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Title: Mission areas and technology requirements for dual-use AUVapplications.
Creator: White, Dan G., Harbor Branch Oceanographic Institute
Date Issued: 1994
PURL: http://purl.flvc.org/fau/fd/FA00007412
Subject Headings: Submersibles--Automatic control, Underwater vehicles
Format: Document (PDF)

Title: Determination of horizontal motion through optical flow computations.
Creator: Chih-Ho, Yu, Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1993
PURL: http://purl.flvc.org/FCLA/DT/3183679
Subject Headings: Underwater navigation, Submersibles--Automatic control
Format: Document (PDF)

Title: Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control.
Creator: Dupire, Benoit Francois., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has...
Show moreThe Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12789
Subject Headings: Submersibles--Automatic control, Software configuration management
Format: Document (PDF)

Title: Control design for highly maneuverable autonomous underwater vehicles.
Creator: Poirrier, Ronald., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Accurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based...
Show moreAccurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based approach, characterized by robustness properties with respect to parametric uncertainties and linearly bounded control output, will be proposed for the outer-loop and simulation results will be discussed. Regarding the low-level control framework, the performance of nine different controllers including conventional PI, sliding mode fuzzy controllers, and adaptive schemes such as model reference and sliding mode adaptive controllers, will be compared through theoretical derivations and experimental results. Such a comparison will show the advantages of the adaptive schemes in terms of tuning, robustness, and tracking performances.
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Date Issued: 2001
PURL: http://purl.flvc.org/fau/fd/FADT12777
Subject Headings: Submersibles--Automatic control, Oceanographic submersibles
Format: Document (PDF)

Title: Development and analysis of real time software for autonomous underwater vehicles.
Creator: Flanigan, Thomas Christopher., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: Any Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a...
Show moreAny Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a half years to achieve a flexible software system. This flexible architecture should also help in performing diverse kinds of AUV missions with minimal reconfiguration. The focus of this thesis work is to perform m evaluation of the past and present software systems used in our AUVs, and to describe the implementation details that were necessary for the migration of the past software system to a newer, more flexible and powerful software architecture. Another purpose of the thesis is also to describe the design philosophy behind the new architecture and its impact on the AUV program.
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Date Issued: 2002
PURL: http://purl.flvc.org/fcla/dt/12947
Subject Headings: Oceanographic submersibles--Automatic control, Real-time control
Format: Document (PDF)

Title: DSP hardware implementation of transform-based compression algorithm for AUV telemetry.
Creator: Kocak, D. M., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1998
PURL: http://purl.flvc.org/FCLA/DT/3183703
Subject Headings: Image compression, Submersibles--Automatic control, Telemetry, Data Compression
Format: Document (PDF)

Title: Obstacle avoidance for AUVs.
Creator: Gan, (Linda) Huilin., Florida Atlantic University, Ganesan, Krishnamurthy
Abstract/Description: This thesis describes a general three-dimensional Obstacle Avoidance approach for the Autonomous Underwater Vehicle (AUV) using a forward-looking high-frequency active sonar system. This approach takes into account obstacle distance and AUV speed to determine the vehicle's heading, depth and speed. Fuzzy logic has been used to avoid the abrupt turn of the AUV in the presence of obstacles so that the vehicle can maneuver smoothly in the underwater environment. This approach has been...
Show moreThis thesis describes a general three-dimensional Obstacle Avoidance approach for the Autonomous Underwater Vehicle (AUV) using a forward-looking high-frequency active sonar system. This approach takes into account obstacle distance and AUV speed to determine the vehicle's heading, depth and speed. Fuzzy logic has been used to avoid the abrupt turn of the AUV in the presence of obstacles so that the vehicle can maneuver smoothly in the underwater environment. This approach has been implemented as an important part of the overall AUV software system. Using this approach, multiple objects could be differentiated automatically by the program through analyzing the sonar returns. The current vehicle state and the path of navigation of the AUV are self-adjusted depending on the location of the obstacles that are detected. A minimum safety distance is always maintained between the AUV and any object. Extensive testing of the program has been performed using several simulated AUV on-board systems undergoing different types of missions.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/15451
Subject Headings: Submersibles--Automatic control, Fuzzy logic, Neural networks (Computer science)
Format: Document (PDF)

Title: A passive platform for tracking underwater vehicles.
Creator: Dufour, Emmanuel R., Florida Atlantic University, Glegg, Stewart A. L.
Abstract/Description: Over recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The...
Show moreOver recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The utility modem integrated on the AUV can be operated in a PSK and a MFSK mode. It was demonstrated that the ANS successfully tracks AUVs in both cases. First, the thesis presents the sonar beamformer and shows its potential for tracking by using the AUV communication signals. It describes a scheme developed to enhance the processor performance in a multi-target configuration and clutter. Then, it discusses promising tracking results from experiments conducted in summer and fall 1998, off the coast of South Florida.
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Date Issued: 1999
PURL: http://purl.flvc.org/fcla/dt/15671
Subject Headings: Oceanographic submersibles--Automatic control, Underwater acoustics, Acoustical engineering
Format: Document (PDF)

Title: Using a cerebellar model arithmetic computer (CMAC) neural network to control an autonomous underwater vehicle.
Creator: Comoglio, Rick F., Florida Atlantic University, Pandya, Abhijit S.
Abstract/Description: The design of an Autonomous Undersea Vehicle (AUV) control system is a significant challenge in-light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This thesis describes a Neural Network architecture called Cerebellar Model Arithmetic Computer (CMAC). CMAC is used to control a model of an Autonomous Underwater Vehicle. The AUV model consists of two input parameters, the rudder and stern plane deflections, controlling six...
Show moreThe design of an Autonomous Undersea Vehicle (AUV) control system is a significant challenge in-light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This thesis describes a Neural Network architecture called Cerebellar Model Arithmetic Computer (CMAC). CMAC is used to control a model of an Autonomous Underwater Vehicle. The AUV model consists of two input parameters, the rudder and stern plane deflections, controlling six output parameters; forward velocity, vertical velocity, pitch angle, side velocity, roll angle, and yaw angle. Properties of CMAC and results of computer simulations for identification and control of the AUV model are presented.
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Date Issued: 1991
PURL: http://purl.flvc.org/fcla/dt/14762
Subject Headings: Neural networks (Computer science), Artificial intelligence, Submersibles--Automatic control
Format: Document (PDF)

Title: A fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle.
Creator: Anderson, Donald Taylor., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed....
Show moreThe development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed. System stability is evaluated using cell-to-cell mapping. A variable structure fuzzy heading controller is designed for an unstable non-linear model of an Unmanned Underwater Vehicle. Scheduling of scaling parameters accommodates changes in forward speed as predicted by thruster RPM and angular distance turned. This FLC combines bang-bang and linear type control to respond more rapidly and robustly than a gain scheduled linear PID controller.
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Date Issued: 1993
PURL: http://purl.flvc.org/fcla/dt/14899
Subject Headings: Fuzzy sets, Submersibles--Control systems, Oceanographic submersibles--Automatic control
Format: Document (PDF)

Title: A precision navigation system for autonomous undersea vehicles.
Creator: White, Dan G., Psota, F., Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351964
Subject Headings: Inertial navigation systems, Submersibles, Submersibles--Automatic control, Inertial navigation, Remote submersibles
Format: Document (PDF)

Title: Development of tools for underwater vehicles.
Creator: Kocak, D. M., Neely, J. W., Harbor Branch Oceanographic Institute
Date Issued: 2000
PURL: http://purl.flvc.org/fau/fd/FA00007154
Subject Headings: Underwater vehicles, Submersibles--Design and construction, Submersibles--Automatic control, Tools, Remote submersibles
Format: Document (PDF)

Title: Determination of Horizontal Motion through Optical Flow Computations.
Creator: Chih-Ho, Yu, Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/3318842
Subject Headings: Remote submersibles, Remote submersibles --Automatic control, Computer vision, Optical measurements --Remote sensing
Format: Document (PDF)

Title: RAM (rotary actuated manipulator).
Creator: Moore, Ellen C.
Date Issued: 1981-02-20
PURL: http://purl.flvc.org/fcla/dt/3358749
Subject Headings: Submersibles, Submersibles--Design and construction, Remote submersibles, Remote submersibles--Automatic control
Format: Document (PDF)

Title: Deep ocean ROV operated coring device.
Creator: White, Dan G., Tietze, R. C., Jolly, D., Hammond, Don, Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351970
Subject Headings: Remote submersibles--Design and construction, Remote submersibles--Automatic control, Marine sediments--Sampling
Format: Document (PDF)

Title: Damage detection for autonomous underwater vehicles.
Creator: Rae, Graeme John Stuart., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A method of on-line monitoring AUV onboard systems is described. This algorithm determines deviations from normal operating conditions based on a damage level calculated from recursive least squares system identification performed on the system under consideration, followed by a gradient detection technique which extracts significant changes in identified model parameters System damage types are characterized together with likely system responses to such failures. Extensive testing of the...
Show moreA method of on-line monitoring AUV onboard systems is described. This algorithm determines deviations from normal operating conditions based on a damage level calculated from recursive least squares system identification performed on the system under consideration, followed by a gradient detection technique which extracts significant changes in identified model parameters System damage types are characterized together with likely system responses to such failures. Extensive testing of the algorithm is performed using several simulated AUV on-board systems undergoing different types of failures while carrying out different mission scenarios.
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Date Issued: 1993
PURL: http://purl.flvc.org/fcla/dt/12331
Subject Headings: Submersibles--Automatic control, Fault-tolerant computing, Algorithms--Data procedssing
Format: Document (PDF)

Title: Simulation, control and optimization of underwater vehicle performance.
Creator: Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14534
Subject Headings: Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
Format: Document (PDF)

Title: Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel.
Creator: Sarda, Edoardo I, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this...
Show moreResearch on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document.
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Date Issued: 2016
PURL: http://purl.flvc.org/fau/fd/FA00004631, http://purl.flvc.org/fau/fd/FA00004631
Subject Headings: Underwater acoustic telemetry., Fuzzy systems., Nonlinear control theory., Adaptive signal processing., Oceanographic submersibles--Automatic control., Submersibles--Control systems.
Format: Document (PDF)

Title: A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV).
Creator: Pearson, David, An, Pak-Cheung, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high...
Show moreThere have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004315, http://purl.flvc.org/fau/fd/FA00004315
Subject Headings: Adaptive signal processing, Fuzzy sets, Fuzzy systems, Nonlinear control theory, Oceanographic submersibles -- Automatic control, Submersibles -- Control systems, Underwater acoustic telemetry
Format: Document (PDF)

Title: Development of an intelligent fuzzy obstacle avoidance system using SONAR modeling and simulation.
Creator: Bouxsein, Philip A., Florida Atlantic University, An, Edgar
Abstract/Description: Response time to a threat or incident for coastline security is an area needing improvement. Currently, the U.S. Coast Guard is tasked with monitoring and responding to threats in coastal and port environments using boats or planes, and SCUBA divers. This can significantly hinder the response time to an incident. A solution to this problem is to use autonomous underwater vehicles (AUVs) to continuously monitor a port. The AUV must be able to navigate the environment without colliding into...
Show moreResponse time to a threat or incident for coastline security is an area needing improvement. Currently, the U.S. Coast Guard is tasked with monitoring and responding to threats in coastal and port environments using boats or planes, and SCUBA divers. This can significantly hinder the response time to an incident. A solution to this problem is to use autonomous underwater vehicles (AUVs) to continuously monitor a port. The AUV must be able to navigate the environment without colliding into objects for it to operate effectively. Therefore, an obstacle avoidance system (OAS) is essential to the activity of the AUV. This thesis describes a systematic approach to characterize the OAS performance in terms of environments, obstacles, SONAR configuration and signal processing methods via modeling and simulation. A fuzzy logic based OAS is created using the simulation. Subsequent testing of the OAS demonstrates its effectiveness in unknown environments.
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Date Issued: 2006
PURL: http://purl.flvc.org/fcla/dt/13390
Subject Headings: Fuzzy logic, Submersibles--Automatic control, Neural networks (Computer science), Underwater acoustics--Computer simulation, Sonar--Computer simulation
Format: Document (PDF)

FAU Theses and Dissertations (12)	+ -
HBOI Faculty Contributions (8)	+ -
HBOI Technical Reports (1)	+ -

Submersibles--Automatic control (12)	+ -
Oceanographic submersibles--Automatic control (4)	+ -
Remote submersibles (4)	+ -
Neural networks (Computer science) (3)	+ -
Underwater vehicles (3)	+ -

Fuzzy logic (2)	+ -
Fuzzy sets (2)	+ -
Remote submersibles--Automatic control (2)	+ -
Submersibles (2)	+ -
Submersibles--Design and construction (2)	+ -
Acoustical engineering (1)	+ -
Adaptive signal processing (1)	+ -
Adaptive signal processing. (1)	+ -
Algorithms--Data procedssing (1)	+ -
Artificial intelligence (1)	+ -
Cold-water corals (1)	+ -
Computer vision (1)	+ -
Data Compression (1)	+ -
Deep sea corals (1)	+ -
Fault-tolerant computing (1)	+ -
Florida, Straits of (1)	+ -
Fuzzy systems (1)	+ -
Fuzzy systems. (1)	+ -
Great Bahama Bank (Bahamas) (1)	+ -
Image compression (1)	+ -
Inertial navigation (1)	+ -
Inertial navigation systems (1)	+ -
Marine sediments--Sampling (1)	+ -
Morphology (1)	+ -
Nonlinear control theory (1)	+ -

Electronic Thesis or Dissertation (12)	+ -
article (8)	+ -
technical report (1)	+ -

Florida Atlantic University (12)	+ -
Harbor Branch Oceanographic Institute (7)	+ -
College of Engineering and Computer Science (5)	+ -
Department of Ocean and Mechanical Engineering (5)	+ -
Caimi, F. M. (3)	+ -

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