AUV with Variable Vector Propeller

2000 ◽  
Vol 12 (1) ◽  
pp. 60-65 ◽  
Author(s):  
Yutaka Nagashima ◽  
◽  
Takakazu Ishimatsu ◽  
Jamal Tariq Mian ◽  
Keyword(s):  
Acoustic Communication ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Logic Circuits ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Distributed Controller ◽  
Communication Reliability ◽  
Command Signals ◽  
And Control

We developed an autonomous underwater vehicle (AUV) with a distributed controller and underwater acoustic communication. It is compact and lightweight thanks to its variable vector propeller and control using sophisticated logic circuits. Control is very precise using underwater ultrasonic command signals. Experiments showed that the AUV moves along a path at the desired position and azimuth. We confirmed the feasibility of our algorithm for increasing ultrasonic communication reliability.

Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller

2002 ◽  
Vol 14 (2) ◽  
pp. 112-117 ◽  
Author(s):  
Yutaka Nagashima ◽  
◽  
Nobuyoshi Taguchi ◽  
Takakazu Ishimatsu ◽  
Hirofumi Inoue ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Logic Circuits ◽  
Underwater Acoustic Communication ◽  
Gps Receiver ◽  
Depth Sensor ◽  
Command Signals ◽  
Target Path ◽  
Electronic Compass

This paper describes an autonomous underwater vehicle (AUV) with a distributed fuzzy controller and underwater acoustic communication. Our AUV is made compact and lightweight by using a Varivec propeller and compact controller with sophisticated logic circuits. The AUV is precisely controlled using underwater ultrasonic command signals and fuzzy control. The AUV is autonomously controlled using an electronic compass, collision avoidance sonar, depth sensor, and GPS receiver. Experimental results show that our AUV moved along the target path and held the desired position keeping azimuth direction and depth. We also confirmed that our algorithm to increase the reliability of ultrasonic communication worked without fail.

scholarly journals Underwater Ad-Hoc Networks: A Review

2021 ◽  
Author(s):  
Emil Wengle ◽  
John Potter ◽  
Hefeng Dong
Keyword(s):  
Acoustic Communication ◽  
Ad Hoc ◽  
Autonomous Underwater Vehicle ◽  
Mobile Network ◽  
Open Architecture ◽  
Underwater Acoustic Communication ◽  
Underwater Sensor Networks ◽  
Medium Access ◽  
Underwater Acoustic ◽  
Underwater Networks

Underwater sensor networks have become increasingly interesting in the past four decades. They can be used in a multitude of scenarios, commercial and military alike. Underwater networks can communicate in several ways, but when nodes are far apart, underwater acoustic communication is the only feasible way. The complex underwater acoustic channel puts high demands on the network protocols. The physical layer needs to contend with short coherence times, high intersymbol interference and significant Doppler spread. The routing protocol needs to handle intermittent connectivity and mobile network topologies, such as autonomous underwater vehicle networks. The medium access control protocol needs to manage medium access with high latency and potentially high packet loss ratios without congesting the network. The available acoustic modems are still rather expensive, which limits the size of a sensor network. Voices have also been raised from the academia for a paradigm shift, from hardware-defined, proprietary modems to software-defined, open-architecture modems, in order to accelerate research in the field and enable interoperability. This paper reviews the recent advancements in designing and implementing underwater networks on several levels and discusses some interesting approaches to underwater ad-hoc networking. The focus lies on acoustic communication.<br>

scholarly journals Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Yueyue Deng ◽  
Pierre-Philippe J. Beaujean ◽  
Edgar An ◽  
Edward Carlson
Keyword(s):  
Path Planning ◽  
Acoustic Communication ◽  
Task Allocation ◽  
Mobile Ad Hoc Network ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Task Assignment ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Network Bandwidth

Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF) algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP) mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

scholarly journals Underwater Ad-Hoc Networks: A Review

2021 ◽  
Author(s):  
Emil Wengle ◽  
John Potter ◽  
Hefeng Dong
Keyword(s):  
Acoustic Communication ◽  
Ad Hoc ◽  
Autonomous Underwater Vehicle ◽  
Mobile Network ◽  
Open Architecture ◽  
Underwater Acoustic Communication ◽  
Underwater Sensor Networks ◽  
Medium Access ◽  
Underwater Acoustic ◽  
Underwater Networks

Underwater sensor networks have become increasingly interesting in the past four decades. They can be used in a multitude of scenarios, commercial and military alike. Underwater networks can communicate in several ways, but when nodes are far apart, underwater acoustic communication is the only feasible way. The complex underwater acoustic channel puts high demands on the network protocols. The physical layer needs to contend with short coherence times, high intersymbol interference and significant Doppler spread. The routing protocol needs to handle intermittent connectivity and mobile network topologies, such as autonomous underwater vehicle networks. The medium access control protocol needs to manage medium access with high latency and potentially high packet loss ratios without congesting the network. The available acoustic modems are still rather expensive, which limits the size of a sensor network. Voices have also been raised from the academia for a paradigm shift, from hardware-defined, proprietary modems to software-defined, open-architecture modems, in order to accelerate research in the field and enable interoperability. This paper reviews the recent advancements in designing and implementing underwater networks on several levels and discusses some interesting approaches to underwater ad-hoc networking. The focus lies on acoustic communication.<br>

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