A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle PDF Download
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Author: Seow Meng Ong
Publisher:
ISBN:
Category : Computer science
Languages : en
Pages : 184
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Book Description
Unmanned vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from deep-ocean exploration to anti-submarine warfare. Indeed, the feasibility of short range, special-purpose vehicles (whether autonomous or remotely operated) is no longer in question. The research efforts have now begun to shift their focus on development of reliable, longer range, high-endurance and fully autonomous systems. One of the major underlying technologies required to realize this goal is Artificial Intelligence (AI). The latter offers great potential to endow vehicles with the intelligence needed for fully automated and extended range capability; this involves the increased application of AI techniques to support mission planning and execution, navigation and contingency planning. This thesis addresses two issues associated with the above goal for Autonomous Underwater Vehicles (AUV's). Firstly, a new approach is proposed for path planning in underwater environments that is capable of dealing with uncharted obstacles and which requires significantly less planning time and computer memory. Secondly, it explores the use of expert system technology in the planning of AUV missions. (KR).
Author: Seow Meng Ong
Publisher:
ISBN:
Category : Computer science
Languages : en
Pages : 184
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Book Description
Unmanned vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from deep-ocean exploration to anti-submarine warfare. Indeed, the feasibility of short range, special-purpose vehicles (whether autonomous or remotely operated) is no longer in question. The research efforts have now begun to shift their focus on development of reliable, longer range, high-endurance and fully autonomous systems. One of the major underlying technologies required to realize this goal is Artificial Intelligence (AI). The latter offers great potential to endow vehicles with the intelligence needed for fully automated and extended range capability; this involves the increased application of AI techniques to support mission planning and execution, navigation and contingency planning. This thesis addresses two issues associated with the above goal for Autonomous Underwater Vehicles (AUV's). Firstly, a new approach is proposed for path planning in underwater environments that is capable of dealing with uncharted obstacles and which requires significantly less planning time and computer memory. Secondly, it explores the use of expert system technology in the planning of AUV missions. (KR).
Author: Ray Charles Rogers
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Specific tasking/total military mission concepts for subsea tasks have been developed that demand substantially more endurance and range than can be provided by manned submersibles and remotely operated vehicles, respectively. Small autonomous unmanned systems can provide the best combination of speed, endurance, range, depth capacity, and flexibility needed to make these concepts realizable. As the U.S. military has continued to identify more and more tasks that can be performed by autonomous systems, the NPG has heightened its research efforts to develop an experimental autonomous underwater vehicle (AUV) to address these requirements. A series of NPS AUV simulation systems have been developed that couple knowledge-based mission planning and control systems with 3-D visualization (graphics) workstations that communicate across an interprocess communications network. Development of these simulation systems have produced an extremely useful 'laboratory environment' for rapid prototyping of AUV planning, navigation, and control subsystems software. This thesis updates and extends the formats of functionality of the simulation systems to include a Mission Planning and Control Workstation as a prototype for use aboard AUV deployment vessels, upgrades mission profiles, and incorporates improvements to the software interface between the mission planning and control subsystem and the 3-D visualization subsystem. Keywords: Three dimensional display systems; Interactive graphics; Theses.(edc).
Author: Tymothy Wayne Caddell
Publisher:
ISBN:
Category :
Languages : en
Pages : 170
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Book Description
Author: Oceanic Engineering Society (U.S.)
Publisher:
ISBN:
Category : Science
Languages : en
Pages : 330
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Book Description
Author: Donald P. Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 252
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Donald P Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 252
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Donald P. Brutzman
Publisher:
ISBN:
Category : Data transmission systems
Languages : en
Pages : 0
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Book Description
The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment. Integrated simulator testing of software and hardware is a broad and versatile method that supports rapid and robust diagnosis and correction of system faults. This method is demonstrated using the Naval Postgraduate School (NPS) AUV. High-resolution three-dimensional graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sensor processing and object classification. Integrated simulation is also useful for development of the variety of sophisticated artificial intelligence applications needed by an AUV. Examples include sonar classification using an expert system and path planning using a circle world model. The flexibility and versatility provided by this approach enables visualization and analysis of all aspects of AUV development. Integrated simulator networking is recommended as a fundamental requirement for AUV research and deployment. Autonomous underwater vehicles, Graphics, Simulation, Path planning, Sonar classification, Expert systems, Real-Time operating systems.
Author: Konuralp Yiğit
Publisher:
ISBN:
Category :
Languages : en
Pages : 81
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Book Description
From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the physical limitations of autonomous underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demonstrate an efficient underwater path planning algorithm based on the level set method. Specifically, the goal is to compute the paths of autonomous vehicles which minimize travel time in the presence of ocean currents. The approach is to either utilize or avoid any type of ocean flows, while allowing for currents that are much larger than the nominal vehicle speed and for three-dimensional currents which vary with time. Existing path planning methods for the fields of ocean science and robotics are first reviewed, and the advantages and disadvantages of each are discussed. The underpinnings of the level set and fast marching methods are then reviewed, including their new extension and application to underwater path planning. Finally, a new feasible and optimal time-dependent underwater path planning algorithm is derived and presented. In order to demonstrate the capabilities of the algorithm, a set of idealized test-cases of increasing complexity are first presented and discussed. A real three-dimensional path planning example, involving strong current conditions, is also illustrated. This example utilizes four-dimensional ocean flows from a realistic ocean prediction system which simulate the ocean response to the passage of a tropical storm in the Middle Atlantic Bight region.
Author: International Fuzzy Systems Association
Publisher:
ISBN:
Category : Expert systems (Computer science)
Languages : en
Pages : 668
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Book Description
Author: Chim S. Lee
Publisher:
ISBN: 9781423516019
Category :
Languages : en
Pages : 219
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Book Description
The absence of common software platforms for Autonomous Underwater Vehicle (AUV) mission planning and analysis is an ongoing impediment to collaborative work between research institutions, their partners, and end users, This thesis details the design and implementation of a distributable application to facilitate AUV mission planning and analysis. Java-based open-source libraries and a component-based framework provide diverse functionalities. The extensible Markup Language (XML) is used for data storage and message exchange, Extensible 3D (X3D) Graphics for visualization and XML Schema-based Binary Compression (XSBC) for data compression. The AUV Workbench provides an intuitive cross-platform-capable tool with extensibility to provide for future enhancements such as agent-based control, asynchronous reporting and communication, loss-free message compression and built-in support for mission data archiving. This thesis also investigates the Jabber instant messaging protocol, showing its suitability for text and file messaging in a tactical environment. Exemplars show that the XML backbone of this open-source technology can be leveraged to enable both human and agent messaging with improvements over current systems. Integrated Jabber instant messaging support makes the NPS AUV Workbench the first custom application supporting XML Tactical Chat (XTC).
