Marine Observation Network based on Underwater Vehicles

This paper is concerned with the planning, implementation and some results of the Oceanographic Modeling and Observation Network, named REMO, for Brazilian regional waters. Ocean forecasting has been an important scientific issue over the last decade due to studies related to climate change as well as applications related to short-range oceanic forecasts. The South Atlantic Ocean has a deficit of oceanographic measurements when compared to other ocean basins such as the North Atlantic Ocean and the North Pacific Ocean. It is a challenge to design an ocean forecasting system for a region with poor observational coverage of in-situ data. Fortunately, most ocean forecasting systems heavily rely on the assimilation of surface fields such as sea surface height anomaly (SSHA) or sea surface temperature (SST), acquired by environmental satellites, that can accurately provide information that constrain major surface current systems and their mesoscale activity. An integrated approach is proposed here in which the large scale circulation in the Atlantic Ocean is modeled in a first step, and gradually nested into higher resolution regional models that are able to resolve important processes such as the Brazil Current and associated mesoscale variability, continental shelf waves, local and remote wind forcing, and others. This article presents the overall strategy to develop the models using a network of Brazilian institutions and their related expertise along with international collaboration. This work has some similarity with goals of the international project Global Ocean Data Assimilation Experiment OceanView (GODAE OceanView).

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Lyapunov Redesign Approach for Robust Output Regulation of a Class of Autonomous Underwater Vehicles using Conditional Servocompensator

2020 Australian and New Zealand Control Conference (ANZCC) ◽

10.1109/anzcc50923.2020.9318415 ◽

2020 ◽

Author(s):

Muhammad Ahsan

Keyword(s):

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Output Regulation ◽

Lyapunov Redesign ◽

Robust Output Regulation

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A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽

10.1017/s0263574721000849 ◽

2021 ◽

pp. 1-27

Author(s):

Taha Elmokadem ◽

Andrey V. Savkin

Keyword(s):

Unmanned Aerial Vehicles ◽

Autonomous Underwater Vehicles ◽

Three Dimensional ◽

Underwater Vehicles ◽

Practical Implementation ◽

Challenging Problem ◽

Quadrotor Uav ◽

Navigation Algorithm ◽

Aerial Vehicles ◽

Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

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