Autonomous Underwater Vehicles

Design and practice

AvFrank, Ehlers,Frank Ehlers

Inbunden, Engelska, 2020

Del i serien Radar, Sonar and Navigation

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Beskrivning

The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.This timely book provides a state-of-the-art overview of AUV design and practice. Focusing on the interplay between design and practice, it comprehensively covers control and navigation, communication and cooperation, and methodologies and applications where AUVs are used for education, research, biological and oceanographic studies, surveillance purposes, and military, security, and industrial tasks. The book covers key concepts for maritime engineers and navigation researchers and professionals, and is a useful reference for control and robotics researchers working on AUVs.

Produktinformation

Utgivningsdatum:2020-09-07
Mått:156 x 234 x 32 mm
Vikt:1 050 g
Format:Inbunden
Språk:Engelska
Serie:Radar, Sonar and Navigation
Antal sidor:592
Förlag:Institution of Engineering and Technology
ISBN:9781785617034

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Mer om författaren

Frank Ehlers (PhD) has been working as a scientist, project manager, program manager and principal scientist in German and international research institutes dealing with maritime technology for more than 20 years. Currently he is working as Principal Scientist at the Bundeswehr Technical Center for Ships and Naval Weapons, Maritime Technology and Research (WTD 71) in Germany. His recent activities focus on the topic of Autonomy and Mobile Sensors, as associate editor for journals and as chair, member-at-large, and external evaluator in international research groups, panels, and organisations.

Innehållsförteckning

Chapter 1: IntroductionPart I: ControlChapter 2: Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimationChapter 3: Sensor-based motion control of autonomous underwater vehicles, part II: robust motion control strategiesChapter 4: Adaptive-robust control of autonomous underwater vehicle with unknown system dynamics Part II: NavigationChapter 5: AUV navigation: challenges and solutionsChapter 6: Ultra-endurance AUVs: energy requirements and terrain-aided navigationChapter 7: A simplified version of SLAM: data compression and data association for common UUV missions Part III: ToolsetChapter 8: Toolchain for autonomous systems and its use in real-life scenarios: from science to defenceChapter 9: Telemetry for AUVsChapter 10: Pressure-tolerant and pressure-neutral systems for AUV Part IV: CooperationChapter 11: Optimization of waterspace management and scheduling for multiple unmanned vehiclesChapter 12: MONSUN: a swarm AUV for environmental monitoring and inspectionChapter 13: Reconfigurable, adaptable, multi-modality, mobile, wireless, energy-efficient, underwater sensor network of hover-capable AUVs Part V: MethodologyChapter 14: Task specification and behavior verification for UUV behavior designChapter 15: Advanced AUV fault managementChapter 16: Designing, building and testing a fleet of novel AUV under the elevated requirements of an XPRIZE competition Part VI: ApplicationChapter 17: AUV navigation, guidance, and control for geoseismic data acquisitionChapter 18: Adaptive sampling and energy-efficient navigation in time-varying flowsChapter 19: Summary, conclusions, and future work