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Title: Multipath compensation for underwater acoustic communication.
Creator: Bessios, Anthony G., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1994
PURL: http://purl.flvc.org/FCLA/DT/3183687
Subject Headings: Underwater acoustic telemetry, Underwater acoustics
Format: Document (PDF)

Title: Digital acoustic communications using decision directed learning.
Creator: Alleyne, Jochen Raoul, Florida Atlantic University, LeBlanc, Lester R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This document serves as a dissertation for the Doctor of Philosophy in Ocean Engineering degree at Florida Atlantic University's Department of Ocean Engineering. This dissertation documents the design, development, and performance analysis of an acoustic receiver system that incorporates a decision directed learning filter for acoustic multi-phase shift keying signals. The system makes use of advanced signal processing, inclusive of spatial diversity and decision directed learning techniques...
Show moreThis document serves as a dissertation for the Doctor of Philosophy in Ocean Engineering degree at Florida Atlantic University's Department of Ocean Engineering. This dissertation documents the design, development, and performance analysis of an acoustic receiver system that incorporates a decision directed learning filter for acoustic multi-phase shift keying signals. The system makes use of advanced signal processing, inclusive of spatial diversity and decision directed learning techniques in order to decode digital acoustic data. Error correcting techniques are also employed as well as methods of analyzing the efficiency of the system.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/11951
Subject Headings: Underwater acoustic telemetry, Digital communications, Acoustic filters
Format: Document (PDF)

Title: Compound compensation strategies for wireless data communications over the multimodal acoustic ocean waveguide.
Creator: Bessios, Anthony G., Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351960
Subject Headings: Underwater acoustic telemetry, Underwater acoustics, Wireless communication systems, Wave guides
Format: Document (PDF)

Title: High-rate wireless data communications: an underwater acoustic communications framework at the physical layer.
Creator: Bessios, Anthony G., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351962
Subject Headings: Wireless communication systems, Underwater acoustic telemetry, Underwater acoustics, Digital communications
Format: Document (PDF)

Title: Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations.
Creator: Bon, Antoine, Beaujean, Pierre-Philippe, Florida Atlantic University
Abstract/Description: A Motion Compensated (MC) Ultra Short Baseline (USBL) Acoustic Positioning System (APS) operable in shallow water and port environment has been implemented at Florida Atlantic University. Multi-tones signal modulation and log-likelihood maximization enable this APS to operate in volumes of water of less than 10 cubic meters. Standard deviations of the acoustic source elevation and azimuth estimates were computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2...
Show moreA Motion Compensated (MC) Ultra Short Baseline (USBL) Acoustic Positioning System (APS) operable in shallow water and port environment has been implemented at Florida Atlantic University. Multi-tones signal modulation and log-likelihood maximization enable this APS to operate in volumes of water of less than 10 cubic meters. Standard deviations of the acoustic source elevation and azimuth estimates were computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2 meters deep marina. The motion compensating system estimates the array position and orientation while merging noisy measurements from a Magnetic, Angular Rate, and Gravity (MARG) sensor and a Differential Global Positioning System (DGPS) using Kalman filters. Experiments show 0.67 and 2.67 degrees of error for the array tilt and heading estimates, and 0.74 meter for the array position estimate.
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Date Issued: 2007
PURL: http://purl.flvc.org/fau/fd/FA00012507
Subject Headings: Underwater navigation, Acoustical engineering, Adaptive signal processing, Underwater acoustic telemetry
Format: Document (PDF)

Title: Channel characterization for acoustic communications in shallow water using QPSK data.
Creator: Caimi, F. M., Murshid, S. H., Tongta, R., Carroll, M.
Date Issued: 1998
PURL: http://purl.flvc.org/FCLA/DT/3338526
Subject Headings: Underwater acoustic telemetry, System identification, Digital communications
Format: Document (PDF)

Title: High-speed acoustic communication in shallow water using spatio-temporal adaptive array processing.
Creator: Beaujean, Pierre-Philippe, Florida Atlantic University, LeBlanc, Lester R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A novel method of achieving stable high-speed underwater acoustic communication with a fairly low-complexity of implementation is proposed. The proposed approach is to split the space and time processing into two separate sub-optimal processes. As a result, processing complexity is significantly reduced and the instabilities associated with large tap vectors at large time-frequency spread products are reduced. The proposed space-time signal processing method utilizes a different beamformer...
Show moreA novel method of achieving stable high-speed underwater acoustic communication with a fairly low-complexity of implementation is proposed. The proposed approach is to split the space and time processing into two separate sub-optimal processes. As a result, processing complexity is significantly reduced and the instabilities associated with large tap vectors at large time-frequency spread products are reduced. The proposed space-time signal processing method utilizes a different beamformer optimization strategy compared to the time domain optimization strategy. This allows to separately adjust the adaptation parameters for the spatial and temporal characteristics of the signal, which have vastly different requirements. The time domain signal is subject to variations in phase that require rapid filter updates whereas the directional characteristics of the signal do not vary appreciably over the message length and do not require a rapid adaptation response. The proposed method allows for high-speed underwater acoustic communication in very shallow water using coherent modulation techniques, and offers a series of unique features: significant reduction of the signal-to-noise and interference ratio (SNIR), improvement of the bandwidth efficiency by reduction of the forward-error coding redundancy requirements, real-time evaluation of the time-spread by Doppler spread product (BL) and channel stability estimate. Experimental results demonstrate that stable acoustic communication can be achieved at rates of 32000 bits per second at a distance of 3 km, in 40 feet of water and in sea-state 2 conditions. Fast and slow fading properties of the channel are measured, as the BL product can vary by a decade in 116 ms, and by two decades within minutes, from 0.001 to 0.1. The real-time analysis shows a strong correlation between time spread, Doppler spread, spatial coherence of the acoustic channel and communication performance. Overall, this research provides more scientific and experimental ground to understand the limitations of multi-channel adaptive receiver techniques in terms of stability, hardware requirements and channel tracking capability.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/11952
Subject Headings: Underwater acoustic telemetry, Adaptive signal processing
Format: Document (PDF)

Title: Mathematical methods for mapping image and data compression transforms to adaptive computing systems.
Creator: Schmalz, Mark S., Witter, G. S., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1998
PURL: http://purl.flvc.org/FCLA/DT/3183705
Subject Headings: Image compression, Adaptive computing systems, Underwater acoustic telemetry
Format: Document (PDF)

Title: Mobile docking of REMUS-100 equipped with USBL-APS to an unmanned surface vehicle: a performance feasibility study.
Creator: Miranda, Mario II, Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is...
Show moreThe overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is susceptible to error due to the physical phenomena of the underwater acoustic channel (e.g. ambient noise, attenuation and ray refraction). The development of an APS model has allowed the authors to forecast the UUV’s position and the estimated track line of the USV as determined by the DUSBL acoustic sensor. In this model, focus is placed on three main elements: 1) the acoustic channel and sound ray refraction when propagating in an in-homogeneous medium; 2) the detection component of an ideal DUSBL-APS using the Neyman-Pearson criterion; 3) the signal-to-noise ratio (SNR) and receiver directivity impact on position estimation. The simulation tool is compared against actual open water homing results in terms of the estimated source position between the simulated and the actual USBL range and bearing information.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004140, http://purl.flvc.org/fau/fd/FA00004140
Subject Headings: Adaptive signal processing, Mobile robots, Underwater acoustic telemetry
Format: Document (PDF)

Title: The Comprehensive Evaluation of Performance and Environmental Influence on MPSK Modulated High-Speed Acoustic Communications in Shallow Water.
Creator: Proteau, Joshua C., Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A daily study spanning a month of the shallow water acoustic channel was conducted to estimate the environmental influence on performance of an underwater acoustic communications system. An automated acoustic modem transmitted phase-coherent modulated sequences of identical data with 186 dB re IpPa source level, at coded rates from 4000 to 16000 bits/s with 4 or 8 kHz symbol bandwidth, three times daily for a month. A 64 channel Mills-Cross receiver array was used with horizontal and vertical...
Show moreA daily study spanning a month of the shallow water acoustic channel was conducted to estimate the environmental influence on performance of an underwater acoustic communications system. An automated acoustic modem transmitted phase-coherent modulated sequences of identical data with 186 dB re IpPa source level, at coded rates from 4000 to 16000 bits/s with 4 or 8 kHz symbol bandwidth, three times daily for a month. A 64 channel Mills-Cross receiver array was used with horizontal and vertical beams each containing 32 and 33 elements respectively, spaced 0.03 meters apart, with a sampling frequency of 72 kHz. Source and receiver were deployed at depths of 20 meters respectively, with a 720 meter separation range. Environmental measurements of wind velocity and direction, surface wave activity, current and sound velocity profiles, and tidal measurements were performed. Results demonstrate reliable achievement of high data-rate shallow water acoustic communications using phase-coherent modulation techniques.
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Date Issued: 2006
PURL: http://purl.flvc.org/fau/fd/FA00012541
Subject Headings: Underwater acoustics--Measurement, Artificial satellites in telecommunication, Underwater acoustic telemetry, Signal processing--Digital techniques
Format: Document (PDF)

Title: Maximum likelihood estimates of azimuth and elevation for a frequency-hopped active source using a tetrahedral ultra-short baseline.
Creator: Warin, Raphael., Florida Atlantic University, Beaujean, Pierre-Philippe, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Ultra-Short-BaseLine (USBL) is the most practical underwater acoustic positioning system for autonomous underwater vehicles because of its small space requirement. The objective of this research is to develop a USBL system capable of estimating a source location transmitting frequency-hopped tones sequences. Such sequences are characteristic of spread spectrum signaling used in underwater acoustic communication network. It must be able to provide azimuth and elevation of a modem-type source...
Show moreUltra-Short-BaseLine (USBL) is the most practical underwater acoustic positioning system for autonomous underwater vehicles because of its small space requirement. The objective of this research is to develop a USBL system capable of estimating a source location transmitting frequency-hopped tones sequences. Such sequences are characteristic of spread spectrum signaling used in underwater acoustic communication network. It must be able to provide azimuth and elevation of a modem-type source with an accuracy of 0.3 degrees; for both angles using the synchronization stage of the transmission. The acoustic antenna is composed of four transducers arranged as a tetrahedron. Using the model of Quazi and Lerro, which provides an expression for the variance of the bearing angle, azimuth and elevation of the transmitter are estimated employing maximum likelihood estimation. This system is simulated, tested and calibrated in a tank. Simulated results satisfy the requirement with a SNR of 32dB and 8 symbols. The latest experimental measurements present an accuracy of 3 degrees.
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Date Issued: 2004
PURL: http://purl.flvc.org/fcla/dt/13135
Subject Headings: Underwater acoustics--Instruments, Underwater acoustic telemetry, Signal processing--Technique, Adaptive signal processing
Format: Document (PDF)

Title: Estimation of the scattering function of fading channels for acoustic communications in shallow waters.
Creator: Allemand, Vincent., Florida Atlantic University, Beaujean, Pierre-Philippe
Abstract/Description: The measurement of the Scattering function of time-variant fading channels is of strong interest in the field of underwater acoustic communications, as it indicates the limitations of the channel capacity. It also helps reducing the development time of acoustic communication systems and the need for on-site tests using so-called "fading simulators". The Scattering function is interpreted as the expected power received at a given time-delay and frequency shift for a given signal transmitted...
Show moreThe measurement of the Scattering function of time-variant fading channels is of strong interest in the field of underwater acoustic communications, as it indicates the limitations of the channel capacity. It also helps reducing the development time of acoustic communication systems and the need for on-site tests using so-called "fading simulators". The Scattering function is interpreted as the expected power received at a given time-delay and frequency shift for a given signal transmitted through the acoustic channel. It has been estimated using a fourth-moment method developed by Kailath from 18 to 30 kHz, 8-ms broad-band chirps and 20--28 kHz, 28-ms pseudo noise sequences. These signals were transmitted periodically in the shallow coastal waters of South Florida from a static source, and recorded from a 64-channel receiver array located at a distance of 1000 meters. Spatial beamforming has been applied to study the spatial sensitivity of the scattering function.
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Date Issued: 2005
PURL: http://purl.flvc.org/fcla/dt/13230
Subject Headings: Underwater acoustic telemetry, Signal processing--Digital techniques, Underwater acoustics--Mathematical models, Adaptive signal processing
Format: Document (PDF)

Title: Acoustic tracking of an unmanned underwater vehicle using a passive ultrashort baseline array and a single long baseline beacon.
Creator: Seaton, Kyle L., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis discusses a new approach to tracking the REMUS 100 AUV using a modified version of the Florida Atlantic University (FAU) ultrashort baseline (USBL) acoustic positioning system (APS). The REMUS 100 is designed to utilize a long baseline (LBL) acoustic positioning system to obtain positioning data in mid-mission. If the placement of one of the transponders of the LBL field is known, then tracking the position of the REMUS 100 AUV using a passive USBL array is possible. As part of...
Show moreThis thesis discusses a new approach to tracking the REMUS 100 AUV using a modified version of the Florida Atlantic University (FAU) ultrashort baseline (USBL) acoustic positioning system (APS). The REMUS 100 is designed to utilize a long baseline (LBL) acoustic positioning system to obtain positioning data in mid-mission. If the placement of one of the transponders of the LBL field is known, then tracking the position of the REMUS 100 AUV using a passive USBL array is possible. As part of the research for this thesis, the FAU USBL system was used to find a relative range between the REMUS 100 ranger and a LBL transponder. This relative range was then combined with direction of arrival information and LBL field component position information to determine an absolute position of the REMUS 100 ranger. The outcome was the demonstration of a passive USBL based tracking system.
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Date Issued: 2013
PURL: http://purl.flvc.org/fcla/dt/3361057
Subject Headings: Underwater acoustic telemetry, Acoustic velocity meters, Array processors, Acoustical engineering, Adaptive signal processing
Format: Document (PDF)

Title: Underwater acoustic channel estimation using multiple sources and receivers in shallow waters at very-high frequencies.
Creator: Kaddouri, Samar, Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The underwater channel poses numerous challenges for acoustic communication. Acoustic waves suffer long propagation delay, multipath, fading, and potentially high spatial and temporal variability. In addition, there is no typical underwater acoustic channel; every body of water exhibits quantifiably different properties. Underwater acoustic modems are traditionally operated at low frequencies. However, the use of broadband, high frequency communication is a good alternative because of the...
Show moreThe underwater channel poses numerous challenges for acoustic communication. Acoustic waves suffer long propagation delay, multipath, fading, and potentially high spatial and temporal variability. In addition, there is no typical underwater acoustic channel; every body of water exhibits quantifiably different properties. Underwater acoustic modems are traditionally operated at low frequencies. However, the use of broadband, high frequency communication is a good alternative because of the lower background noise compared to low-frequencies, considerably larger bandwidth and better source transducer efficiency. One of the biggest problems in the underwater acoustic communications at high frequencies is time-selective fading, resulting in the Doppler spread. While many Doppler detection, estimation and compensation techniques can be found in literature, the applications are limited to systems operating at low frequencies contained within frequencies ranging from a few hundred Hertz to around 30 kHz.
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Date Issued: 2015
PURL: http://purl.flvc.org/fau/fd/FA00004384, http://purl.flvc.org/fau/fd/FA00004384
Subject Headings: Adaptive signal processing, MIMO systems, Signal processing -- Ditigal techniques -- Mathematics, Underwater acoustic telemetry, Underwater acoustics -- Evaluation, Wireless communication systems
Format: Document (PDF)

Title: ENVIRONMENTAL INFLUENCES ON COMMON SNOOK (CENTROPOMUS UNDECIMALIS) MOVEMENT IN THE ST. LUCIE ESTUARY.
Creator: Kleiman, Lauren E., Baldwin, John, Florida Atlantic University, Department of Biological Sciences, Charles E. Schmidt College of Science
Abstract/Description: Estuarine ecosystems are dynamic habitats, where the convergence of marine and freshwater results in constant fluxes in environmental abiotic parameters. Organisms must balance these variations within their optimal range to minimize physiological costs, often by movement from unsuitable to more suitable areas. Additional disruptions to ecosystem balances, such as anthropogenic hydrologic discharges, further alter environmental conditions and may cause population-wide movement responses of...
Show moreEstuarine ecosystems are dynamic habitats, where the convergence of marine and freshwater results in constant fluxes in environmental abiotic parameters. Organisms must balance these variations within their optimal range to minimize physiological costs, often by movement from unsuitable to more suitable areas. Additional disruptions to ecosystem balances, such as anthropogenic hydrologic discharges, further alter environmental conditions and may cause population-wide movement responses of mobile organisms. Responses to anthropogenic and natural fluctuations can differ based on time of year, life history stage, or individual characteristics. These ecologically-balanced dynamics are difficult to model. In this study, I examined variability in estuarine environmental data and common snook (Centropomus undecimalis) movement responses to anthropogenic and natural fluctuations in the environment in a managed waterway. ARIMA time series models were tested as a method of modeling variability in environmental parameters. Monthly variance was well described throughout most of the estuary, especially when the interannual and intra-annual patterns were stable, indicating that these models are a good method for these types of data and could be appropriate for forecasting. Euryhaline sportfish movement responses to high discharge events in a managed waterway were observed with passive acoustic telemetry and did not show large-scale, population-wide consistency. Responses were variable between and within individuals, but individual characteristics appear to have influenced behavior in response to disturbances. Thus, these sportfish populations may be more resilient to this type of disturbance than previously hypothesized. Generalized additive mixed effects models showed that the distribution and movement of individual fishes varied in response to multiple natural and anthropogenic factors, and there was no primary driver. The understanding of the relationships among the distribution and movement of fishes and abiotic and anthropogenic factors can guide management of waterways and provide insight into how changes will affect abiotic factors and communities.
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Date Issued: 2022
PURL: http://purl.flvc.org/fau/fd/FA00013995
Subject Headings: Snook, Saint Lucie River Estuary (Fla.), Estuarine ecology, Underwater acoustic telemetry
Format: Document (PDF)

Title: Combined spatial diversity and time equalization for broadband multiple channel underwater acoustic communications.
Creator: Skoro Kaskarovska, Violeta, Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: High data rate acoustic communications become feasible with the use of communication systems that operate at high frequency. The high frequency acoustic transmission in shallow water endures severe distortion as a result of the extensive intersymbol interference and Doppler shift, caused by the time variable multipath nature of the channel. In this research a Single Input Multiple Output (SIMO) acoustic communication system is developed to improve the reliability of the high data rate...
Show moreHigh data rate acoustic communications become feasible with the use of communication systems that operate at high frequency. The high frequency acoustic transmission in shallow water endures severe distortion as a result of the extensive intersymbol interference and Doppler shift, caused by the time variable multipath nature of the channel. In this research a Single Input Multiple Output (SIMO) acoustic communication system is developed to improve the reliability of the high data rate communications at short range in the shallow water acoustic channel. The proposed SIMO communication system operates at very high frequency and combines spatial diversity and decision feedback equalizer in a multilevel adaptive configuration. The first configuration performs selective combining on the equalized signals from multiple receivers and generates quality feedback parameter for the next level of combining.
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Date Issued: 2015
PURL: http://purl.flvc.org/fau/fd/FA00004411, http://purl.flvc.org/fau/fd/FA00004411
Subject Headings: Adaptive signal processing, MIMO systems, Mobile geographic information systems, Signal processing -- Digital techniques, Underwater acoustic telemetry, Underwater acoustics -- Evaluation, Wireless communication systems
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)

FAU Theses and Dissertations (13)	+ -
HBOI Faculty Contributions (5)	+ -

Underwater acoustic telemetry (17)	+ -
Adaptive signal processing (9)	+ -
Wireless communication systems (4)	+ -
Digital communications (3)	+ -
Underwater acoustics (3)	+ -

Acoustical engineering (2)	+ -
MIMO systems (2)	+ -
Signal processing--Digital techniques (2)	+ -
Underwater acoustics -- Evaluation (2)	+ -
Acoustic filters (1)	+ -
Acoustic velocity meters (1)	+ -
Adaptive computing systems (1)	+ -
Adaptive signal processing. (1)	+ -
Array processors (1)	+ -
Artificial satellites in telecommunication (1)	+ -
Estuarine ecology (1)	+ -
Fuzzy sets (1)	+ -
Fuzzy systems (1)	+ -
Fuzzy systems. (1)	+ -
Image compression (1)	+ -
Mobile geographic information systems (1)	+ -
Mobile robots (1)	+ -
Nonlinear control theory (1)	+ -
Nonlinear control theory. (1)	+ -
Oceanographic submersibles -- Automatic control (1)	+ -
Oceanographic submersibles--Automatic control. (1)	+ -
Saint Lucie River Estuary (Fla.) (1)	+ -
Signal processing -- Digital techniques (1)	+ -
Signal processing -- Ditigal techniques -- Mathematics (1)	+ -
Signal processing--Technique (1)	+ -

Electronic Thesis or Dissertation (13)	+ -
article (5)	+ -

Florida Atlantic University (12)	+ -
College of Engineering and Computer Science (10)	+ -
Department of Ocean and Mechanical Engineering (10)	+ -
Beaujean, Pierre-Philippe (8)	+ -
Caimi, F. M. (4)	+ -

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