A Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle PDF Download
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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: 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:
Publisher:
ISBN:
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).
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).
Author: Douglas B. Nordman
Publisher:
ISBN:
Category : Automated guided vehicles systems
Languages : en
Pages : 78
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Book Description
Author: Sabiha Wadoo
Publisher: CRC Press
ISBN: 1439818320
Category : Technology & Engineering
Languages : en
Pages : 165
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Book Description
Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
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: Tien Anh Tran
Publisher: CRC Press
ISBN: 1003817025
Category : Technology & Engineering
Languages : en
Pages : 191
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Book Description
The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.
Author:
Publisher:
ISBN:
Category : Government reports announcements & index
Languages : en
Pages : 1368
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Author:
Publisher:
ISBN:
Category : Science
Languages : en
Pages : 712
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Author: Albert M. Bottoms
Publisher:
ISBN:
Category : Mines (Military explosives)
Languages : en
Pages : 756
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