an autonomous underwater vehicle (auv) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel auv is the main goal of this research. detailed explanation of the test and experiment with a brief overview on fabrication are provide...

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μ AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing st...

Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance ...

Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a...

This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H∞ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.

This paper proposes novel cooperative navigation solutions for an Intervention Autonomous Underwater Vehicle (I-AUV) working in tandem with an Autonomous Surface Craft (ASC). The I-AUV is assumed to be moving in the presence of constant unknown ocean currents, and aims to estimate its position relying on measurements of its range to the ASC. Two different scenarios are considered: in the first ...

Over the last decades, the problem of building Autonomous Underwater Vehicles (AUVs) for missions in partially unknown underwater environment continue to challenge researchers. Although the AUV technology has matured and commercial systems have appeared in the market, a generic yet robust AUV command and control system still remains a key research focus. This thesis presents a novel command and...

BACKGROUND Urethral valves are infravesical congenital anomalies, with the posterior urethral valve (PUV) being the most prevalent one. Anterior urethral valve (AUV) is a rare but a well-known congenital anomaly. AUV and diverticula can cause severe obstruction, whose repercussions on the proximal urinary system can be important. Few cases have been described; both separately and in association...