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An Entropic Framework For Auv Sensor Modelling

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An Entropic Framework For Auv Sensor Modelling

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Author : Hanumant Singh
language : en
Publisher:
Release Date : 1995

An Entropic Framework For Auv Sensor Modelling written by Hanumant Singh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Coherence (Optics) categories.

This thesis examines the general task of active sensing by defining a measure of efficiency for sensing in a particular environment. We focus on fine-scale acoustic mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of the acoustic sensing modality- are considered in defining an entropic measure of sensor efficiency. 675-kHz pencil-beam sonar data acquired using the JASON remotely operated vehicle in a challenging shallow water environment and 200-kHz echo-sounder data acquired using the ABE A UV are used to demonstrate the utility of the en tropic framework. We show the utility of an entropic framework for the following: (i) Optimizing the speed of the AUV for maximizing the information gathered with a particular sensor. (ii) the rate of convergence and the stability of our mapping efforts in the face of typical uncertainties in navigation and attitude; (iii) as a methodology for actual sensor deployment and use on a real vehicle; and (iv) in tasks such as post-mission analysis for applications such as change detection and path planning for subsequent missions.

Experimental Robotics Vi

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Author : Peter I. Corke
language : en
Publisher: Springer Science & Business Media
Release Date : 1999-10-22

Experimental Robotics Vi written by Peter I. Corke and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999-10-22 with Technology & Engineering categories.

This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.

Underwater Robots

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Author : Junku Yuh
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06

Underwater Robots written by Junku Yuh and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.

All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Oceans 96 Mts Ieee

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Author :
language : en
Publisher:
Release Date : 1996

Oceans 96 Mts Ieee written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Marine resources categories.

Proceedings Of The 9th International Symposium On Unmanned Untethered Submersible Technology September 27 29 1995

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Author :
language : en
Publisher:
Release Date : 1995

Proceedings Of The 9th International Symposium On Unmanned Untethered Submersible Technology September 27 29 1995 written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Oceanographic submersibles categories.

Experimental Robotics

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Author :
language : en
Publisher:
Release Date : 1999

Experimental Robotics written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Robotics categories.

Analysis Of Internal Wave Induced Mode Coupling Effects On The 1995 Swarm Experiment Acoustic Transmissions

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Author : Robert Hugh Headrick
language : en
Publisher:
Release Date : 1997

Analysis Of Internal Wave Induced Mode Coupling Effects On The 1995 Swarm Experiment Acoustic Transmissions written by Robert Hugh Headrick and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Solitons categories.

As part of the Shallow Water Acoustics in a Random Medium (SWARM) experiment [1], a sixteen element WHOI vertical line array (WVLA) was moored in 70 meters of water off the New Jersey coast. This array was sampled at 1395 Hz or higher for the seven days it was deployed. Tomography sources with carrier frequencies of 224 and 400 Hz were moored about 32 km shoreward, such that the acoustic path was anti-parallel to the primary propagation direction for shelf generated internal wave solitons. Two models for the propagation of normal modes through a 2-D waveguide with solitary internal wave (soliton) scattering included are developed to help in understanding the very complicated mode arrivals seen at the WVLA. The simplest model uses the Preisig and Duda [2] sharp interface approximation for solitons, allowing for rapid analysis of the effects of various numbers of solitons on mode arrival statistics. The second model, using SWARM thermistor string data to simulate the actual SWARM waveguides, is more realistic, but much slower. The analysis of the actual WVLA data yields spread, bias, wander, and intensity fluctuation signals that are modulated at tidal frequencies. The signals are consistent with predicted relationships to the internal wave distributions in the waveguides.