18-20
Autonomous operation of the Explosive Ordnance Disposal Robotic Work Package using the CETUS untethered underwater vehicle,  G. M. Trimble,  pp. 21-27
Miniaturized and reconfigurable instrumentation for multipurpose survey with a Mini Autonomous Underwater Vehicle MAUVE--Project,  Alain Carof, J. P. Pignon, R. Duranton, I. Lourtie, I. Ribeiro, A. Siccardi, E. Olsen, G. Pichot, MC. Thomas, L. Pronzato, J. Rendas, and D. Sauzade,  pp. 28-32
Exploration of Mono Lake with an ROV: A prototype experiment for the MAPS AUV program,  C. R. Stoker, D. Barch, J. Farmer, M. Flagg, T. Healy, T. Tengdin, H. Thomas, K. Schwer, and D. Stakes,  pp. 33-40
Autonomous legged underwater vehicles for near land warfare,  Helen Greiner, Art Shectman, Chikyung Won, Richard Elsley, and Per Beith,  pp. 41-48
Pectoral fin model for maneuver of underwater vehicles,  Naomi Kato and Motonori Furushima,  pp. 49-56
Control surface and actuator design for a low drag, laminar flow AUV,  S. L. Merry, M. J. Large, T. J. Whitten, M. R. Wilkinson, and R. J. Babb,  pp. 57-64
Vehicle control
Local area navigation using sonar feature extraction and model based predictive control,  D. B. Marco and A. J. Healey,  pp. 67-77
Non-linear controller with switched control law for tracking control of non-cruising AUV,  Wan-Chung Lam and Tamaki Ura,  pp. 78-85
Gradient search with autonomous underwater vehicles using scalar measurements,  Eric Burian, Dana Yoerger, Albert Bradley, and Hanumant Singh,  pp. 86-98
NPS Phoenix AUV software integration and in-water testing,  Don Brutzman, Mike Burns, Mike Campbell, Duane Davis, Tony Healey, Mike Holden, Brad Leonhardt, Dave Marco, Dave McClarin, Bob McGhee, and Russ Whalen,  pp. 99-108
A survey and experimental study of neural network AUV control,  Jørgen Lorentz and J. Yuh,  pp. 109-116
Performance results of a fuzzy behavioral altitude flight controller and rendezvous & docking of an autonomous underwater vehicles with fuzzy control,  K. A. White, S. M. Smith, K. Ganesan, D. Kronen, G. J. S. Rae, and R. M. Langenbach,  pp. 117-124
Strategic level mission control - An evaluation of CORAL and PROLOG implementations for mission control specifications,  A. J. Healey, D. B. Marco, P. Oliveira, A. Pascoal, V. Silva, and C. Silvestre,  pp. 125-132
Sonar
Exploratory development minehunting sensors for unmanned vehicles,  Stephen F. Castelin, Robert A. Manning, Candace J. Robertson, Lisa J. Tubridy, and Phillip J. Bernstein,  pp. 135-140
Sensors for a forward-looking high resolution AUV sonar,  Fred Nussbaum, Gerald T. Stevens, and James G. Kelly,  pp. 141-145
Electronically steered and focused forward-looking scan sonar,  Lester R. LeBlanc, Joseph M. Cuschieri, Matthew R. Singer, and Pierre-Philippe J. Beaujean,  pp. 146-153
A side scan sonar system for autonomous underwater vehicles,  James M. Glynn and Martin Buffman,  pp. 154-159
Multi-frequency shift key and differential phase shift key for acoustic modem,  Lester R. LeBlanc and Pierre-Philippe Beaujean,  pp. 160-166
Multi-sensor data fusion for seafloor mapping and ordnance location,  John Wright, Ken Scott, Tien-Hsin Chao, Brian Lau, John Lathrop, and John McCormick,  pp. 167-175
Sonar signal processing
Significance of envelope detection in underwater acoustic imaging systems,  Andrea Trucco and Vittorio Murino,  pp. 179-184
High resolution array signal processing for AUVs,  Michael R. Medeiros and Robert N. Carpenter,  pp. 185-191
Subspace stability in high resolution direction finding and signal enumeration,  M. E. Kotanchek and J. E. Dzielski,  pp. 192-199
Software architecture
Development and validation of the Texas A&M University autonomous underwater vehicle controller,  Eric Nelson, Stephen McClaran, David Barnett, Make McDermott, and Glen Williams,  pp. 203-208
A pragmatic software architecture for UUVs,  K. Ganesan, S. M. Smith, K. White, and T. Flanigan,  pp. 209-215
Conditional sequencing for land, space and sea,  Erann Gat,  pp. 216-222
A general control architecture for multiple AUVs,  J. Borges Sousa, F. Lobo Pereira, and E. Pereira da Silva,  pp. 223-230
Architecture of the Texas A&M Autonomous Underwater Vehicle Controller,  David Barnett, Stephen McClaran, Eric Nelson, Make McDermott, and Glen Williams,  pp. 231-237
Architecture for an autonomous reconfigurable intelligent control system (ARICS),  Arie Yavnai,  pp. 238-245
Navigation
New experimental results on GPS/INS navigation for Ocean Voyager II AUV,  P. E. An, A. J. Healey, S. M. Smith, and S. E. Dunn,  pp. 249-255
The development of an integrated GPS/INS/Sonar navigation system for autonomous underwater vehicle navigation,  M. Bennamoun, B. Boashash, F. Faruqi, and M. Dunbar,  pp. 256-261
A precision navigation system for autonomous undersea vehicles,  Dan G. White and Frank Psota,  pp. 262-267
Evaluation of an integrated GPS/INS system for shallow-water AUV navigation (SANS),  E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. Steven, R. G. Walker, J. R. Clynch, A. J. Healey, and X. P. Yun,  pp. 268-275
Determination and influence of the main parameters for the launch and recovery of an unmanned underwater vehicle from a submarine,  Denis Chapuis, Caroline Deltheil, and Didier Leandri,  pp. 276-282
Mosaicking
Video mosaicking along arbitrary vehicle paths,  Stephen D. Fleischer, Howard H. Wang, Stephen M. Rock, and Michael J. Lee,  pp. 293-299
Clustering and feature extraction in a 3D real-time echo management framework,  Per G. Auran and Kjell E. Malvig,  pp. 300-307
Mosaicking of the ocean floor in the presence of three-dimensional occlusions in visual and side-scan sonar images,  Sanjay Tiwari,  pp. 308-314
Acoustic imaging
Sonar image interpretation and modelling,  George T. Russell, Judith M. Bell, Patrik O'B. Holt, and Stuart J. Clarke,  pp. 317-324
Study of aperture area reduction and resolution improvement of underwater ultrasonic imaging system,  Sheng-Wen Cheng and Min-Kang Chao,  pp. 325-332
An integrated environment for fast development and performance assessment of sonar image processing algorithms - SSIE,  Lars Henriksen,  pp. 333-340
Visual imaging
Detecting linear motion of an object in a sequence of monocular underwater images,  Petter Lågstad,  pp. 343-347
Acoustic video-signal transmission system for autonomous underwater vehicle,  Junichi Kojima and Yuichi Shirasaki,  pp. 348-353
A color texture based visual monitoring system for automated surveillance,  George Paschos and Kimon P. Valavanis,  pp. 354-361
Modeling & simulation
AUV test using real/virtual synthetic world,  Yoji Kuroda, Koji Aramaki, and Tamaki Ura,  pp. 365-372
A simplified dynamics model for autonomous underwater vehicles,  Meyer Nahon,  pp. 373-379
Visualization for AUV non-traditional navigation algorithm development,  S. T. Tuohy, D. Bruening, and N. M. Patrikalakis,  pp. 380-387
Ocean networks
Optimizing AUV oceanographic surveys,  James G. Bellingham and J. Scott Willcox,  pp. 391-398
AUV system requirements for coastal oceanography,  F. Lobo Pereira, J. Borges Sousa, C. Gil Martins, and E. Pereira da Silva,  pp. 399-406
Organization and reorganization of autonomous oceanographic sampling networks,  Roy M. Turner, Elise H. Turner, and D. Richard Blidberg,  pp. 407-413
AOSN sensors
Turbulence and optics sampling from an autonomous underwater vehicle,  Edward R. Levine, Rolf G. Lueck, Percy L. Donaghay, Donald N. Conners, Ted Gagliardi, Robert C. Hanson, and Richard R. Shell,  pp. 417-423
Ocean flow measurement using an autonomous underwater vehicle,  Ken Holappa, Manhar Dhanak, Samuel Smith, and Edgar An,  pp. 424-429
Validation of the installation of CTD sensors on an AUV,  James W. Bales,  pp. 430-437
Energy & propulsion
Development efforts in rechargeable batteries for underwater vehicles,  Patricia H. Smith, Stanley D. James, and Peter B. Keller,  pp. 441-447
High energy density permanent magnetic motors for underwater systems,  William P. Krol Jr. and C. Peter Cho,  pp. 448-454
Solid lithium hydride as a hydrogen source for fuel cells,  Gerald K. Pitcher,  pp. 455-460
Motion control
Experiments in the hydrodynamic modeling of an underwater manipulator,  Timothy W. McLain and Stephen M. Rock,  pp. 463-469
Geometric methods for robust stabilization of autonomous underwater vehicles,  Naomi Ehrich Leonard,  pp. 470-476
A motion planning method for an AUV,  Shinji Arinaga, Shoji Nakajima, Hideo Okabe, Akira Ono, and Yutaka Kanayama,  pp. 477-484
Control of an autonomous underwater vehicle testbed using fuzzy logic and genetic algorithms,  J. Guo and S. H. Huang,  pp. 485-489