Browse Topic: Unmanned underwater and surface vehicles

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XPONENTIAL 2019 – An AUVSI ExperienceTBMG-341364/1/2019
The Association for Unmanned Vehicle Systems International (AUVSI) is bringing this year's XPONENTIAL 2019 to McCormick Place in Chicago, IL. The event, which runs from April 29 – May 2, will feature more than 150 technical sessions focused on all aspects of the unmanned vehicle and robotics market. Over 700 exhibitors representing more than 20 different industries will be showcasing their latest technology to an estimated 8,500 attendees from all over the world.
XPONENTIAL 2019 - An AUVSI Experience19AERP04_054/1/2019
The Association for Unmanned Vehicle Systems International (AUVSI) is bringing this year's XPONENTIAL 2019 to McCormick Place in Chicago, IL. The event, which runs from April 29 - May 2, will feature more than 150 technical sessions focused on all aspects of the unmanned vehicle and robotics market. Over 700 exhibitors representing more than 20 different industries will be showcasing their latest technology to an estimated 8,500 attendees from all over the world.
Double-acting Extremely Light Thermo-Acoustic (DELTA) ConverterTBMG-296957/1/2018
NASA's Glenn Research Center has developed a novel Double-acting Extremely Light Thermo-Acoustic (DELTA) converter that operates at high frequencies (>400 Hz) with greatly increased specific power and no moving parts. Conventional engine power systems grow substantially in size and weight as their power level increases, as they manage their required reactive force, produced centrifugal force, or achievable current flow. In contrast, the DELTA converter enables an order of magnitude improvement in specific power compared to conventional engines.
Tech Briefs: May 201818AERP055/1/2018
New Technologies Tackle UAV Challenges Robotic Applique Kits Leverage Existing Assets Educating UGVs Implementing AI Advancements in Thermal Image Training Data Sets Protecting Critical Data on Unmanned Underwater Platforms Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SIL New features include the creation of virtual environments that match real-world gunnery test courses. Soldier-Robot Team Communication: An Investigation of Exogenous Orienting Visual Display Cues and Robot Reporting Preferences The effective use of robots to conduct dangerous missions depends on accurate man-machine communications. Soft Robotic Fish Swims Alongside Real Ones in Coral Reefs GPS Enabled Semi-Autonomous Robot Combining GPS signals with acoustic and encoder data gives a robot the ability to determine its location and orientation within a reference frame. Development of a Vision-Based Situational Awareness Capability for Unmanned Surface Vessels Computer vision-based technique gives USVs enhanced autonomous navigation capabilities.
Development of a Vision-Based Situational Awareness Capability for Unmanned Surface VesselsTBMG-289095/1/2018
Using unmanned surface vessels (USVs) for “dull, dirty and dangerous missions” is gaining traction in recent years as it removes the human element from a potentially life-threatening environment in missions such as mine hunting or maritime interdiction. Current USVs rely on human operators sitting in remote control stations to monitor the vessels’ surroundings and perform collision detection and avoidance. This reliance on the human operator constrains the operating envelope of the USV as it requires a high bandwidth and low latency communication link for safe operations, especially in waters with heavy traffic.
Soft Robotic Fish Swims Alongside Real Ones in Coral ReefsTBMG-289005/1/2018
A team from MIT's Computer Science and Artificial Intelligence Laboratory (CSAIL) unveiled “SoFi,” a soft robotic fish that can independently swim alongside real fish in the ocean. During test dives in the Rainbow Reef in Fiji, SoFi swam at depths of more than 50 feet for up to 40 minutes, nimbly handling currents and taking high-resolution photos and videos using a fisheye lens.
Study on a Fuzzy Q-Learning Approach Using the Driver Priori Knowledge for Intelligent Vehicles’ Autonomous Navigation and Control2018-01-10844/3/2018
The functional elements of decision making system are fuzzy, adaptive and self-learning for intelligent ground vehicles. As is well-known, operating environment of unmanned ground vehicles (UGVs) is complex, unknown and time-changing. And on the other hand, exact dynamic model of the vehicle is relatively difficult to gain. However, the changing of special dynamic parameters and the man-made driving laws of velocities and running direction are easily available. Therefore, this paper attempts to provide an approach based on fuzzy Q-learning algorithm for studying autonomous navigation and control system’s design, which aims to make unmanned vehicles adaptive and robust under complex and time-changing environment. The presented approach utilizes the drivers’ empirical knowledge for. Fuzzy inference system introduces the human beings’ successful experiences into the system, and Q-learning mainly pays more attention to the interaction between the robot and the environment and thus keeps on learning until achieving the goal. Through this method, autonomous navigation and control system can be designed accordingly. This paper used a type of the nonholonomic robotic system for the computational experiments so as to verify the algorithm, which only considers necessary candidate conclusions. The final simulation results show the validity of the designed algorithm. The presented algorithm is not dependent on the dynamic model, and is designed in terms of the special model parameters. Therefore, the mentioned approach has strong versatility and transplantable, which can be easily used for penetration maneuver strategies and autonomous maneuver of other type of intelligent vehicles such as unmanned aerial vehicles (UAVs) or autonomous underwater vehicles (AUVs).
Chang, Liang, Bai, Jie, Huang, Liangbo
XPONENTIAL 2018 – An AUVSI ExperienceTBMG-287794/1/2018
The Association for Unmanned Vehicle Systems International (AUVSI) is bringing this year's XPONENTIAL 2018 to the Colorado Convention Center in Denver, CO. The event, which runs from April 30 – May 3, will feature more than 200 presentations and panel discussions focused on all aspects of the unmanned vehicle and robotics market. Over 725 exhibitors representing more than 20 different industries will be showcasing their latest technology to an estimated 7,000 attendees from all over the world.
Products of Tomorrow: July 2016TBMG-250127/1/2016
The technologies NASA develops don’t just blast off into space. They also improve our lives here on Earth. Life-saving search-and-rescue tools, implantable medical devices, advances in commercial aircraft safety, increased accuracy in weather forecasting, and the miniature cameras in our cellphones are just some of the examples of NASA-developed technology used in products today.
Aerospace & Defense Technology: May 201616AERP055/2/2016
UAV Technology Using SWaP-C Reductions to Improve UAS/UGV Mission Capabilities UGV Technology Designing Rugged Computing Platforms for UGVs UUV & Robotics Technology Bi-manual Dexterous Manipulation for Maritime Explosive Ordnance Disposal UUV Technology Applying UUV Advances to Safeguard Harbors and Littoral Waters Robotics Technology Designing a Robot to Counter Vehicle-Borne Improvised Explosive Devices
Applying UUV Advances to Safeguard Harbors and Littoral WatersTBMG-246465/1/2016
Advances in unmanned underwater vehicles (UUVs) are providing government agencies and commercial organizations with new capabilities across a variety of mission requirements. However, many underwater vehicles only address specific criteria or support well-defined (and limited) niches. As an example, the Naval Sea Systems Command’s (NAVSEA) Littoral Battlespace Sensing (LBS) system includes the LBS-G long-endurance glider to collect oceanographic data, but also needs the LBS-AUV for military applications.
Applying UUV Advances to Safeguard Harbors and Littoral Waters16AERP05_045/1/2016
Advances in unmanned underwater vehicles (UUVs) are providing government agencies and commercial organizations with new capabilities across a variety of mission requirements. However, many underwater vehicles only address specific criteria or support well-defined (and limited) niches. As an example, the Naval Sea Systems Command's (NAVSEA) Littoral Battlespace Sensing (LBS) system includes the LBS-G long-endurance glider to collect oceanographic data, but also needs the LBS-AUV for military applications.
Safe Maritime Autonomous Path Planning in a High Sea StateTBMG-224107/1/2015
The goal of this work was to develop algorithms and software to generate a path that takes into account the direction of waves and wind as much as possible in order to mitigate potential damage to an autonomous underwater vehicle. A risk-based path planning algorithm to analyze real-world sensory data is combined with an enhanced sea surface model to generate a safe path.
Unmanned Surface/Underwater Vehicles15AERP05_035/1/2015
Controlling the Seas Introducing a New Concept in Autonomous Surface/Underwater Vehicles The boundary between the sea and sky is an important place to be. It's the critical connecting layer for commercial and military information exchange between the undersea world to aerial, space and shore. Being present at this boundary between sea and sky, with cost-effective endurance in challenging conditions, requires the use of autonomous surface vehicles. Designing long duration autonomous surface vehicles requires access to inexpensive, low-power computing; a persistent source of power; and durable mechanical engineering. The volume markets created by cellular telephones and video gaming has totally transformed the economics of computing. Coupled with creative mechanical designs that harness energy from the ocean for vehicle propulsion, and new generations of solar cells for electricity, the pervasive application of Autonomous Surface Vehicles (ASVs) is more practical. New advancements in communications, and sensor technologies are also enabling developments in ASV and Autonomous Underwater Vehicles (AUVs) while paving the way for increased coverage, rapid information delivery, increased safety and, lower cost.
Method of Docking for Stratospheric Airships of Multibody Transportation System2014-01-21629/16/2014
The paper describes methods for control of docking of two moving stratospheric airships. One of them (cruiser) implements cruising flight at the defined altitude with defined velocity. The other one (feeder) fulfills the mission of chasing the cruiser with following docking operations. Mathematical model of exact airships are used in the work. Instances of structural and algorithmic implementation are based on position-trajectory controller. Simulation of docking control was accomplished with proposed methods.
Pshikhopov, Viacheslav, Medvedev, Mikhail, Krukhmalev, Victor, Fedorenko, Roman, Gurenko, Boris
Improved Battery Health MonitoringTBMG-195535/1/2014
Battery health monitoring is an emerging technology field that seeks to predict the remaining useful life (RUL) of battery systems before they run out of charge. Such predictive measures require interpretation of large amounts of battery status data within a Bayesian prognostic framework.
Submerged AUV Charging StationTBMG-188861/1/2014
Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for military surveillance and mine detection. Most AUVs are battery powered and have limited lifetimes of a few days to a few weeks. This greatly limits the distance that AUVs can travel underwater. Using a series of submerged AUV charging stations, AUVs could travel a limited distance to the next charging station, recharge its batteries, and continue to the next charging station, thus traveling great distances in a relatively short time, similar to the Old West “Pony Express.”
Underwater Autonomous Vehicles Combine Robotics and Vision to Inspect Oil PipelinesTBMG-133704/1/2012
Among the various components of a submarine pipeline, the vertical section known as a riser is critical to managing the pipeline. This section connects the piping that runs along the bottom of the sea with the floating production platform.
Create the Future Design Contest Winners: Where Are They Now?TBMG-94113/1/2011
The Create the Future Design Contest was launched in 2002 by the publishers of NASA Tech Briefs to help stimulate and reward engineering innovation. The competition has attracted more than 7,000 product design ideas that have the potential to change the way we live and work. As the 2011 contest opens for entries this month (enter at ), we caught up with a few past winners to learn now their inventions have advanced.
Developing Fleets of Autonomous Underwater VehiclesTBMG-632712/1/2009
Autonomous underwater vehicles (AUVs) have a demonstrated capability to collect valuable data for scientific and military purposes. Historically, individual vehicles have been used. To reduce the overall time and cost of acquiring data over large areas, multiple vehicles must be used. A fleet of five AUVs, capable of underwater commendation, was fabricated. These AUVs include small submarines, referred to as “swimmers,” and small, two-tracked vehicles, referred to as “crawlers.” The control and communication algorithms developed in this work will enable AUVs to use formations to search for mines and to communicate with each other in order to implement cooperative behavior. Languages and logics were developed to enable collaborative operations among the vehicles.
Development of an Advanced Driver Model and Simulation Environment for Automotive Racing2009-01-04344/20/2009
The paper describes a closed-loop vehicle simulation environment developed to support a virtual vehicle design and testing methodology, proposed for the University of Windsor Formula SAE team. Virtual prototyping and testing were achieved through co-simulation of Matlab/Simulink® and Carsim®. The development of the required hybrid-control driver and vehicle models are described. The proposed models were validated with in vehicle test data. The proposed methods have shown to be effective and robust in predicting driver response, while controlling the vehicle within the developed simulation environment.
Rieveley, Robert J., Minaker, Bruce, Maurini, Marc, Shallvari, Iva, Laport, Justin
Characterization of a MEMS Directional Sound SensorTBMG-49602/1/2009
There is a wide range of potential military applications in which ambiguity in bearing occurs with respect to sound. For example, autonomous unmanned aerial vehicles (UAVs) could employ a sensor to determine the bearing of an explosion and conduct battle damage assessment (BDA) on it. With existing sensors this is difficult to do because the explosion is too short in duration to use the Doppler effect to determine the bearing. Also, an autonomous underwater vehicle (AUV) acting as a quiet platform to tow a short, omni-directional hydrophone array must contend with bearing ambiguity.
Utilizing Ocean Thermal Energy in a Submarine RobotTBMG-34971/1/2009
A proposed system would exploit the ocean thermal gradient for recharging the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. The proposed system is related to, but not the same as, previously reported ocean thermal energy conversion (OTEC) systems that exploit the ocean thermal gradient but consist of stationary apparatuses that span large depth ranges.
Utilizing Ocean Thermal Energy in a Submarine RobotTBMG-53901/1/2009
A proposed system would exploit the ocean thermal gradient for recharging the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. The proposed system is related to, but not the same as, previously reported ocean thermal energy conversion (OTEC) systems that exploit the ocean thermal gradient but consist of stationary apparatuses that span large depth ranges.
Multi-Robot Operator Control Unit for Unmanned SystemsTBMG-48678/1/2008
The U.S. military has incorporated many robotic systems into battlefield scenarios over the past several years, ranging from a single vehicle or unattended sensor to multiple vehicles and sensors. The majority of these systems use proprietary protocols requiring the creation and maintenance of a custom (stovepipe) operator control unit (OCU) able to control only a single asset type or a very limited subset of assets. With missions ranging from neutralization of an improvised explosive device (IED) to remote surveillance, the mix of hardware requires mission-specific control of functionality, and mission- specific information displayed to the operator. Some control units must be handheld, while others have large computational requirements and must be located in a Humvee or at a stationary land-based location.
Planning Observations by Unmanned Surface VesselsTBMG-48606/1/2008
Three algorithms, and software that implements the algorithms, have been conceived and analyzed as means of effecting automated planning of scientific observations by a fleet of unmanned surface vessels (USVs) equipped with sensors and operating over a large and possibly changing ocean area. Typical observations envisioned in the development of these algorithms include water-temperature measurements ahead of the path of a hurricane (see figure) and fluorometer readings to track harmful algal blooms.
Uncertainty Propagation in Multi-Disciplinary Design Optimization of Undersea Vehicles2008-01-02184/14/2008
In this paper the development of statistical metamodels and statistical fast running models is presented first. They are utilized for propagating uncertainties in a multi-discipline design optimization process. Two main types of uncertainty can be considered in this manner: uncertainty due to variability in design variables or in random parameters; uncertainty due to the utilization of metamodels instead of the actual simulation models during the optimization process. The value of the new developments and their engagement in multi-discipline design optimization is demonstrated through a case study. An underwater vehicle is designed under four different disciplines, namely, noise radiation, self-noise due to TBL excitation, dynamic response due to propulsion impact loads, and response to an underwater detonation. The case study also demonstrates the value of the multi-discipline design optimization in identifying a system level optimum, and it emphasizes the importance of including uncertainties in the design optimization process.
He, Jim, Zhang, Geng, Vlahopoulos, Nickolas
Compact Vision for Development and Control of Unmanned Underwater VehiclesTBMG-1344612/1/2007
The Mobile & Marine Robotics Research Centre (MMRRC) at the University of Limerick in Ireland created a generic solution for underwater development. During research cruises in February and June of 2005 with the RV Celtic Explorer, MMRRC researchers identified weak points of the overall system integration to address with a virtual underwater lab (VUL). The VUL is a mixed hardware/software tool designed to overcome identified problems; make overall system integration easier; and provide a framework for researchers to develop, implement, and test advanced control algorithms in a combined real-world/simulated environment.
Application of Fuzzy Neural Networks in the Intelligent Mobile Vehicle's Steering Control2007-01-35868/5/2007
With the aim of improving vehicle steering stability through the introduction of active steering control in obstacle avoidance, the author undertook the development of the fuzzy neural networks. By using back propagation neural network as the base, it can use fuzzy theory and neural networks together to form a fuzzy neural networks control system. So it can auto pick-up the fuzzy rule and build the subordinate function. The result of simulation analyses and experiments indicate that the method proposed in the paper can achieve safe and stability in steering control of obstacle avoidance of intelligent mobile vehicle.
Xin, Jianghui, Li, Shunming
Controllable Sonar Lenses and Prisms Based on ERFsTBMG-7991/1/2004
Sonar-beam-steering devices of the proposed type would contain no moving parts and would be considerably smaller and less power-hungry, relative to conventional multiple-beam sonar arrays. The proposed devices are under consideration for installation on future small autonomous underwater vehicles because the sizes and power demands of conventional multiple-beam arrays are excessive, and motors used in single-beam mechanically scanned systems are also not reliable.
Experimental Performance Results from a Carbon Dioxide/Oxygen Breathing Diesel Engine9416999/1/1994
Non-air-breathing diesel engine systems have, and continue to be developed for underwater applications. When the engine is operated in such an environment the intake oxidant mixture consists of a combination of oxygen and recycled exhaust gas. The latter will contain combustion gaseous products and may also include additional inert diluents. Since its initial conception in the late nineteenth century, a major problem encountered in the operation of the recycle diesel engine has been the detrimental effect of the recirculated exhaust carbon dioxide upon the engine's performance. To avoid this problem exhaust gas scrubbing systems have been developed to remove the carbon dioxide from the exhaust gases. In addition, inert gases such as argon and helium have been added to the non-air mixture to improve its thermodynamic and transport properties and hence engine performance. These efforts have resulted in the evolution of increasingly complex systems and somewhat negated the attractiveness of the conceptual simplicity of the recycle diesel. However, initial engine test results conducted as part of a collaborative research project started in the late 1980s1, 2 and 3 indicated that the pernicious effects of carbon dioxide has perhaps been overemphasised in the extant technical literature. Thus, it was decided to ascertain the operating envelopes of both a DI and IDI non-air diesel engine within which acceptable performance could be obtained using purely carbon dioxide and oxygen mixtures. The rationale behind these investigations being that simpler and, therefore, more attractive underwater diesel engine systems may be possible. In this paper the main experimental results that have been obtained from tests on a multi-cylinder DI diesel engine configured to operate on oxygen and carbon dioxide atmospheres are presented. The results from the EDI tests can be found in references 2 and 3.
Hawley, J. G., Reader, G. T.
The Future of the Closed-Cycle Gas Turbine - A Realistic Assessment9290138/3/1992
The first industrial closed-cycle gas turbine (CCGT) plant started service in Switzerland in 1939 and demonstrated the utilization of coal as the fuel, and operation in a combined power and heat production mode, and these were viewed as attributes towards its deployment on a commercial scale. Introduction of further plants in Europe was delayed by two factors: (1) restricted business during the second world war, and (2) the subsequent use of aircraft-derived gas turbines burning oil and gas which were cheap and in plentiful supply. About 15 fossil-fired CCGT plants operated well in Europe (some of them into the 1980s), but both technical and economic factors limited further deployment. The CCGT capability to operate well at high pressure, and with perfect inert gases (e.g., helium) makes it an attractive prime mover for coupling with a nuclear heat source. In this paper the CCGT is realistically assessed with the major conclusion being that it has real potential for operating with a nuclear heat source early in the next century, in applications as diverse as utility power generation, underwater propulsion systems, and for space power.
McDonald, Colin F.
Development of an IDI Diesel Engine Test Facility for Use with Non-Conventional Atmospheres9290598/3/1992
It has been known for nearly a century that by recycling the exhaust gas and adding renewal oxygen for combustion, it is possible to operate a standard diesel engine in air restricted conditions. However in order to operate under these conditions, such as found in underwater vessels, exhaust gas management systems are required to process the combustion products. The characteristics of recycled working fluids and the effective disposal of the exhaust gases leads to conflicting system operational requirements. In order to operate the whole system as a compact and efficient power unit, a compromise needs to be found between the performance of the engine with the recycled exhaust and the physical size and efficiency of the exhaust processing system. Previous research using non-conventional or contaminated atmospheres for underwater vehicles power systems, pollution control and mine engineering has mainly used three methods of supplying the intake atmosphere. The first uses a normal air intake with the contaminate gas being added at or near the manifold. The second method incorporates the complete recycling process with an oxygen and moderating fluid topping up system. The last system uses a gasometer, filled with the artificial atmosphere, to supply the engine. In an attempt to ameliorate the problems of these techniques and provide realistic and accurate data, the University of Calgary has developed an experimental test facility specifically for non-conventional diesel engine operation. The facility enables engine performance data to be acquired whatever the composition and state of the intake working fluid. In the future this data can then be used to design a practical exhaust gas management system. This paper describes the experimental test facility, built around an IDI diesel engine, which allows precise control, monitoring and mixing of the non-air working fluids entering the engine.
Potter, I. J., Reader, G. T., Zheng, M., Gustafson, R. W.
Remotely Operated Underwater Vehicles8410118/1/1984
The past decade has shown a dramatic increase in the use of unmanned tethered vehicles in worldwide marine fields. These are used for inspection, debris removal and object retrieval. During the past ten years, the RCV-225 vehicle has become an industry standard as a small size, highly maneuverable, inspection tool. It is able to operate in very confined areas that would otherwise be inaccessible. In the past three years major subsystem changes have been made to the RCV-225 vehicle to further increase its utility. These improvements have included the high thrust motor, an FM telemetry system, a color television interface, an image size measurement system, improved on-line video annotation capability, and an emergency locator beacon which is automatically deployed upon tether cable severance. For more extensive underwater work the larger RCV-150 vehicle provides greater power, and operational versatility. As types of applications continue to increase for the RCV's, designs of the future vehicles will use the present baseline systems with their worldwide experience as starting points.
Billet, A. B.
Surface Transportation Systems For Lunar Operations6508382/1/1965
This paper presents one possible approach to the development of standard vehicular systems for operation on the lunar surface. To establish a basis for design, a model of a lunar exploration program is developed, including the assumption of certain types of lunar installations, their appropriate phasing in the total exploration plan, and a listing of vehicular requirements for each level of activity. The evolution of a potential family of lunar exploration vehicular systems is discussed, including a brief description of the development of a design concept for such systems. In addition, vehicles that might be typical of those required for the various phases of surface exploration are illustrated, and their performance and operational characteristics tabulated. The paper suggests that surface vehicle requirements for the total lunar exploration program should be an important consideration in the development of the initial lunar roving vehicle.
Romano, S.
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