Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology

August 23-25, 1999

Table of Contents

Nontechnical content
Front cover and table of contents
Systems
Open ocean operational experience with the autosub-1 autonomous underwater vehicle,  Gwyn Griffiths, Peter Stevenson, Andrew T. Webb, Nicholas W. Millard, Steven D. McPhail, Miles Pebody, and James R. Perrett,  pp. 1-12
Presentation of Redermo--An experimental platform for A.U.V. research,  Frédéric Devie, Jérôme Lemaire, Gilles Mailfert, and Norbert Toumelin,  pp. 13-20
High resolution mapping of a fast spreading mid ocean ridge with the autonomous benthic explorer,  Dana R. Yoerger, Albert M. Bradley, Marie- Hélène Cormier, William B. F. Ryan, and Barrie B. Walden,  pp. 21-31
AUV bloopers or why Murphy must have been an optimist: A practical look at achieving mission level reliability in an Autonomous Underwater Vehicle,  R. Stokey, T. Austin, C. von Alt, M. Purcell, R. Goldsborough, N. Forrester, and B. Allen,  pp. 32-40
Pilotfish: Maximizing agility in an unmanned-underwater vehicle,  Brett Hobson, Mark Murray, and Chuck Pell,  pp. 41-51
Results of the naval oceanographic office's 1998 AUV demonstration,  John A. Bunce,  pp. 52-62
Seabed surveying with the hugin UUV.,  Karstein Vestgård, Nils Størkersen, and Jan Sortland,  pp. 63-74
The slocum AUV: An environmentally propelled underwater glider,  Douglas C. Webb and Paul J. Simonetti,  pp. 75-85
The naval undersea warfare center's unmanned undersea vehicle initiative,  John S. Lisiewicz and Daniel W. French,  pp. 86-93
Coastal turbulence estimates and physical process studies utilizing a small AUV,  Edward R. Levine, Rolf G. Lueck, Richard Shell, and Peter Licis,  pp. 94-102
Networks
A flexible networked architecture for scientific applications and robotics research,  R. Bono, G. Bruzzone, M. Caccia, and G. Veruggio,  pp. 103-111
Cooperative AUV development concept (CADCON)--An environment for high-level multiple AUV simulation,  Steven G. Chappell, Rick J. Komerska, Liang Peng, and Yingchun Lu,  pp. 112-120
GOATS '98 - AUV network sonar concepts for shallow water mine countermeasures,  Bradley A. Moran, Robert J. Grieve, and Henrik Schmidt,  pp. 121-132
Submersible acoustic mobile networking (SAMN),  Bob Welsh,  pp. 133-139
Modeling
Estimation of directional wave spectra from an Autonomous Underwater Vehicle (AUV),  Jeffrey S. Riedel and Anthony J. Healey,  pp. 140-149
Various methods for obtaining the optimal path for the glider vehicle in shallow water and high currents,  Anna M. Galea,  pp. 150-161
Flow control of flexible-hull vehicles,  A. H. Techet, X. Zhang, M. J. Wolfgang, J. M. Kumph, F. S. Hover, D. K. P. Yue, M. S. Triantafyllou, E. J. Anderson, W. R. McGillis, and M. A. Grosenbaugh,  pp. 162-171
Spectral feature classification of oceanographic processes using an AUV,  Yanwu Zhang, James G. Bellingham, and Arthur B. Baggeroer,  pp. 172-181
Unsteady flow computations for oscillating fins: A status report,  William C. Sandberg and Ravi Ramamurti,  pp. 182-194
Numerical investigation on thrust and flow generated by wavy oscillating plate in highly viscous fluid,  Yasuaki Doi and Motohiro Yhomatsu,  pp. 195-202
Use of the navy's Large Scale Vehicle Kokanee (LSV 1) to investigate near-surface effects on maneuvering characteristics,  Douglas E. Humphreys, Kenneth W. Watkinson, and Phil Caramanica,  pp. 203-210
Experimental study of two-joint dolphin robot,  Motomu Nakashima and Kyosuke Ono,  pp. 211-218
Simulation and error analysis of a VLF magneto-induction navigation system,  Yingchun Lu, D. Richard Blidberg, Anthony A. Aponick, James C. Jalbert, and Paul Wrathall,  pp. 219-223
Sensors
A design of an acoustic vision system for AUV,  Enfang Sang, Hongyu Bian, Lifu You, and Jingyi Zhao,  pp. 224-227
Accuracy evaluation of synthetic aperture sonar micronavigation,  Stefano Fioravanti, Andrea Bellettini, and Marc A. Pinto,  pp. 228-237
Operating a sophisticated magnetic sensor aboard a standard AUV,  George I. Allen, Peter Czipott, and Rob Matthews,  pp. 238-247
Recent advances in vision-based station keeping, navigation and video mosaicking for unmanned submersible vehicles; sea trial experiments,  X. Xu and S. Negahdaripour,  pp. 248-256
Seafloor mapping and target identification using autonomous underwater vehicles: Applied AUV experiments in nearshore settings of Florida,  David Mallinson, David Naar, Doug Wilder, Samuel Smith, and Stephen Schock,  pp. 257-269
Sequence position modulation for surf-zone underwater acoustic communications,  Carlos Sanchez, Peter Koski, David Brady, and Donald Massa,  pp. 270-279
Results of the evaluation and testing of the solar powered AUV and its subsystems,  Mikhail D. Ageev, D. Richard Blidberg, James Jalbert, Charles J. Melchin, and Donald P. Troop,  pp. 280-288
Reinforcement learning for a visually-guided autonomous underwater vehicle,  David Wettergreen, Chris Gaskett, and Alex Zelinsky,  pp. 289-298
A real-time framework for adaptive tomographic surveys without vertical line arrays,  J. Scott Wilcox,  pp. 299-310
Magnetic compass dynamic performance,  Brian Bourgeois and Andrew Martinez,  pp. 311-319
Control
A simple calculation method to analyze the dynamics of carangiform propulsion,  Motomu Nakashima and Kyosuke Ono,  pp. 320-329
A new artificial neural network model of potential application in unmanned underwater technology,  Liang Peng, D. Richard Blidberg, Steven G. Chappell, and Rick J. Komerska,  pp. 330-334
Autonomous distributed control for ultra multilink bending propulsion mechanism in water,  Shunichi Kobayashi, Akira Sekiznka, Toshifumi Okunishi, and Hirohisa Morikawa,  pp. 335-341
Fin failure compensation for an unmanned underwater vehicle,  Albert S.-F. Cheng and Naomi Ehrich Leonard,  pp. 342-351
Robust model-based fault diagnosis for unmanned underwater vehicles using sliding mode-observers,  A. Alessandri, A. Gibbons, A. J. Healey, and G. Veruggio,  pp. 352-359
The vorticity control unmanned undersea vehicle (VCUUV) performance results,  Jamie M. Anderson and Peter A. Kerrebrock,  pp. 360-369
A new remotely operated vehicle for dynamics and control research,  David Smallwood, Ralf Bachmayer, and Louis Whitcomb,  pp. 370-377
Swimming fish and fish-like models: The harmonic structure of undulatory waves suggests that fish actively tune their bodies,  Robert G. Root, Hayden- William Courtland, Charles A. Pell, Brett Hobson, Eamon J. Twohig, Robert B. Suter, William R. Shepherd III, Nicholas C. Boetticher, and John H. Long Jr.,  pp. 378-388
Emerging approaches to flow control in hydrodynamics,  Promode R. Bandyopadhyay,  pp. 389-393
Performance constraints on the maneuverability of flexible and rigid biological systems,  Frank E. Fish,  pp. 394-406
Toward dynamic thrust control of marine thrusters,  R. Bachmayer and L. L. Whitcomb,  pp. 407-414
A mechanical model of the rapid body flexures of fast-starting fish,  Peter J. Czuwala, Craig Blanchette, Stephanie Varga, Robert G. Root, and John H. Long Jr.,  pp. 415-426
Subsystems
Design and development of low cost variable buoyancy system for the soft grounding of autonomous underwater vehicles,  Jeffrey S. Riedel, Anthony J. Healey, David B. Marco, and Bahadir Beyazay,  pp. 427-438
Fast starting and maneuvering vehicles: Robopike and robomuski,  John Muir Kumph, David Nugent, M. S. Triantafyllou, and Marc dos Santos,  pp. 439-445
Simulation of the correlation velocity log using a computer based acoustic model,  Alison Keary, Martyn Hill, Paul White, and Henry Robinson,  pp. 446-454
Modeling of a thruster for an underwater robotic vehicle,  Ping Leong Cheng, Michael W. S. Lau, Eicher Low, and Gerald G. L. Seet,  pp. 455-466
Three-motor-driven mechanical pectoral fin,  Naomi Kato,  pp. 467-476
Streamlining dolphins: Designing soft-tissue keels,  D. A. Pabst, J. L. Hamilton, W. A. McLellan, T. M. Williams, and John M. Gosline,  pp. 477-486
Undulatory flap propulsion,  Laurens E. Howle,  pp. 487-493
Design of composite artificial muscle (CAM) fin for aquatic vehicle propulsion,  Mehran Mojarrad and David G. Wilson,  pp. 494-500
Application of active materials and neural networks to aquatic biomimetics,  Othon K. Rediniotis, Dimitris C. Lagoudas, L. J. Garner, L. N. Wilson, G. Webb, S. Galls, and Norman W. Schaeffler,  pp. 501-514
Mission control and planning for an autonomous underwater vehicle,  Claude Barrouil and Jérôme Lemaire,  pp. 515-523
An integrated approach for AUVs sonar-based obstacle avoidance system design,  M. Cardew, J. Champeau, J.-M. Cognet, Ph. Dhaussy, R. Moitié, and N. Seube,  pp. 524-536
Obstacle avoidance with scanning sonar for bottom navigation,  S. M. Zanoli and F. Affaitati,  pp. 537-545
A three-dimensional path planning algorithm for autonomous vehicles,  Richard Fox, Antonio Garcia Jr., and Michael L. Nelson,  pp. 546-553
Progress in the development and evaluation of a standard AUV command and monitoring language,  Rick J. Komerska, D. Richard Blidberg, Steven G. Chappell, and Liang Peng,  pp. 554-560
Progress in the development of an AUV to characterize and measure the subsurface features of an iceberg,  M. Carter, A. Pope, J. Ferguson, C. Randell, and S. Bruneau,  pp. 561-577
Interfacing the Orca AUV controller to the NPS UVW and to a land robot,  Roy M. Turner and Jason Mailman,  pp. 578-586
A new method for AUV's collision avoidance,  Xuemin Liu, Shuang Zhang, Yinghui Li, and You Shang,  pp. 587-591
Research on the planning strategies of multiple AUV's motion coordination,  You Shang, Shuang Zhang, Xuemin Liu, and Wanchun Zhang,  pp. 592-599
Underwater visual stationkeeping system simulation,  Andrei Yu. Titov,  pp. 600-608