共查询到20条相似文献，搜索用时 31 毫秒
1.
An Odyssey IIb autonomous underwater vehicle (AUV) made by Bluefin Robotics, Inc., was acquired by the Marine Physical Laboratory, Scripps Institution of Oceanography, to conduct research in underwater acoustics as well as provide a platform for other scientific studies. The original Odyssey IIb tail cone was replaced with a ducted fan, vectored thrust system installed on vehicles currently sold by Bluefin. In initial sea tests with the new thrust system, the acoustic self noise levels of the vehicle while underway were 20 to 50 dB higher than typical ocean background noise levels, preventing the vehicle's use as a receiver of low level sounds. Controlled tests were performed to characterize the radiated and vibration noise of the AUV propulsion and actuators. Once this baseline was established, changes were made, mostly to the tail cone propulsion, to decrease the vehicle's self noise. The resulting self noise levels of the AUV from 10 Hz up to 10 kHz measured while underway by a hydrophone mounted on the AUV's inner shroud now are at or below typical shallow water background noise levels except in three bands; below 250 Hz, around 500 Hz, and from 0.9 to 2.0 kHz. The goal of this paper is to describe these changes and their effects in lowering vehicle noise levels. 相似文献
2.
The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme. 相似文献
3.
This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust. 相似文献
4.
Rentschler M.E. Hover F.S. Chryssostomidis C. 《Oceanic Engineering, IEEE Journal of》2006,31(1):200-208
The authors focus on demonstrating a simple design procedure for the Odyssey III autonomous underwater vehicle (AUV) flight control system. This procedure can be carried out quickly and routinely to maximize vehicle effectiveness. A hydrodynamic model of the vehicle was first developed from theory and bench-top laboratory tests. Using this initial model, a controller was developed from basic principles. Then, using this initial controller to reach a desired typical operating condition, a very compact set of open-loop maneuvers was performed in the field. The vehicle model was optimized using the Nelder-Mead simplex method, and a revised controller was then implemented and tested successfully. 相似文献
5.
Feezor M.D. Yates Sorrell F. Blankinship P.R. Bellingham J.G. 《Oceanic Engineering, IEEE Journal of》2001,26(4):515-521
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return to a dock, such that consistent recovery of the AUV is practical. Vehicle orientation becomes increasingly important in the final stages of the docking, as large changes in orientation near the dock are impractical and often not possible. A number of homing technologies have been proposed and tested, with acoustic homing the most prevalent. If AUV orientation is required as well as bearing and distance to the dock, an acoustic homing system will require high update rates, and extensive signal conditioning. An Electromagnetic Homing (EM) system is one alternative that can provide accurate measurement of the AUV position and orientation to the dock during homing. This system offers inherent advantages in defining the AUV orientation, when compared to high frequency acoustic systems. The design and testing of an EM homing system are given, with particular attention to one can be adapted to a wide class of AUVs. A number of homing, docking, and latching trials were successfully performed with the design. Homing data include dead reckoning computation and acoustic tracking of the homing track, and video documentation of homing into the dock 相似文献
6.
在对南海石油平台所处的南海北部海域海底地形、平均海平面、风浪时空分布等进行分析基础上,利用南海石油平台水位计对Jason-2卫星高度计进行了测高绝对定标,定标结果为30.9 cm±7.8 cm,分析发现南海北部中尺度涡可能对定标结果产生影响;利用南海石油平台测波雷达对Jason-1高度计有效波高进行了精度检验,Jason-1高度计Ku波段和C波段有效波高测量的均方根误差分别为0.43 m和0.45 m。分析和检验结果表明,南海石油平台所处海洋环境条件、平台上装载的水位计和测波雷达均满足卫星雷达高度计定标与检验要求。南海石油平台定标场预期可用于中国海洋二号卫星和其他卫星高度计的定标与检验。 相似文献
7.
A neural-network-based learning control scheme for the motion control of autonomous underwater vehicles (AUV) is described. The scheme has a number of advantages over the classical control schemes and conventional adaptive control techniques. The dynamics of the controlled vehicle need not be fully known. The controller with the aid of a gain layer learns the dynamics and adapts fast to give the correct control action. The dynamic response and tracking performance could be accurately controlled by adjusting the network learning rate. A modified direct control scheme using multilayered neural network architecture is used in the studies with backpropagation as the learning algorithm. Results of simulation studies using nonlinear AUV dynamics are described in detail. The robustness of the control system to sudden and slow varying disturbances in the dynamics is studied and the results are presented 相似文献
8.
This study presents a novel navigation and control system allowing a biomimetic-autonomous underwater vehicle (BAUV) to track a target. A Bayesian approach using an extended Kalman filter and combined localization and environmental mapping by a BAUV are implemented. This strategy selects the best sensor measurement by choosing one of several forward-looking directions. The body of the BAUV moves in a cyclical pattern; thus, an inexpensive echo sounder can be installed on the BAUV head to detect environmental features without the need for expensive scanning devices. The localization and environmental mapping problem is then transformed into a non-linear two-point boundary value problem. Optimal policies are to maintain the accuracy of predicted states and to approach minimal observation cost by solving the control problem. A line-of-sight guidance law is utilized that drives the BAUV to the target. An approach that controls the motion of the body/caudal fin and pectoral fins of the BAUV is utilized for target tracking. Estimation, measurement, and control processes are integrated to form a working system. Experiments using a test bed BAUV confirm the effectiveness of the proposed approach. 相似文献
9.
Singh H. Bellingham J.G. Hover F. Lemer S. Moran B.A. von der Heydt K. Yoerger D. 《Oceanic Engineering, IEEE Journal of》2001,26(4):498-514
In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of mechanically docking the vehicle. We show that our technique for homing is extremely robust in the face of the two dominant sources of error-namely the presence of currents and the presence of magnetic anomalies. Our strategy for homing is independent of the initial bearing of the dock to the AUV, includes a method for detecting when the vehicle has missed the dock, and automatically ensures that the AUV is in a position to retry homing with a greater chance of success. Our approach is seen to be extremely successful in homing the vehicle to the dock, mechanically attaching itself to the dock, aligning inductive cores for data and power transfer, and undocking at the start of a fresh mission. Once the AUV is on the dock, we present a methodology that allows us to achieve the complex tasks with ensuring that the AUV is securely docked, periodically checking vehicle status, reacting to a vehicle that requires charging, tracking it when it is out on a mission, archiving and transmitting via satellite the data that the AUV collects during its missions, as well as providing a mechanism for researchers removed from the site to learn about vehicle status and command high-level missions. The dock is capable of long-term deployments at a remote site while respecting the constraints - low power, small size, low computational energy, low bandwidth, and little or no user input - imposed by the amalgamation of acoustic, electronic and mechanical components that comprise the entire system 相似文献
10.
提出了采用高斯距离函数加权平均算法,对离散多波束数据进行网格化,该算法的优点是权函数收敛较快,能较好地保留细小的地形特征,而且运算速度较快。对于图形制作方面,提出了2D等深线图叠加3D阴影图模式的海底地形图的绘制思路及实现方法,最终成果图立体感强,可以更好地表现出地形细节。最后就如何改进海底地形图的配色方案进行了探讨。 相似文献
11.
12.
Multivariable sliding mode control for autonomous diving andsteering of unmanned underwater vehicles
A six-degree-of-freedom model for the maneuvering of an underwater vehicle is used and a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions. In flight control applications of this kind, difficulties arise because the system to be controlled is highly nonlinear and coupled, and there is a good deal of parameter uncertainty and variation with operational conditions. The development of variable-structure control in the form of sliding modes has been shown to provide robustness that is expected to be quite remarkable for AUV autopilot design. It is shown that a multivariable sliding-mode autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering, and diving response of a slow AUV. The influence of speed, modeling nonlinearity, uncertainty, and disturbances, can be effectively compensated, even for complex maneuvering. Waypoint acquisition based on line-of-sight guidance is used to achieve path tracking 相似文献
13.
Smith S.M. An P.E. Holappa K. Whitney J. Burns A. Nelson K. Heatzig E. Kempfe O. Kronen D. Pantelakis T. Henderson E. Font G. Dunn R. Dunn S.E. 《Oceanic Engineering, IEEE Journal of》2001,26(4):453-465
The Advanced Marine Systems Lab at Florida Atlantic University has developed a new ultramodular plastic mini autonomous underwater vehicle (AUV), called the Morpheus, for littoral military and coastal oceanographic sampling, survey, and mapping. The name Morpheus was chosen because the Greek god Morpheus could change shape or "morph." The higher degree of modularity of the Morpheus AUV allows it to "morph" or change its size and components for different applications. This vehicle is composed of modular injection-molded plastic pressure vessels and a cabling system that allow the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass-producible, extremely corrosion-resistant, and have low magnetic signatures. The pressure vessels are small but are sized to fit most standard electronic board standards. The mini AUV can be anywhere from 4 to 10 ft in length, depending on its mission. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and uses an ANSI 709.1 (LonTalk) distributed control network for connecting all sensors and actuator subsystems as smart nodes. The modularity in containers, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. This paper will present details of the motivation, design, and construction of the new mini AUV. The Morpheus was deployed during the summer of 2000 in field exercises for very shallow and shallow water mine counter measures. Some results from these tests will be presented 相似文献
14.
It is broadly acknowledged that the precision of satellite-altimeter-measured instantaneous sea surface heights (SSH) is lower in coastal regions than in open oceans, due partly to contamination of the radar return from the coastal sea-surface state and from land topography. This study investigates the behavior of ERS-2 and POSEIDON altimeter waveform data in coastal regions and estimates a boundary around Australia's coasts in which the altimeter range may be poorly estimated by on-satellite tracking software. Over one million 20 Hz ERS-2 (March to April 1999) and POSEIDON (January 1998 to January 1999) radar altimeter waveform data were used over an area extending 350 km offshore Australia. The DS759.2 (5'resolution) ocean depth model and the GSHHS (0.2 km resolution) shoreline model were used together to define the coastal regions. Using the 50% threshold retracking points as the estimates of expected tracking gate, we determined that the sea surface height is contaminated out to maximum distance of between about 8 km and 22 km from the Australian shoreline for ERS-2, depending partly on coastal topography. Using the standard deviation of the mean waveforms as an indication of the general variability of the altimeter returns in the Australian coastal region shows obvious coastal contamination out to about 4 km for both altimeters, and less obvious contamination out to about 8 km for POSEIDON and 10 km for ERS-2. Therefore, ERS-2 and POSEIDON satellite altimeter data should be treated with some caution for distances less than about 22 km from the Australian coast and probably ignored altogether for distances less than 4 km. 相似文献
15.
Estimation of Contamination of ERS-2 and POSEIDON Satellite Radar Altimetry Close to the Coasts of Australia 总被引：4，自引：0，他引：4
It is broadly acknowledged that the precision of satellite-altimeter-measured instantaneous sea surface heights (SSH) is lower in coastal regions than in open oceans, due partly to contamination of the radar return from the coastal sea-surface state and from land topography. This study investigates the behavior of ERS-2 and POSEIDON altimeter waveform data in coastal regions and estimates a boundary around Australia's coasts in which the altimeter range may be poorly estimated by on-satellite tracking software. Over one million 20 Hz ERS-2 (March to April 1999) and POSEIDON (January 1998 to January 1999) radar altimeter waveform data were used over an area extending 350 km offshore Australia. The DS759.2 (5'resolution) ocean depth model and the GSHHS (0.2 km resolution) shoreline model were used together to define the coastal regions. Using the 50% threshold retracking points as the estimates of expected tracking gate, we determined that the sea surface height is contaminated out to maximum distance of between about 8 km and 22 km from the Australian shoreline for ERS-2, depending partly on coastal topography. Using the standard deviation of the mean waveforms as an indication of the general variability of the altimeter returns in the Australian coastal region shows obvious coastal contamination out to about 4 km for both altimeters, and less obvious contamination out to about 8 km for POSEIDON and 10 km for ERS-2. Therefore, ERS-2 and POSEIDON satellite altimeter data should be treated with some caution for distances less than about 22 km from the Australian coast and probably ignored altogether for distances less than 4 km. 相似文献
16.
In this paper, a novel model reference adaptive controller with anti-windup compensator (MRAC_AW) is proposed for an autonomous underwater vehicle (AUV). Input saturations and parametric uncertainties are among the practical problems in the control of autonomous vehicles. Hence, utilizing a proper adaptive controller with the ability to handle actuator saturations is of a particular value. The proposed technique of this paper incorporates the well-posed model reference adaptive control with integral state feedback and a modern anti-windup scheme to present an appropriate performance in practical conditions of an AUV. Stability of the proposed method is analyzed by Lyapunov theory. Then, the proposed controller is implemented in the hardware in the loop simulation of AUV. For this purpose, the introduced method is implemented in an onboard computer to be checked in a real-time dynamic simulation environment. Obtained results in the presence of real hardware of system, actuators, computational delays and real-time execution verify the effectiveness of proposed scheme. 相似文献
17.
Autonomous underwater vehicle-based concurrent detection and classification of buried targets using higher order spectral analysis 总被引：1，自引：0，他引：1
This paper presents a processing concept for autonomous underwater vehicle (AUV)-based concurrent detection and classification (CDAC) of mine-like objects. In the detection phase, the AUV seeks objects of interest using a simple energy detector combined with a peak tracking mechanism. Upon detection, the processing mechanism changes to a higher order spectral (HOS) classification process. The system is demonstrated through theory, simulation and at-sea experiments to have promise in reducing the false alarm rate of mine detections. The HOS classification mechanism is also shown to have some benefit over classical spectral estimation in all cases. Components of the system concept were also demonstrated live onboard the AUV during the Generic Oceanographic Array Technology Sonar (GOATS 2002) experiment off the coast of Italy, while others are demonstrated using a comprehensive AUV sonar simulation framework. 相似文献
18.
The present paper introduces a three-dimensional guidance system developed for a miniature Autonomous Underwater Vehicle（AUV）. The guidance system determines the best trajectory for the vehicle based on target behavior and vehicle capabilities. The dynamic model of this novel AUV is derived based on its special characteristics such as the horizontal posture and the independent diving mechanism. To design the guidance strategy, the main idea is to select the desired depth, presumed proportional to the horizontal distance of the AUV and the target. By connecting the two with a straight line, this strategy helps the AUV move in a trajectory sufficiently close to this line. The adjacency of the trajectory to the line leads to reasonably short travelling distances and avoids unsafe areas. Autopilots are designed using sliding mode controller. Two different engagement geometries are considered to evaluate the strategy＇s performance： stationary target and moving target. The simulation results show that the strategy can provide sufficiently fast and smooth trajectories in both target situations. 相似文献
19.
The aim of this study is to solve the problem of poor tracking in autonomous underwater vehicle (AUVs) that are operating based on traditional line-of-sight (LOS) method when tracking different paths in a complex marine environment. An adaptive-LOS (ALOS) guidance law with drift angle compensation is proposed, and is employed to calculate the AUV’s desired course (direction of velocity) and heading. First, an appropriate look-ahead distance is derived by the ALOS guidance law in consideration of the predefined path curvature, real-time tracking error and speed of the AUV. Subsequently, proper compensation is provided with respect to the actual drift angle. Compared with traditional LOS operation, this method flexibly adjusts to a suitable look-ahead distance while considering many related factors, providing a better path following performance. Both simulation and experimental results are presented to validate the effectiveness of this method. 相似文献
20.
This paper presents a computational model of simulating a deep-sea hydrothermal plume based on a Lagrangian particle random walk algorithm. This model achieves the efficient process to calculate a numerical plume developed in a fluid-advected environment with the characteristics such as significant filament intermittency and significant plume meander due to flow variation with both time and location. Especially, this model addresses both non-buoyant and buoyant features of a deep-sea hydrothermal plume in three dimensions, which significantly challenge a strategy for tracing the deep-sea hydrothermal plume and localizing its source. This paper also systematically discusses stochastic initial and boundary conditions that are critical to generate a proper numerical plume. The developed model is a powerful tool to evaluate and optimize strategies for the tracking of a deep-sea hydrothermal plume via an autonomous underwater vehicle (AUV). 相似文献