Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology

Autonomous Undersea Systems Institute and Marine Systems Engineering Laboratory, Northeastern UniversitySeptember 25-27, 1995

Table of Contents

Nontechnical content
Front cover and table of contents
Papers
Supervisory control of untethered undersea systems: A new paradigm verified,  Richard Uhrich and James Walton,  pp. 1-5
Field trials of the theseus AUV,  Bruce Butler,  pp. 6-15
The NRL "ORCA" oceanographic survey vessel,  Brian Bourgeois and Mike Harris,  pp. 16-26
Romeo: The ultimate open architecture test-bed vehicle,  Gianmarco Veruggio, Massimo Caccia, Riccardo Bono, and Paolo Virgili,  pp. 27-33
Co-ordinated control of multiple manipulators in underwater robots,  Naomi Kato and David M. Lane,  pp. 34-50
Oxygen storage and supply system tradeoff study for UUV propulsion by aluminum semi-fuel cell,  J. H. Stannard, D. Stockburger, and J. Tregenza,  pp. 51-61
Research & development of new control system of AUV explorer-01,  Xingsong Jiang, Xisheng Feng, and Liang Zhao,  pp. 62-66
The ocean explorer AUV: A modular platform for coastal oceanography,  Samuel M. Smith, Karl Heeb, Nelson Frolund, and Tom Pantelakis,  pp. 67-76
AUV for baltic environment monitoring,  Lech Rowinski,  pp. 77-84
Design concepts for AUV endurance optimization,  I. J. Potter and G. T. Reader,  pp. 85-96
UUV controllability at transition speeds: Thruster and fin control authority requirements,  Kenneth W. Watkinson, Douglas E. Humphreys, and Neill S. Smith,  p. 97
Application of oscillating fin thruster for underwater vehicles,  Mikhail D. Ageev,  pp. 98-110
The design of a flexible hull undersea vehicle propelled by an oscillating foil,  David S. Barrett and Michael S. Triantafyllou,  pp. 111-123
Design considerations and experiments of a biologically based undulatory lamprey AUV,  James C. Jalbert, Sergei Kasin, and Joseph Ayers,  pp. 124-138
One approach to designing of an intelligent positioning system for AUV,  Alexander Ph. Scherbatyuk,  pp. 139-142
An efficient direct algorithm for motion estimation from sea floor images for ROV/AUV stationkeeping,  Shahriar Negahdaripour and Lanjing Jin,  pp. 143-152
An experimental study of an integrated GPS/INS system for shallow-water AUV navigation (SANS),  R. B. McGhee, J. R. Clynch, A. J. Healey, S. H. Kwak, D. P. Brutzman, X. P. Yun, N. A. Norton, R. H. Whalen, E. R. Bachmann, D. L. Gay, and W. R. Schubert,  pp. 153-167
Compensating for actuator failures: Dynamics and control of underactuated underwater vehicles,  Naomi Ehrich Leonard,  pp. 168-177
A fuzzy sliding controller for autonomous underwater vehicles,  Min Xu and S. M. Smith,  pp. 178-185
On-line adaptation experiments with a neural network based control system,  Kazuo Ishii, Teruo Fujii, and Tamaki Ura,  pp. 186-192
Underwater pattern observation for positioning and communication of AUVS,  B. A. A. P. Balasuriya, Teruo Fujii, and Tamaki Ura,  pp. 193-201
An acoustic navigation system for multi-vehicle operations,  D. K. Atwood, J. J. Leonard, J. G. Bellingham, and B. A. Moran,  pp. 202-208
A navigation system for accurate localization in the vicinity of underwater structure,  Robert Smith, Andrew Stevens, and Hugh Durrant-Whyte,  pp. 209-219
Data analysis and navigation support in underwater pipeline inspections,  G. Conte, S. M. Zanoli, and G. Giardinieri,  pp. 220-231
Determining the size and position of cylindrical objects from optical images in underwater environments,  Shahriar Negahdaripour and Shaomin Zhang,  pp. 232-242
A model based diagnosis system for autonomous underwater vehicles using artificial neural networks,  Motoyuki Takai, Teruo Fujii, and Tamaki Ura,  pp. 243-252
Fuzzy logic docking control for an autonomous underwater vehicle,  R. M. Langenbach and G. J. S. Rae,  pp. 253-261
Collision avoidance by dynamic path selection and fuzzy behavior control,  C. Vasudevan, S. M. Smith, and K. Ganesan,  pp. 262-270
Sensor-based fuzzy obstacle avoidance system for autonomous underwater vehicles,  Nagahiko Shinjo and Graeme J. S. Rae,  pp. 271-278
Mitigating brittleness in the Theseus autonomous vehicle,  Darrin K. Wolter and John S. Bird,  pp. 279-289
Segmentation and surface fitting of sonor images for 3-D visualization,  L. Venkata Subramaniam and Rajender Bahl,  pp. 290-298
2-D acoustic world reconstruction,  Massimo Caccia, Riccardo Bono, and Gianmarco Veruggio,  pp. 299-305
On-vehicle real-time image-processing, feature extraction and object delineation from ahead looking sonars,  Gary M. Trimble,  p. 306
An algorithm for covering an unknown underwater terrain,  Sanjay Tiwari, Susan Hert, and Vladimir Lumelsky,  pp. 307-316
A dual abstraction level obstacle avoidance module for an autonomous underwater vehicle,  Silvia M. Zanoli and Steven G. Chappell,  pp. 317-326
Bottom following for survey-class autonomous underwater vehicles,  Andrew A. Bennett, John J. Leonard, and James G. Bellingham,  pp. 327-336
Fuzzy behavioral controllers using criteria based decision making for bottom following missions in AUVs,  Kevin White and Samuel Smith,  pp. 337-342
Development of a system architecture for an underwater autonomous testbed,  Mark F. Henrickson and John E. Dzielski,  pp. 343-349
Reduction of speckle and environmental noise using multiframe imaging technique,  Rajender Bahl, L. Venkata Subramaniam, Mukesh Kumar, and Navin Rajpal,  pp. 350-358
False location of sonar targets,  John S. Bird and Paul Kraeutner,  pp. 359-366
Sonar mapping with the autonomous benthic explorer (ABE),  Hanumant Singh, Dana Yoerger, Ralf Bachmayer, Albert Bradley, and William Kenneth Smith,  pp. 367-375
Innate and modulated autonomous underwater vehicle behavior,  Steven G. Chappell and Joseph Ayers,  pp. 376-385
A hierarchy of AUV communication,  Elise H. Turner,  pp. 386-394
The intelligent distributed control system architecture in the ocean voyager ii and ocean explorer vehicles,  Samuel M. Smith, K. Ganesan, Tom Flanigan, and Larry Marquis,  pp. 395-405
High-bandwidth, low-power, short-range optical communication underwater,  James W. Bales and Chryssostomos Chryssostomidis,  pp. 406-415
Surveying and map-drawing by underwater vehicles based on ultrasonic range sensors,  Koji Aramaki and Tamaki Ura,  pp. 416-425
Context-sensitive, adaptive reasoning for intelligent AUV control: Orca project update,  Roy M. Turner,  pp. 426-435
Virtual environments for AUV development and ocean exploration,  J. J. Leonard, S. T. Tuohy, J. G. Bellingham, B. A. Moran, J. H. Kim, H. Schmidt, N. M. Patrikalakis, and C. Chryssostomidis,  pp. 436-443
Internet protocol over seawater (IP/SW): Towards interoperable underwater networks,  Don Brutzman and Stephen Reimers,  pp. 444-457
Student Papers
A hos-based approach for underwater acoustic imaging improvement,  Andrea Trucco, Cinthya Ottonello, and Vittorio Murino,  pp. 458-467
Controller design and selection for an odyssey-class autonomous underwater vehicle,  Edgar F. Hilton,  pp. 468-483
An automated, inductively coupled, subsurface recharging system for AUV's,  R. Michael Lohse,  pp. 484-489