Proceedings of the Sixth International Symposium on Unmanned Untethered Submersible Technology

Marine Systems Engineering Laboratory, University of New Hampshire, Durham, New HampshireJune 12-14, 1989

Table of Contents

Nontechnical content
Front cover and table of contents
Back cover
Papers
"MacAROV" - A versatile testbed for real applications,  Hakan Klevebrant,  pp. 1-14
Autonomous underwater system for pipeline leak detection and inspection,  Torgny A. Mellin and Olle Råvik,  pp. 15-24
Software development for the autonomous submersible program at MIT sea grant and draper laboratory,  John Loch, Eric Wallar, James G. Bellingham, Robert Beaton, and Michael Triantafyllou,  pp. 25-32
High speed long range unmanned underwater vehicle communication link,  J. G. Eskinzes and E. J. Kennedy,  p. 33
A signal processing system for underwater acoustic ROV communication,  Lee E. Freitag and Josko A. Catipovic,  pp. 34-41
Adaptive estimation of an underwater acoustic channel using real test data,  D. R. Carmichael and R. M. Dunbar,  pp. 42-54
Flextensional transducers applied to long range hydroacoustic communication,  Rune Tenghamn,  pp. 55-63
Operational planning and programming of autonomous underwater vehicles,  Andrew Kramer, David Toms, Robert Schrag, and Daniel Johnson,  pp. 64-78
Research & development issues served by a small autonomous test bed,  Arthur S. Westneat,  pp. 79-87
Non-nuclear powerplants for AUVs,  G. T. Reader, G. Walker, and J. G. Hawley,  pp. 88-99
Aluninum - Sea water battery for undersea vehicle,  B. M. L. Rao, W. H. Hoge, J. Zakrzewski, S. Shah, R. P. Hamlen, and W. Halliop,  pp. 100-108
Silver-iron batteries for submersible applications,  Gary A. Bayles, Janet S. Lauer, Edward S. Buzzelli, and John F. Jackovitz,  pp. 109-122
Test results from a 15 kw air-independant stirling power generator,  Herbert Nilsson and Christer Bratt,  pp. 123-128
Enhanced mission duration for an underwater vehicle using a proton exchange membrane fuel cell power source,  Christopher Jones and Victoria Margiott,  pp. 129-135
Thermochemical power systems for underwater applications,  Allen D. Harper,  pp. 136-152
Advanced underwater power systems,  R. T. Ruggeri,  pp. 153-167
A comparative analysis of electrochemical power sources for the DARPA UUV program,  Arthur Lee, Brian D. James, Ira F. Kuhn Jr., and George N. Baum,  pp. 168-188
The aluminum-oxygen fuel cell as a power source for submersibles,  Marilyn J. Niksa,  pp. 189-199
Energy systems for increased endurance of unmanned untethered submersible vehicles,  Gerald Sedor,  pp. 200-215
High performance storage battery on board of unmanned untethered submersible vehicles,  Jean-P. Cornu,  pp. 216-235
Intelligent planning for a serach and surveillance unmanned underwater vehicle (UUV),  James H. Hino,  pp. 236-245
Intelligent waypoint transiting in complex AUV environs,  James L. Allison, David P. Watson, and Thomas M. Cook,  pp. 246-257
Autonomous knowledge-based navigation in an unknown two-dimensional environment with convex polygon obstacles,  John D. McKendrick,  pp. 258-265
Optimal obstacle avoidance path planning for autonomous underwater vehicles,  John C. Hyland,  pp. 266-278
A software architecture for autonomous systems,  Johan Hultman, Anders Nyberg, and Mikael Svensson,  pp. 279-292
A situation assessment system for the MSEL EAVE-III AUVs,  Svein Ivar Sagatun,  pp. 293-306
Software architecture for control of an autonomous vehicle,  Xichi Zheng, Shil Srivastava, and Jayson Durham,  p. 307
Against complex architectures,  Anthony J. Stentz and Charles E. Thorpe,  pp. 308-311
A neural-network-based autonomous underwater vehicle guidance system,  I. Schiller and K. A. Tench,  pp. 312-319
A testbed processor for embedded multi-computing,  Jayson Durham, Brenda Gillcrist, and Paul Heckman Jr.,  pp. 320-330
The impact of communication strategy on the cooperative behavior of multiple autonomous underwater vehicles (AUVs),  D. Richard Blidberg,  pp. 331-348
Selection criteria for UUV sonar systems,  William J. Zehner and Chester D. Loggins,  pp. 349-358
Automatic target detection and cuing system for an autonomous underwater vehicle (AUV),  Philipp F. Schweizer and Walter J. Petlevich,  pp. 359-371
Three-dimensional modeling of seafloor backscatter from sidescan sonar for autonomous classification and navigation,  W. Kenneth Stewart,  pp. 372-392
Signal processing and data fusion for autonomous undersea vehicles,  John W. Irza and Mukund N. Desai,  pp. 393-400
Knowledge based sensor interpretation for autonomous underwater systems,  D. M. Lane, M. J. Chantler, A. G. McFadzean, C. S. Reid, A. J. Richardson, E. W. Robertson, and J. P. Stoner,  pp. 401-416
Side scan sonar object classification algorithms,  M. F. Doherty, J. G. Landowski, P. F. Maynard, G. T. Uber, D. W. Fries, and F. H. Maltz,  pp. 417-424
The use of a simple neural network in the motion control of unmanned undersea vehicles,  Mark J. Norton,  pp. 425-433
Guidance and control system of the large scale vehicle,  Rafael R. Rodríquez and Gerald J. Dobeck,  pp. 434-451
Attitude control system of a streamlined cruising type autonomous submersible,  Hisashi Ishitani, Yasuko Baba, and Tamaki Ura,  pp. 452-457
Design and experimental verification of a model based compensator for rapid AUV depth control,  A. J. Healey, F. A. Papoulias, and R. Cristi,  pp. 458-474
Flight testing of a sliding mode control autopilot for an unmanned underwater vehicle,  Frank Dougherty and Gary Woolweaver,  pp. 475-485
Reconfigurable control of an autonomous underwater vehicle,  G. Tacconi and A. Tiano,  pp. 486-493
Development of a terrain navigation system for AUV's,  Lennart Kullander,  pp. 494-501
Terrain modeling for autonomous underwater navigation,  Martial Hebert,  pp. 502-511
A simple world model for an autonomous vehicle,  Steven G. Chappell,  pp. 512-524
Evolution of an AUV mission simulation testbed,  Roger Hillson and Christopher Jones,  pp. 525-535
Modeling, sliding mode control design, and visual simulation of AUV dive plane dynamic response,  F. A. Papoulias, R. Cristi, D. Marco, and A. J. Healy,  pp. 536-547
The impact of speed-varying hydrodynamic coefficients on UUV maneuvering performance,  Douglas E. Humphreys,  pp. 548-553
Design and performance analysis of automatic control systems for underwater vehicles,  H. Sehitoglu and P. K. Lee,  pp. 554-562
Adaptive identification and control of an autonomous underwater vehicle,  R. Cristi and A. J. Healy,  pp. 563-572
On the threshold of maturity - A summary,  Stanley Dunn and D. Richard Blidberg,  pp. 573-574