With the increasing number of applications for both surface and underwater autonomous vehicles, a great amount control methods guidance principles has been developed over years. This work proposes review most common these methods. It is mainly focused on model-based nonlinear principles. Notably, this details examples variations linearizing controllers, line sight guidance, sliding mode control...

This brief article reviews the important developments in the field of compliant coatings that took place in the past ten years. During this period progress in theoretical and computational methods somewhat outpaced that in experimental efforts. There is no doubt that compliant coatings can be designed to delay transition and to suppress noise on marine vehicles as well as other practical hydrod...

Underwater marine robots (UMRs), such as autonomous underwater vehicles, are promising alternatives for mankind to perform exploration tasks in the sea. These vehicles have capability of exploring environment with onboard instruments and sensors. They extensively used civilian applications, scientific studies, military missions. In recent years, flourishing growth deep learning has fueled treme...

Abstract Surface Vehicles are the product of development marine technology. As a new type technical means, it has been widely used in field commissioning and defense. However, testing technology Unmanned is not comprehensive now, order to ensure smooth progress scientific research projects, necessary, so also part projects. This article classifies existing test research, summarizes evaluation m...

Violent fluid motions, high speed marine vehicles and Computational Fluid Dynamics (CFD) are selected as main topics. Violent fluid motions deal with green water on deck, sloshing and slamming. Slamming involves many physical effects. When analyzing slamming, one must always have the structural reaction in mind. This necessitates that hydroelastic effects are considered. Many hydrodynamic pheno...

Underwater Acoustic methods have been extensively used to locate and identify marine objects. These applications include locating underwater vehicles, finding shipwrecks, imaging sediments and imaging bubble fields. Ocean is fairly transparent to sound and opaque to all other sources of radiation. Acoustics technology is the most effective tool for monitoring this environment because of the sou...

As autonomous underwater vehicles (AUVs) enter operational service an assessment of their reliability is timely. Using the Autosub AUV as an example, several design issues affecting reliability are discussed, followed by an analysis of recorded faults. Perhaps contrary to expectations, failures rarely involved the autonomous nature of the vehicle. Rather, faults were typical of those that occur...

We propose a four-quadrant propeller model suitable for energy-efficient motion planning of autonomous marine vehicles. The model can be used to capture the main features of experimental thrust and torque curves by using a small number of parameters. We explore the connection between the propeller thrust, torque, and efficiency curves and the lift and drag curves of the propeller blades. The mo...

Prior successes in CPS, especially addressing hybrid discrete and continuous control, has led to advances in unmanned systems, embedded sensors, and network technologies. One area of application of these emerging technologies is emergency response. Consider that unmanned ground, aerial, and marine vehicles have already been used for disasters starting with the 9-11 World Trade Center collapse a...

This paper presents a cascaded adaptive control scheme for marine vehicles where the nonlinear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbb alat's lemma. Fur...