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Showing 1 to 20 of 22 for “"unmanned underwater vehicle"”.
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Anomaly detection methods for unmanned underwater vehicle performance data
… of detecting anomalies in performance data for unmanned underwater vehicles(UUVs). UUVs collect a tremendous amount of data, which operators are required to analyze between missions to determine if vehicle systems are functioning properly. Operators are typically under heavy time constraints …
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Control Design for Long Endurance Unmanned Underwater Vehicle Systems
… for robust controller design for an autonomous underwater vehicle (AUV) that explicitly handles the trade-off between reference tracking, agility, and energy efficient performance. AUVs have many sources of modeling uncertainty that impact the uncertainty in maneuvering performance. A robust …
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Bearings-only tracking automation for a single unmanned underwater vehicle
Unmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow …
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Rex 2 : design, construction, and operation of an unmanned underwater vehicle
The practical usage of unmanned underwater vehicles (UUVs) is limited by vehicle and operation cost, difficulty in accurate navigation, and communication between the vehicle and operator. The "Rex 2" UUV employs a system design where a submersible is connected to a float at the water's surface by …
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Information fusion for an unmanned underwater vehicle through probabilistic prediction and optimal matching
… presents a method for information fusion for an unmanned underwater vehicle (UUV).We consider a system that fuses contact reports from automated information system (AIS) data and active and passive sonar sensors. A linear assignment problem with learned assignment costs is solved to fuse sonar …
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Hydrodynamic Interactions of an Unmanned Underwater Vehicle Operating in Close Proximity to a Moving Submarine
… the hydrodynamic forces and moments of different vehicles in different conditions, they do not have a model that enables them to understand the forces and moments that an Unmanned Underwater Vehicle (UUV) experiences when operating in close proximity to a moving submarine as a result of the …
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Design and dynamic modeling of an unmanned underwater vehicle for submerged surface inspection exploiting hydrodynamic ground effect
… exploration, motivates a deeper understanding of underwater navigation in proximity to a submerged target surface. Common examples range from water tanks in nuclear reactors, submerged oil rig infrastructure, to ship hulls with hidden compartments and threats. We propose EVIE (Ellipsoidal Vehicle …
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Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment
Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of motion. This coupling between an UUV's six degrees of freedom (6 DOF) is …
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Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment
Thesis (Ocean E)--Massachusetts Institute of Technology, Dept of Ocean Engineering, 1994, and Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1994
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Real-time Autonomy and Maneuvering Simulation of an Unmanned Underwater Vehicle Near a Moving Submarine Using Actively Sampled Gaussian Process Surrogate Models
Unmanned Underwater Vehicle (UUV) maneuvering simulators have severe limitations on modeling UUV motion near a moving submarine because they are not capable of determining the complex, turbulent, hydrodynamic interactions in real time. Potential flow solvers are typically fast enough, but they …
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Robust control of a flexible-hull propulsion system
… propulsion systems with the Vorticity Control Unmanned Underwater Vehicle (VCUUV) project. The VCUUV is a fully autonomous robotic fish, which employs a flexible tail structure for propulsion and maneuvering. This paper describes the design, implementation, and testing of a control system for …
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A hardware-anywhere-in-the-loop simulator for dynamic real-time analysis of electric propulsion systems
This work introduces a low-level real-time vehicle simulator with hardware-anywhere-in-the-loop (HAIL) capability. Vehicle dynamics are simulated on a high-performance workstation running a real-time operating system. The vehicle’s battery pack is both modeled in simulation and interfaced …
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Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer
The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being developed for scientific study of the deep ocean sea:floor. ABE will be completely autonomous from the surface which means that the lifetime of the mission will depend largely on how the vehicle is controlled. An accurate …
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OPERATIONAL ANALYSIS AND EARLY-STAGE DESIGN FOR NEXT GENERATION MCM THROUGH DIGITAL ENGINEERING
… performance in the scenarios where there is no unmanned underwater vehicle (UUV) present. It also found that limiting the deployment range of the UUV is of paramount importance in the scenarios where there is a UUV present.
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A State Space Partitioning Scheme for Vehicle Control in Pursuit-Evasion Scenarios
… some level of autonomy to mobile, robotic vehicles with on-board controllers. Applications of these controllers include defense topics such as unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV) navigation for threat surveillance, assessment, or engagement. Controllers …
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Demonstration of passive acoustic detection and tracking of unmanned underwater vehicles
In terms of national security, the advancement of unmanned underwater vehicle (UUV) technology has transformed UUVs from tools for intelligence, surveillance, and reconnaissance and mine countermeasures to autonomous platforms that can perform complex tasks like tracking submarines, jamming, and …
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Demonstration of passive acoustic detection and tracking of unmanned underwater vehicles
In terms of national security, the advancement of unmanned underwater vehicle (UUV) technology has transformed UUVs from tools for intelligence, surveillance, and reconnaissance and mine countermeasures to autonomous platforms that can perform complex tasks like tracking submarines, jamming, and …
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Route optimization under uncertainty for Unmanned Underwater Vehicles
… reduce the risk service members endure by using unmanned vehicles. These unmanned vehicles will, over time, become more independent and trustworthy in our operational military. The goal of this thesis is to improve the intelligence an unmanned vehicle has in its decision making to keep up with …
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Path planning for an autonomous vehicle
The desire for highly capable unmanned autonomous vehicles (UAVs), has necessitated the need for more research into the problems faced by these vehicles. One classic problem faced by UAVs concerns how the vehicle should traverse its environment in order to leave the current position and arrive at a …
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Input of Factor Graphs into the Detection, Classification, and Localization Chain and Continuous Active SONAR in Undersea Vehicles
… classification, and localization (DCL) of underwater objects using active SOund Navigation And Ranging (SONAR). A factor graph is a bipartite graphical representation of the decomposition of a particular function. Messages are passed along the edges connecting factor and variable nodes, on …
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