Real-time adaptive control of multiple colocated acoustic sensors for an unmanned underwater vehicle

IEEE Journal of Oceanic Engineering

Volumn 38, Issue 3, 2013, Pages 419-432

  Thurman, Edward ^a   Riordan, James ^b   Toal, Daniel ^a  

^a UNIVERSITY OF LIMERICK   (Ireland)

^b Athletic Rehabilitation Therapy Ireland   (Ireland)

Author keywords

Acoustic interference; adaptive control; autonomous sensor control; robot sensing systems; seabed mapping; sonar signal analysis

Indexed keywords

ADAPTIVE CONTROL; AUTONOMOUS SENSORS; ROBOT SENSING SYSTEM; SEABED MAPPING; SONAR SIGNAL ANALYSIS;

ACOUSTIC DEVICES; ADAPTIVE CONTROL SYSTEMS; COMPUTER PROGRAMMING; SENSORS; SONAR; UNDERWATER ACOUSTICS;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 84880572576     PISSN: 03649059     EISSN: None     Source Type: Journal    
DOI: 10.1109/JOE.2012.2227585     Document Type: Article

References (36)

1. W. J. Kirkwood, "Development of the DORADO mapping vehicle for multibeam, subbottom, and sidescan sciencemissions," J. Field Robot., vol. 24, pp. 487-495, 2007. (Pubitemid 47108341)
2. C. de Moustier, P. F. Lonsdale, and A. N. Shor, "Simultaneous operation of the Sea Beam multibeam echo-sounder and the SeaMARC II bathymetric sidescan sonar system," IEEE J. Ocean. Eng., vol. 15, no. 2, pp. 84-94, Apr. 1990.
3. A. J. Kenny, I. Cato, M. Desprez, G. Fader, R. Schuttenhelm, and J. Slde, "An overview of seabed-mapping technologies in the context of marine habitat classification," ICES J. Mar. Sci., vol. 60, pp. 411-418, 2003. (Pubitemid 36524236)
4. C. J. Smith and H. Rumohr, "Imaging techniques," in Methods for the Study of Marine Benthos, A. Eleftheriou and A. D. McIntyre, Eds. Oxford, U.K.: Blackwell Scientific, 2005, pp. 87-111.
5. A. Duxfield, J. E. H. Clarke, B. A. Martin, J. Legault, M. Comeau, and D. Monahan, "Combining multiple sensors on a single platform to meet multi-purpose nearshore mapping requirements," in Can. Hydrogr. Conf., Ottawa, ON, Canada, 2004, CD-ROM.
6. X. Lurton and J.-C. L. Gac, "The CALIMERO project: Scientific objectives and first at-sea results," in Sea TechWeek, Brest, France, 2004.
7. E. Desa, R. Madhan, and P. Maurya, "Potential of autonomous underwater vehicle as new generation ocean data platforms," Current Sci., vol. 90, pp. 1202-1209, 2006. (Pubitemid 43800275)
8. Y. Fanlin, L. Jingnan, and Z. Jianhu, "Multi-beam sonar and side-scan sonar image co-registration and fusing," Mar. Sci. Bull. (English Edition), vol. 5, pp. 16-23, 2003. (Pubitemid 36878233)
9. J. E. H. Clarke, L. Mayer, J. Shaw, R. Parrott, M. Lamplugh, and J. Bradford, "Data handling methods and target detection results for multibeam and sidescan data collected as part of the search for Swiss Air Flight 111," in Proc. Shallow Survey, Sydney, Australia, 1999.
10. F. O. Nitsche, R. Bell, S. M. Carbotte, W. B. F. Ryan, and R. Flood, "Process-related classification of acoustic data from the Hudson River Estuary," Mar. Geol., vol. 209, pp. 131-145, 2004. (Pubitemid 39123686)
11. K. Y. McMullen, L. J. Poppe, R. S. Signell, J. F. Denny, J.M. Crocker, A. L. Beaver, and P. T. Schattgen, "Surficial geology in central Narragansett Bay, Rhode Island; Interpretations of sidescan sonar and multibeam bathymetry," U.S. Geological Survey, Reston, VA, 2007, vol. 34.
12. F. Pappalardi, S. J. Dunham, and M. E. Leblang, "HMS Scott-United Kingdom ocean survey ship," in Proc. MTS/IEEE OCEANS Conf., Providence, RI, 2000, vol. 2, pp. 961-967. (Pubitemid 32133695)
13. P. E. Hagen, "AUV/UUV mission planning and real time control with the HUGIN operator system," in Proc. MTS/IEEE OCEANS Conf., Honolulu, HI, 2001, vol. 1, pp. 468-473. (Pubitemid 34022706)
14. V. Rigaud, "Innovation and operation with robotized underwater systems," J. Field Robot., vol. 24, pp. 449-459, 2007. (Pubitemid 47108338)
15. D. Yoerger, M. Jakuba, and A. Bradley, "Techniques for deep sea near bottom survey using an autonomous underwater vehicle," Int. J. Robot. Res., vol. 26, pp. 41-54, 2007. (Pubitemid 44975086)
16. C. McGann, F. Py, K. Rajan, J. Ryan, and R. Henthorn, "Adaptive control for autonomous underwater vehicles," in Proc. 23rd AAAI Conf. Artif. Intell., Chicago, IL, 2008, CD-ROM.
17. S. McPhail, "Autonomous underwater vehicles: Are they the ideal sensor platform for ocean margin science?," in Ocean Margin Systems, G. Wefer, D. Billett, D. Hebbeln, B. B. Jorgensen, M. Schluter, and T. Van Weering, Eds. Berlin, Germany: Springer-Verlag, 2002, pp. 79-97.
18. P. E. Hagen, O. Midtgaard, and O. Hasvold, "Making AUVs truly autonomous," in Proc. IEEE OCEANS Conf., Aberdeen, Scotland, 2007, DOI: 10.1109/OCEANS.2007.4449405.
19. R. Bildberg, "The development of autonomous underwater vehicles (AUVs); A brief summary," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, 2001, CD-ROM.
20. R. Camilli, B. Bingham, M. Jakuba, H. Singh, and J. Whelan, "Integrating in-situ chemical sampling with AUV control systems," in Proc. IEEE/MTS OCEANS Conf., Kobe, Japan, 2004, vol. 1, pp. 101-104.
21. E. Thurman, J. Riordan, and D. Toal, "Terrain-adaptive ping sequencing of UUV integrated multibeam echosounder and sidescan sonar systems," Proc. IMarEST A/J. Mar. Eng. Technol., vol. 2010, pp. 37-46, 2010.
22. D. Bingham, T. Drake, A. Hill, and R. Lott, "The application of autonomous underwater vehicle (AUV) technology in the oil industry-Vision and experiences," in Proc. XXII Int. Fed. Surveyors Int. Congr., Washington, DC, 2002, CD-ROM.
23. A. Ishoy, "How to make survey instruments "AUV-friendly", " in Proc. MTS/IEEE OCEANS Conf., Providence, RI, 2000, vol. 3, pp. 1647-1652. (Pubitemid 32133580)
24. X. Lurton, An Introduction to Underwater Acoustics, Principles and Applications. London, U.K.: Springer-Praxis, 2002.
25. T. S. Chance and J. G. Northcutt, "Deep water AUV experiences," in Proc. U.S. Hydrogr. Conf., Houston, TX, 2001.
26. R. Parrott, J. H. Clarke, G. Fader, J. Shaw, and E. Kamerrer, "Integration of multibeam bathymetry and sidescan sonar data for geological surveys," in Proc. MTS/IEEE OCEANS Conf., Seattle, WA, 1999, vol. 3, pp. 1129-1133. (Pubitemid 30532723)
27. P. E. Hagen, N. Størkersen, B. E. Marthinsen, G. Sten, and K. Vestgård, "Rapid environmental assessment with autonomous underwater vehicles-Examples from HUGIN operations," J. Mar. Syst., vol. 69, pp. 137-145, 2008. (Pubitemid 350117401)
28. J. Ferguson and A. Pope, "Explorer-A modular AUV for commercial site survey," in Proc. Int. Symp. Underwater Technol., Tokyo, Japan, 2000, pp. 129-132.
29. S. D. McPhail and M. Pebody, "Navigation and control of an autonomous underwater vehicle using a distributed, networked, control architecture," Int. J. Soc. Underwater Technol., vol. 23, pp. 19-30, 1998. (Pubitemid 28281727)
30. D. Loebis, R. Sutton, J. Chudley, and W. Naeem, "Adaptive tuning of a Kalman filter via fuzzy logic for an intelligent AUV navigation system," Control Eng. Practice, vol. 12, pp. 1531-1539, 2004. (Pubitemid 38994786)
31. P. E. Hagen and J.Kristensen, "TheHUGINAUV"Plug and play" payload system," in Proc. MTS/IEEE OCEANS Conf., Biloxi, MS, 2002, vol. 1, pp. 156-161.
32. R. A. George, L. Gee, A. W. Hill, J. A. Thomson, and P. Jeanjean, "High-resolution AUV surveys of the eastern sigsbee escarpment," in Proc. Offshore Technol. Conf., Houston, TX, 2002, CD-ROM.
33. R. L. Wernli, "AUVs-A technology whose time has come," in Proc. Int. Symp. Underwater Technol., Tokyo, Japan, 2002, pp. 309-314.
34. W. J. Kirkwood, D. W. Caress, H. Thomas, M. Sibenac, R. McEwen, F. Shane, R. Henthorn, and P. McGill, "Mapping payload development for MBARI's Dorado-class AUVs," in Proc. MTS/IEEE OCEANS Conf., Kobe, Japan, 2004, vol. 3, pp. 1580-1585. (Pubitemid 40738817)
35. D. Toal, E. Omerdic, S. Nolan, J. Riordan, and L.Molnar, "A flexible multi-mode of operation survey platform for surface and underwater operations," in Proc. IFACWorkshop Navig.Guid. ControlUnderwater Veh., Kilaloe, Ireland, 2008, pp. 212-217.
36. R. Lear, "Data comparison of the Seabat 7125 and 8125 multi-beam sonars," Hydro Int., vol. 12, no. 5, pp. 22-25, 2008.