Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology

Northeastern UniversitySeptember 27-29, 1993

Table of Contents

Nontechnical content
Front cover and table of contents
Systems
Theseus: A cable-laying AUV,  Bruce Butler and Vince den Hertog,  pp. 1-6
Development and sea trials of a shuttle type AUV "ALBAC",  Katsuyoshi Kawaguchi, Tamaki Ura, Yoshibumi Tomoda, and Heihachiro Kobayashi,  pp. 7-13
A number of technical issues on autonomous underwater vehicle "Explorer-01",  Jiang Xinsong, Feng Xisheng, and Xu Qinan,  pp. 14-27
A hybrid parallel control and navigation system for the autonomous underwater benthic explorer (ABE) vehicle,  David A. Mindell and Dana R. Yoerger,  p. 28
VORTEX: A versatile testbed vehicle for control algorithms evaluation,  Michel Perrier, Vincent Rigaud, Eve Coste-Manière, Daniel Simon, and Alexis Peuch,  pp. 29-36
Performance characteristics of the odyssey AUV,  J. G. Bellingham, J. W. Bales, D. K. Atwood, M. Perrier, C. A. Goudey, T. R. Consi, and C. Chryssostomidis,  pp. 37-49
Arctic under-ice survey operations,  James G. Bellingham, Max Deffenbaugh, John J. Leonard, Josko Catipovic, and Henrik Schmidt,  pp. 50-59
A biologically-based controller for an underwater ambulatory robot,  Joseph Ayers, Jill D. Crisman, and Donald P. Massa,  pp. 60-68
High level control
A reactive robot system for find and visit tasks in a dynamic ocean environment,  R. Peter Bonasso and J. Barratt,  pp. 69-80
Sensor/actuator response maps and autonomous vehicle behaviors,  John S. Bird and Darrin K. Wolter,  pp. 81-91
Mission execution experiments with a newly developed AUV "The twin-burger",  Teruo Fujii, Tamaki Ura, and Yoji Kuroda,  pp. 92-105
Generic behaviors: An approach to modularity in intelligent systems control,  Roy M. Turner, D. Richard Blidberg, Steven G. Chappell, and James C. Jalbert,  pp. 106-117
Obstacles avoiding in unknown environment: An issue for underwater autonomous vehicles,  G. Conte and S. M. Zanoli,  pp. 118-127
Software control architecture of ROBY2,  Gianmarco Veruggio, Riccardo Bono, and Massimo Caccia,  pp. 128-136
Task-based control architecture for an untethered, unmanned submersible,  Howard H. Wang, Richard L. Marks, Stephen M. Rock, and Michael J. Lee,  pp. 137-148
An AUV language applicable to AUV path planning system,  Ye Yi, Gu Guochang, Pan Hongquan, and Du Mei,  p. 149
Robust failure detection and isolation in underwater vehicle,  Alexey N. Zhirabok,  pp. 150-159
Rational behavior model: An implemented tri-level multilingual software architecture for control of autonomous underwater vehicles,  Ronald B. Byrnes, Michael L. Nelson, Se-Hung Kwak, Robert B. McGhee, and Anthony J. Healey,  pp. 160-178
Dynamic testing of the autonomous benthic explorer,  Dana R. Yoerger, Albert M. Bradley, and Barrie Walden,  pp. 179-188
Research on an intelligent control method for an untethered underwater vehicle,  Ikuo Yamamoto and Go Kakiuchi,  pp. 189-194
Controls
Guidance and control of autonomous underwater vehicle aqua explorer 1000 for inspection of underwater cables,  Naomi Kato, Yoshihiko Ito, Junichi Kojima, Kenichi Asakawa, and Yuichi Shirasaki,  pp. 195-211
Towards novel machinery in the ocean,  Barry Steer and Satish A. Reddy,  pp. 212-221
Unsupervised learning system for vehicle guidance constructed with neural network,  Taku Suto and Tamaki Ura,  pp. 222-230
Navigation and positioning
The "WISP" within-structure positioning system,  Rodney Coates and Liansheng Wang,  pp. 231-238
An experimental investigation of GPS/INS integration for small AUV navigation,  S. H. Kwak, C. D. Stevens, J. R. Clynch, R. B. McGhee, and R. H. Whalen,  pp. 239-251
Proof of concept: Research using an autonomous underwater vehicle (AUV),  Michael Roer and James Jalbert,  pp. 252-264
AUV navigation using geophysical maps with uncertainty,  S. T. Tuohy, N. M. Patrikalakis, J. J. Leonard, J. G. Bellingham, and C. Chryssostomidis,  pp. 265-276
Line deployment by a miniature AUV under arctic ice,  James Osse and Russell Light,  pp. 277-290
A multibeam sonar based positioning system for an AUV,  Oddbjørn Bergem,  pp. 291-299
Sensor based navigation of an autonomous underwater vehicle,  Roberto Cristi,  pp. 300-310
Hydrodynamics
Hydrodynamic tank test of a low-drag AUV prototype,  P. Egeskov, A. Bjerrum, A. Pascoal, C. Aage, and L. W. Smitt,  p. 311
Hydrodynamic control tradeoffs between fully movable and flapped control surfaces,  D. E. Humphreys and K. W. Watkinson,  pp. 312-318
Flapping foils as AUV propulsors: Theory and experiment,  D. Barrett and M. S. Triantafyllou,  p. 319
Sensor systems/processing
Photometric stereovision in the ocean environment,  Joel S. Fox and S. Radhakrishnan,  pp. 320-328
A system for 2D mapping of a partly structured environment from an AUV,  Geir Mathisen,  pp. 329-345
Validation of the underwater synchronous scanner imaging model,  M. G. Gibby, J. H. Fahs, and M. B. Stine,  pp. 346-358
Determining 3-D object coordinates from a sequence of 2-D images,  R. Volden and J. G. Balchen,  pp. 359-369
Geometric shape from sonar ranging,  Bradley A. Moran, John J. Leonard, and Chryssostomos Chryssostomidis,  pp. 370-383
The use of gis as an analysis tool in navigation and control experiments of an autonomous vehicle for use in monitoring burning oil slicks,  Rod Haywood and James Jalbert,  pp. 384-399
Tools/manipulators
Tool changing and transfer of medium, energy and data for autonomous underwater manipulators,  Klaus Brillowski,  pp. 400-410
Energy
Basic design of an unmanned untethered submersible with a closed cycle diesel engine,  Takashi Obara, Kitao Yamamoto, Tamaki Ura, Hisaaki Maeda, and Hiroyuki Yamato,  pp. 411-419
The results of an experimental investigation on a non-air-breathing diesel engine system,  J. Gary Hawley,  pp. 420-426
Student paper competition winners
An approach to automatic control of underwater robots in the time manipulation operations,  E. V. Filaretova,  pp. 427-436
Combining planning with reactive architectures in an autonomous underwater vehicle,  Andrew Bennett,  pp. 437-445
Incorporating different reflection models into surface reconstruction,  Andrew E. Johnson,  pp. 446-459