Autonomous Sailboat Navigation

The purpose of this study was to investigate novel methods on an unmanned sailing boat, which enables it to sail fully autonomously, navigate safely, and perform long-term missions. The author used robotic sailing boat prototypes for field experiments as his main research method. Two robotic sailing boats have been developed especially for this purpose. A compact software model of a sailing boat's behaviour allowed for further evaluation of routing and obstacle avoidance methods in a computer simulation. The results of real-world experiments and computer simulations are validated against each other. It has been demonstrated that autonomous boat sailing is possible by the effective combination of appropriate new and novel techniques that will allow autonomous sailing boats to create appropriate routes, to react properly on obstacles and to carry out sailing manoeuvres by controlling rudder and sails. Novel methods for weather routing, collision avoidance, and autonomous manoeuvre execution have been proposed and successfully demonstrated. The combination of these techniques in a layered hybrid subsumption architecture make robotic sailing boats a promising tool for many applications, especially in ocean observation

Hovering-mode control of the glider-type unmanned underwater vehicle

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2011Includes bibliographical references (leaves: 104-107)Text in English; Abstract: Turkish and Englishxiii, 109 leavesResearch on the underwater robotics has attracted the interest of many researchers over the years. The primary reasons are the need to perform underwater intervention tasks that are dangerous for a diver and the need to perform underwater survey tasks that last for longer periods of time. Unmanned underwater vehicles can be divided into two categories. Most of the systems, today, that require a certain level of precision and dexterity are built as Remotely Operated Vehicles (ROV). On the other hand, the systems that perform repetitive tasks are configured as Autonomous Underwater Vehicles (AUV). The objective of the thesis is to design a novel, cost-efficient, and fault-tolerant ROV that can hover and be used for shallow water investigation. In order to reduce the cost, the numbers of thrusters are minimized and internal actuators are used for steering the vehicle and stability in hovering mode. Also, the design is planned to be open for modification for further improvements that will enable the use of the vehicle for intervention tasks and studies. In this work, previously developed unmanned underwater vehicles are reviewed. Following this, the conceptual designs are created for the underwater vehicle and internal actuator designs are developed. Designed mechanisms are modeled in SolidWorks© and transferred to MATLAB© Simulink for hovering-mode control studies. Afterwards, to verify the simulation results, experiments are conducted with a seesaw mechanism by using LabVIEW© programming. Finally, results are given, discussed and future works are addressed

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Análisis de riesgo de vehículos submarinos no tripulados

To know the different missions that the UUV can carry out. To Know the operation of Glider vehicles. Analyze the different methodologies available for UUV risk assessment (equipment failure, collisions with other objects, human failures, etc.). Analyze real data of the mission of a Glider in a hypothetical scenario from deep water to shallow water. Final conclusions about the study. Conocer los distintas misiones que pueden realizar los UUV Conocer el funcionamiento de los vehículos tipo Glider Analizar las distintas metodologías existentes para la valoración del riesgo en UUV (Fallo equipos, colisiones con otros objetos, fallos humanos, etc.) Analizar datos reales de misiones realizadas por Glider en un hipotético escenario desde aguas profundas a aguas someras. Obtener conclusiones finales sobre el estudio.Escuela Técnica Superior de Ingeniería Naval y OceánicaUniversidad Politécnica de Cartagen

ONLINE SYSTEM IDENTIFICATION AND CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE

Ph.DDOCTOR OF PHILOSOPH

Spinoff, 1976

This report is divided into three sections: 1. The Research Payoff, 2. Technology Twice Used, and 3. Technology Utilization at Work. The first describes a wide variety of current space spinoffs of use in business or personal life, as well as the space explorations from which they have been derived. The second provides information on specific examples of technology transfer that are typical of the spinoffs resulting from NASA's Technology Utilization Program. The third briefly describes the different activities of the Technology Utilization Office, all of which have as their purpose the profitable utilization of aerospace technology

Ocean Solutions, Earth Solutions

What affects the oceans affects terra firma. Ocean Solutions, Earth Solutions gathers the insights of more than 50 ocean and coastal science researchers exploring ocean components and their relationships, patterns, and trends over time and space. The book's 16 chapters feature geographic information system (GIS) best practices and include additional online resources.The book is edited by oceanographer and Esri Chief Scientist Dawn J. Wright and features a foreword by oceanographer David Gallo, director of special projects for the Woods Hole Oceanographic Institution in Massachusetts.Keywords: marine resource management, GIS, mapping, ocean conservation, ocean scienc

Spinoff 1997: 25 Years of Reporting Down-to-Earth Benefits

The 25th annual issue of NASA's report on technology transfer and research and development (R&D) from its ten field centers is presented. The publication is divided into three sections. Section 1 comprises a summary of R&D over the last 25 years. Section 2 presents details of the mechanisms NASA uses to transfer technology to private industry as well as the assistance NASA provides in commercialization efforts. Section 3, which is the focal point of the publication, features success stories of manufacturers and entrepreneurs in developing commercial products and services that improve the economy and life in general