Autonomous underwater platform

S. O. Harrold; D. Z. Liao; L. F. Yeung

doi:10.1109/MMVIP.1997.625312

Autonomous underwater platform

S. O. Harrold, D. Z. Liao, L. F. Yeung

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

For many subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an Autonomous Underwater Platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re-configurable structure, comprising a 2-dimensional A-frame with modules, thrust units and controllable buoyancy units, mounted upon it. Two and five modules can be controlled according to mission requirement. The structure design of an AUV is a complex trade-off among various design variables and mission requirements. This paper presents the design and discusses the optimal configuration of the dynamics of the AUP, its sensor systems and control methods. The control system of the platform is composed of a state control loop, a self-planing and navigation subsystem and an ultrasonic communication subsystem. © 1997 IEEE

Original language	English
Title of host publication	Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice
Publisher	IEEE
Pages	148-151
ISBN (Print)	0-8186-8025-3
DOIs	https://doi.org/10.1109/MMVIP.1997.625312
Publication status	Published - Sept 1997
Event	4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997) - Toowoomba, Australia Duration: 23 Sept 1997 → 25 Sept 1997

Conference

Conference	4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997)
Place	Australia
City	Toowoomba
Period	23/09/97 → 25/09/97

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title = "Autonomous underwater platform",

abstract = "For many subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an Autonomous Underwater Platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re-configurable structure, comprising a 2-dimensional A-frame with modules, thrust units and controllable buoyancy units, mounted upon it. Two and five modules can be controlled according to mission requirement. The structure design of an AUV is a complex trade-off among various design variables and mission requirements. This paper presents the design and discusses the optimal configuration of the dynamics of the AUP, its sensor systems and control methods. The control system of the platform is composed of a state control loop, a self-planing and navigation subsystem and an ultrasonic communication subsystem. {\textcopyright} 1997 IEEE",

author = "Harrold, {S. O.} and Liao, {D. Z.} and Yeung, {L. F.}",

year = "1997",

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doi = "10.1109/MMVIP.1997.625312",

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booktitle = "Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice",

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note = "4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997) ; Conference date: 23-09-1997 Through 25-09-1997",

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N2 - For many subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an Autonomous Underwater Platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re-configurable structure, comprising a 2-dimensional A-frame with modules, thrust units and controllable buoyancy units, mounted upon it. Two and five modules can be controlled according to mission requirement. The structure design of an AUV is a complex trade-off among various design variables and mission requirements. This paper presents the design and discusses the optimal configuration of the dynamics of the AUP, its sensor systems and control methods. The control system of the platform is composed of a state control loop, a self-planing and navigation subsystem and an ultrasonic communication subsystem. © 1997 IEEE

AB - For many subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an Autonomous Underwater Platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re-configurable structure, comprising a 2-dimensional A-frame with modules, thrust units and controllable buoyancy units, mounted upon it. Two and five modules can be controlled according to mission requirement. The structure design of an AUV is a complex trade-off among various design variables and mission requirements. This paper presents the design and discusses the optimal configuration of the dynamics of the AUP, its sensor systems and control methods. The control system of the platform is composed of a state control loop, a self-planing and navigation subsystem and an ultrasonic communication subsystem. © 1997 IEEE

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DO - 10.1109/MMVIP.1997.625312

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0-8186-8025-3

SP - 148

EP - 151

BT - Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

PB - IEEE

T2 - 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997)

Y2 - 23 September 1997 through 25 September 1997

ER -

Autonomous underwater platform

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