Proceedings of the Seventh International Symposium on Unmanned Untethered Submersible Technology

	University of New Hampshire, Marine Systems Engineering Laboratory, Durham, New Hampshire	September 23-25, 1991

Table of Contents

Nontechnical content

Front cover and table of contents

Systems

Development of depth independent closed cycle diesel engine for an autonomous underwater vehicle,  Takashi Obara and Tamaki Ura,  pp. 1-9
The Norwegian experimental remotely operated vehicle hydrodynamic properties,  Svein I. Sagatun and Thor I. Fossen,  pp. 10-19
AUV fiber optic cable laying - From concept to reality,  Phil Hartley and Bruce Butler,  pp. 20-27
Development of control and communication systems for virtual AUV's,  R. Bono, G. Cannata, F. Corradi, and G. Veruggio,  pp. 28-39
Development of the marine utility vehicle system, MARIUS,  Anders Bjerrum, Antonio Pascoal, and Claire Ardouin,  pp. 40-50
PISCIS - An autonomous underwater vehicle for pipeline inspection,  Jan O. Hallsett and Ørnulf J. Rødseth,  pp. 51-59
The autonomous benthic explorer (ABE): An AUV optimized for deep seafloor studies,  Dana R. Yoerger, Albert M. Bradley, and Barrie B. Walden,  pp. 60-70

Energy

An advanced aluminum power source for UUV's,  B. M. L. Rao, W. H. Hoge, and R. P. Hamlen,  pp. 71-78
Infrastructure for thulium-170 isotope power systems for autonomous underwater vehicle fleets,  Carl E. Walter,  pp. 79-88
A cryogenic oxygen system for AUV power applications,  G. Scott Willen,  pp. 89-103

Hydrodynamics and control

Application of aerospace rendezvous and intercept guidance techniques to underwater vehicles,  Kenneth W. Watkinson,  pp. 104-115
Headway control system for the unmanned undersea vehicle,  Mark A. Koenig,  pp. 116-128
The impact of towed-array dynamics on the AUV control-system design task,  Michael J. Ruth and Neill S. Smith,  pp. 129-139
Stability considerations of guidance and control laws for autonomous underwater vehicles in the horizontal plane,  Fotis A. Papoulias,  pp. 140-158
Autonomous guidance for a mobile robot,  Barry Steer,  pp. 159-170
Hydrodynamics and control of a streamlined UUV operating at 180-degree angle of attack,  Douglas E. Humphreys and Neill S. Smith,  pp. 171-190

Neural nets

A neural network approach for autonomous underwater vehicle control based on viability theory,  Nicolas Seube,  pp. 191-202
Unsupervised learning system for vehicle guidance constructed with neural network,  Tamaki Ura and Taku Suto,  pp. 203-212
Using a genetic algorithm to learn strategies for collision avoidance and local navigation,  Alan C. Schultz,  pp. 213-225
NN-learning of a maneuver for planning/control of motion in a 3-D non-homogeneous space,  A. Meystel,  pp. 226-237

Sensors

Use of conformal embedded sensor integrated with the hull matrix to establish a high directivity index acoustic array,  Vincent P. Dowd,  pp. 238-243
A wideband parametric sonar for imaging and classification,  John W. Irza and John A. Halsema,  pp. 244-252
A duplex laser location and communication system for wideband real-time signalling between AUVs,  R. M. Dunbar, A. W. Tennant, and S. Wade,  pp. 253-263
A new digital sonar for AUVs,  Donald Knudsen,  pp. 264-272
Underwater object recognition and automatic positioning to support dynamic classification,  Gary M. Trimble, Jorge VilarÓ, Dave Okamura, Rose Lum, and Kalyan Dutta,  pp. 273-279
Image processing architectures for autonomous underwater vehicles (AUVs) in mine detection and classification operations,  Philipp F. Schweizer, Walter J. Petlevich, Paul H. Haley, and James J. Oravec,  pp. 280-293
Automated interpretation of sonar data,  David M. Lane, Angus G. McFadzean, and John P. Stoner,  pp. 294-308
Underwater obstacle recognition using a low-resolution sonar,  Charles A. Floyd, Yutaka Kanayama, and Christopher Magrino,  pp. 309-327
Building elevation maps from underwater sonar data,  D. Langer and M. Hebert,  pp. 328-341
A study on methods to obtain control information from continuous visual image data,  Hisashi Ishitani, Yasuko Baba, and H. Tabuchi,  pp. 342-350
Local scene analysis & interpretation for robotic manipulation,  Mike Chantler and Ceri Reid,  pp. 351-358

High level control issues

Dimensions and heuristics for the design of distributed artificial intelligence architectures,  Lundy M. Lewis and Robert C. Gwin III,  pp. 359-368
Entropy-based autonomability criteria for intelligent autonomous systems,  Arie Yavnai,  pp. 369-384
A damage conscious navigation system for the ocean voyager,  G. J. S. Rae,  pp. 385-402
Optical sensor control using a CCD camera for autonomous underwater vehicles,  L. A. Lieberman, P. Downes, and J. S. Chu,  pp. 403-422
Orca: An adaptive, context-sensitive reasoner for controlling AUVs,  Roy M. Turner and Robert A. G. Stevenson,  pp. 423-432
Relational GDE: Component-centered model-based diagnosis for AUV's,  Lou Tychonievich and Thomas C. Smith,  pp. 433-440
Obstacle avoidance with resource constrained detection,  John S. Bird and Martie M. Goulding,  pp. 441-453
Constrained model-based reasoning for unexpected event handling in an AUV,  David Hollingsworth, Steve Jameson, Ken Whitebread, and Doug Humphreys,  pp. 454-465

Multiple vehicles

Mission specific AUVs - Architecture and world model,  Luís Correia and A. Steiger-Garção,  pp. 466-475
An investigation into protocols for underwater communications,  Scott J. McCue, Michael J. Carter, and D. R. Blidberg,  pp. 476-488
A language for cooperating AUVs,  Elise H. Turner and Cathy L. Steffen,  pp. 489-498
Distributed control of multiple AUV forming effective chains,  Michael S. Triantafyllou and Knut Streitlien,  pp. 499-518
Multiple AUV control using influence networks,  Robert B. Evans,  pp. 519-525
Multiple autonomous vehicle imaging system (MAVIS),  Roy M. Turner, Joel S. Fox, Elise H. Turner, and D. Richard Blidberg,  pp. 526-536
A creepingly incremental multiple AUV system (CIMAUVs),  I. Go Slowly,  p. 537

Design tools

Mission management system development for an AUV - A requirements driven approach,  Stephen McPhail,  pp. 538-547
Intelligent control: Performance, dynamic learning and adaptivity,  W. L. Clearwaters, A. M. Colella, J. Carlino, and C. N. Duarte,  pp. 548-563
Automating the construction of real-time software for an autonomous underwater vehicle through prototyping,  Yuh-jeng Lee and Robert B. McGhee,  pp. 564-574

Manipulators

Teleprogramming for manipulation by autonomous underwater vehicles, Richard P. Paul and Janez Funda, pp. 575-585
Dual manipulator collaboration: Issues in architecture, planning and control, David M. Lane, Matthew W. Dunnigan, Philip J. Knightbridge, Andrew W. Quinn, and Andrew C. Clegg, pp. 586-599

Student paper competition

The design of a tube-launched thermal powered autonomous underwater vehicle (AUV),  D. W. Rostron,  pp. 601-618
Using natural boundaries to organize AUV travel,  Terri L. Fisher,  pp. 619-628
Graphical monitoring/debugging for distributed processes in autonomous underwater vehicles,  Prashanth Jade,  pp. 629-633
AUV navigation using side-scan sonar and hierarchical chamfer matching,  Lennart Kullander,  pp. 634-643
Ultrashort baseline navigation system for the sea squirt A.U.V.,  David J. Chen and Erick Alvarado,  pp. 644-649
Oxygen Sources for heat engines in unmanned underwater vessels,  Ian J. Potter,  pp. 650-660