Autonomous Underwater Vehicles (AUVs) have been used for a huge number of tasks ranging from commercial, military and research areas etc, while the fundamental function of a successful AUV is its localization and mapping ability. This report aims to review the relevant elements of localization and mapping for AUVs. First, a brief introduction of the concept and the historical development of AUV...

With 900 Autonomous Underwater Vehicles (AUVs) required over the next decade (Newman et al., 2007) existing survey-style AUVs need improved utilization factors. Additional control devices to extend operational capability need consideration together with the interchange between AUV control approaches. This paper considers supplementary through-body tunnel thruster control during the transition f...

Observations: This project is part of the Ripples DRI, in which the spatial and temporal variations of the seabed are being examined in a field site on the West Florida shelf. We are using the autonomous underwater vehicle (AUV) REMUS (Figure 1) to make better measurements of the spatial distribution of ripples, both during active conditions as the ripples are modified during energetic sea-stat...

This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV) subject to communication constraints. The aim is the design of a gain-scheduled varying sampling controller using non periodic measurements from ultrasonic sensors. The contribution of this work lies in a new model formulation of varying sampling discrete-time systems using the Linear Fractional Transformation (L...

I derive a procedure to generate sum rules for the trace anomalies a and a′. Linear combinations of ∆a ≡ aUV − aIR and ∆a′ ≡ aUV − aIR are expressed as multiple flow integrals of the two-, threeand four-point functions of the trace of the stress tensor. Eliminating ∆a′, universal flow invariants are obtained, in particular sum rules for ∆a. The formulas hold in the most general renormalizable q...

The computation of the simulation models is complex and the behavior sequence must be updated dynamically in AUV simulation system. The simulation system composability development framework is provided to solve these problems. The π calculus is extended to describe the time properties of models in the framework. And simulation models are formal described by the extended π calculus. Then the beh...

This paper presents possibilities for the reliable guidance of an AUV “Slocum Glider” in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control modes of a glider. A faster-than-real-time, full software stack simulator for the Slocum glider will be des...

Task allocation is crucial for autonomous underwater vehicle (AUV) collaboration in multi-AUV maritime search and rescue missions. In real projects, there are possible target areas existing task areas, which not expected to be divided. Motivated by such a special situation, this paper proposes an area partitioning method allocate the multiple AUVs maintain as whole. First, spatial structure of ...

In this manuscript we examine whether measurements obtained from an Autonomous Underwater Vehicle (AUV) equipped with standard microstructure and fine structure sensors can be used to close the Turbulent Kinetic Energy (TKE) and Temperature Variance TV (heat) budgets. Classical turbulence theory is used to estimate the dissipation rate, ε, and the rate of change of the variance of temperature, ...

Work on the AUV NILM project has proceeded along two main fronts: In January 2009, we installed a NILM system in the Odyssey Class AUV at MIT. The primary components are the following: • Wireless Adapter Figure 1 shows the sensor and power board designed for use in the AUV. Circuitry on this board is powered directly from the 96V DC signal provided from the Li-ion battery pack. This voltage is ...