Proceedings of the Fifth International Symposium on Unmanned Untethered Submersible Technology

June 22-24, 1987

Table of Contents

Nontechnical content
Front cover and table of contents

VOLUME 1

Papers
A feasibility study for a long range autonomous underwater vehicle,  M. Hebert, C. E. Thorpe, S. E. Dunn, J. M. Cushieri, P. O. Rushfelt, W. H. Girodet, and P. Schweizer,  pp. 1-13
Epaulard: Operational developments,  J. L. Michel, T. Conway, and H. Le Roux,  pp. 14-17
Elit-guidance feasibility,  Jean-Louis Michel and Patrick Borot,  pp. 18-22
Evolution of the dolphin multi-vehicle control system,  Bruce Butler and Stephen Maryka,  pp. 23-32
Eave-west: A testbed for plan execution,  Jayson T. Durham, Paul Heckman, Dale Bryan, and Ron Reich,  pp. 33-43
A users requirements on an autonomous underwater vehicle system and a proposed development system,  Håkan Klevebrant and Börje Lindstrom,  pp. 44-59
The evolutionary development of the military autonomous underwater vehicle,  Gary L. Bane and James Ferguson,  pp. 60-88
The ocean shuttle submersible, its autonomous marine power source (AMPS) and power source control system,  Charles M. Kidd,  pp. 89-101
An air independent stirling energy system for autonomous ROVs,  Herbert Nilsson and Christer Bratt,  pp. 102-107
The artificial gill: Oxygen extraction technology for extended missions,  Steven J. Carnevale,  pp. 108-120
Aluminium-oxygen batteries as power sources for submersibles,  Marilyn Niksa and Douglas J. Wheeler,  pp. 121-127
Aluminum-hydrogen peroxide sea water battery,  R. P. Hamlen, B. M. L. Rao, W. Halliop, and N. P. Fitzpatrick,  pp. 128-140
Advanced batteries for electrically powered underwater vehicles,  Steven J. Specht,  pp. 141-158
High energy, silver-zinc batteries for submersible applications,  Anthony M. Aretakis,  pp. 159-170
Feasibility study of underwater walking vehicles,  Tsung-Chow Su and Tin-Lup Wong,  pp. 171-180
Modeling and simulation of underwater walking vehicles,  Tin-Lup Wong and Tsung-Chow Su,  pp. 181-207
A multiprocessor system for AUV applications,  G. M. Trimble,  pp. 208-219
Hardware and software architectures for realizing a knowledge based system on eave,  Michael P. Shevenell,  pp. 220-237
Low level architecture for the new eave vehicle,  Jim Jalbert,  pp. 238-244
Magnetic terrain navigation,  Carl Tyren,  pp. 245-256
Magnetic guidance of autonomous vehicles (part 2),  Donald G. Polvani,  pp. 257-264
Aided inertial navigation systems for underwater vehicles,  Dan Johnson and Steve Eppig,  pp. 265-282
A non-deterministic approach to 3-D modeling underwater,  W. Kenneth Stewart,  pp. 283-309
3-D imaging using an electronically scanned FLS,  J. M. Cuschieri,  pp. 310-319
Characteristics and capabilities of navigation systems for unmanned untethered submersibles,  E. Michael Geyer, Paul M. Creamer, Joseph A. D'Appolito, and Robert G. Rains,  pp. 320-347

VOLUME 2

Papers
High speed digital acoustic telemetry system,  Cal Eck, Dave Porta, and Changle Fang,  pp. 348-362
A high performance tilt-pan mechanism for narrow beam acoustic telemetry for marine robots,  James S. Collins, James L. Galloway, and Wayne J. Wolverton,  pp. 363-370
An efficient propulsion system for untethered submersible vehicles,  Gerald M. Stenovec and F. R. Haselton,  pp. 371-380
Dynamics and control of autonomous vehicles,  D. R. Yoerger, J.-J. E. Slotine, M. Grosenbaugh, and D. M. DeLonga,  pp. 381-398
Actuation requirements for autonomous underwater vehicles,  Douglas E. Humphreys,  pp. 399-412
Bionic modeling for knowledge-based guidance in automated underwater vehicles,  Martha J. Guastella,  pp. 413-429
Situation based control architectures for an AUV,  R. Mayer, A. Underbrink, J. Lockledge, and U. Reddy,  pp. 430-443
A control system architecture for multiple autonomous undersea vehicles (MAUV),  James S. Albus and D. Richard Blidberg,  pp. 444-466
A blackboard based system for context sensitive mission planning in an autonomous vehicle,  Steven G. Chappell,  pp. 467-476
The control of autonomous underwater vehicles through a hierarchical structure of value priorities,  George E. Pugh and Joseph C. Krupp,  pp. 477-501
The extraction of topographic features in support of autonomous underwater vehicle navigation,  Don J. Orser and Martin Roche,  pp. 502-514
PPM: A conceptual framework for an AUV propulsion plant manager,  Gerald Sedor,  pp. 515-538
Knowledge-based management of failures in autonomous systems,  Philipp F. Schweizer,  pp. 539-551
Reliability design of a distributed knowledge based system for an autonomous underwater vehicle,  Udo W. Pooch, Glen N. Williams, and David R. Safford,  pp. 552-560
An environment simulator for a KBS controlled underwater vehicle,  Maureen L. Momenee,  pp. 561-566
A planned recognizer as an independent observer for autonomous systems,  Amitabha Mukerjee and Krishna Kumar,  pp. 567-578
A thrust vector controller for the EAVE vehicle,  Paul Franz and D. Limbert,  pp. 579-589
Trajectory control of nonlinear, time-varying, discrete-time systems using discrete-time sliding control,  David M. Delonga, Jean-Jaques E. Slotline, and Dana R. Yoerger,  pp. 590-617
Comments, conclusions, recommendations,  Robert W. Corell,  pp. 618-625