Proceedings of the Tenth International Symposium on Unmanned Untethered Submersible Technology

September 7-10, 1997

Table of Contents

Nontechnical content
Front cover and table of contents
Systems
Autonomous bathymetric surveying,  Brian Bourgeois, M. Harris, Pete Alleman, Jami Cheramie, and John Gravley,  pp. 1-11
The Theseus autonomous underwater vehicle two successful missions,  Bruce Butler and M. R. Black,  pp. 12-22
AUV development for coastal marine science,  John S. Bird, James Ferguson, Bernard Laval, and Peter Helland,  pp. 23-30
Current velocity mapping using an AUV-borne acoustic doppler current profiler,  Yanwu Zhang and J. Scott Willcox,  pp. 31-40
Scientific survey with the autonomous benthic explorer,  Dana R. Yoerger, Albert M. Bradley, and Barrie B. Walden,  pp. 41-49
Some design considerations for a solar powered AUV; Energy management and its impact on operational characteristics,  D. Richard Blidberg, Mikhail D. Ageev, and James C. Jalbert,  pp. 50-59
A simplified approach to the prediction and optimization of performance of underwater gliders,  Douglas C. Webb and Paul J. Simonetti,  pp. 60-68
Development of a small cruising-type AUV ''Manta-Ceresia'' and guidance system constructed with neural network,  Taku Suto and Tamaki Ura,  pp. 69-74
Solar AUV technology evaluation and development project,  James C. Jalbert, Pedro Irazoqui-Pastor, Seth Miles, D. Richard Blidberg, Darwin James, and Mikhail D. Ageev,  pp. 75-87
Navigation
A multi sensor asynchronous projection algorithm filter (PAF) for AUV navigation,  Joono Sur and Anthony J. Healey,  pp. 88-100
Testing and evaluation of an integrated GPS/INS system for small AUV navigation (SANS),  X. Yun, E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. L. Roberts, R. G. Knapp, A. J. Healey, and M. J. Zyda,  pp. 101-108
Trajectory following and mosaicing of ocean floor images by direct estimation of vehicle motion from time-varying imagery,  Shahriar Negahdaripour and Xun Xu,  pp. 109-116
Acoustic targeting and homing system for unmanned untethered submersibles,  Wan Chung Lam and Tamaki Ura,  pp. 117-125
An autonomous undersea vehicle homing, dock and interface system,  Michael D. Feezor, Paul R. Blankinship, James G. Bellingham, and F. Yates Sorrell,  pp. 126-139
An optical guidance systems for the recovery of an unmanned underwater vehicle,  Caroline Deltheil, Didier Leandri, Eric Hospital, and Donald P. Brutzman,  pp. 140-149
Introduction to the docking facility of the ocean explorer series autonomous underwater vehicle,  D. M. Kronen, S. M. Smith, J. C. Frankenfield, K. Bryan, and R. T. Dunn,  pp. 150-159
Support technologies
A discrete filter for the forward prediction of sea wave effects on AUV motions,  Jeffery S. Riedel and Anthony J. Healey,  pp. 160-169
Differential inductive torque sensor for autonomous underwater vehicles,  V. Lemarquand,  pp. 170-176
Hovering performance of fish robot with apparatus of pectoral fin motion,  Naomi Kato and Tadahiko Inaba,  pp. 177-188
The vorticity control unmanned undersea vehicle (VCUUV)--An autonomous vehicle employing fish swimming propulsion and maneuvering,  Jamie M. Anderson and Peter A. Kerrebrock,  pp. 189-195
Simple two-dimensional thruster using intelligent materials,  Jason McCanna and Graeme J. Rae,  pp. 196-205
Shape memory alloy buoyancy regulator for subsea robots,  Jason McCanna and Graeme J. Rae,  pp. 206-216
Autonomous robotic swimming vehicle employing artificial muscle fin mimicking fish propulsion,  Mehran Mojarrad,  pp. 217-227
Control
AUV control under wave disturbances,  C. Silvestre, A. Pascoal, and A. J. Healey,  pp. 228-239
On the maneuverability of the autonomous underwater vehicle, AUV-HM1,  Forng-Chen Chiu, Jenhwa Guo, Ching-Cheng Huang, and Ping Wang Jr.,  pp. 240-248
At-sea-testing and system integration of the UUV autonomous controller,  Stephen McClaran, Make McDermott, Eric Nelson, Glen Williams, Mike Keegan, and Frank Hoffman,  pp. 249-260
Control of a tethered underwater flight vehicle in the horizontal plane,  R. K. Lea,  pp. 261-271
Correlation of VCT maneuvering model with FAU Ocean Explorer in-water test data,  Douglas E. Humphreys,  pp. 272-278
Sensors
Underwater cross-range synthetic aperture acoustic imaging using a cross array based on conic holography,  Sheng-Wen Cheng and Min-Kang Chao,  pp. 279-288
High resolution line-of-sight terrain profiling and object localization using small aperture array processing,  Paul H. Kraeutner and John S. Bird,  pp. 289-297
Photometric flow fields induced by adaptive scene illumination for 3-D shape recovery from underwater images,  Shahriar Negahdaripour,  pp. 298-306
The application of vision technology to marine science,  Stephen M. Rock, Stephen D. Fleischer, Kortney N. Leabourne, and Richard Burton,  pp. 307-317
Performance of 3D depth map recovery from underwater image shading using different ocean optical models,  Shahriar Negahdaripour and Shaomin Zhang,  pp. 318-328
A 3D ultrasonic camera for subsea applications,  Stephen Mack,  pp. 329-338
Acoustic seafloor mapping using the AUV Ocean Explorer,  David Mallinson, David Naar, Al Hine, Mark Hafen, Steven Schock, Sam Smith, John Kloske, Guy Gelfenbaum, Doug Wilson, Dawn Lavoie, and Michael Richardson,  pp. 339-352
Software systems
Task assignment in AOSNs: A constraint-based approach,  Elise H. Turner,  pp. 353-361
Autonomous ocean sampling mobile network controller,  S. Phoha, J. Stover, R. Gibson, E. Peluso, and P. A. Stadter,  pp. 362-374
Cooperative behavior in an autonomous oceanographic sampling network: MAUV project update,  Steven G. Chappell, Roy M. Turner, Elise H. Turner, and Charles Grunden,  pp. 375-384
An object-oriented approach to autonomous underwater vehicle control,  Michael L. Nelson and Venancio Garcia,  pp. 385-393
A graphical environment for AUV mission programming and verification,  N. A. Anisimov, A. A. Kovalenko, G. V. Tarasov, A. V. Inzartsev, and A. Ph. Scherbatyuk,  pp. 394-405
GA-based motion planning for underwater robotic vehicles,  Kazuo Sugihara and Junku Yuh,  pp. 406-415
Integrating partial-order planning into the Orca schema-based mission controller,  Prabha Ramakrishnan and Roy Turner,  pp. 416-425
Poster presentation papers
Overview of path planning algorithms for autonomous vehicles,  Antonio Garcia Jr.,  pp. 426-431
Distributed control for AUVs and ROVs,  S. M. Rolland,  pp. 432-442