A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT

Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks

abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a range of conditions. To validate swarm robotic control strategies, experimental testbeds with large numbers of robots are required; however, existing low-cost robots are specialized and can lack the necessary sensing, navigation, control, and manipulation capabilities. To address these challenges, this thesis presents a formal approach to designing biologically-inspired swarm control strategies for spatially-confined coverage and payload transport tasks, as well as a novel low-cost, customizable robotic platform for testing swarm control approaches. Stochastic control strategies are developed that provably allocate a swarm of robots around the boundaries of multiple regions of interest or payloads to be transported. These strategies account for spatially-dependent effects on the robots' physical distribution and are largely robust to environmental variations. In addition, a control approach based on reinforcement learning is presented for collective payload towing that accommodates robots with heterogeneous maximum speeds. For both types of collective transport tasks, rigorous approaches are developed to identify and translate observed group retrieval behaviors in Novomessor cockerelli ants to swarm robotic control strategies. These strategies can replicate features of ant transport and inherit its properties of robustness to different environments and to varying team compositions. The approaches incorporate dynamical models of the swarm that are amenable to analysis and control techniques, and therefore provide theoretical guarantees on the system's performance. Implementation of these strategies on robotic swarms offers a way for biologists to test hypotheses about the individual-level mechanisms that drive collective behaviors. Finally, this thesis describes Pheeno, a new swarm robotic platform with a three degree-of-freedom manipulator arm, and describes its use in validating a variety of swarm control strategies.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

NASA Automated Rendezvous and Capture Review. A compilation of the abstracts

This document presents a compilation of abstracts of papers solicited for presentation at the NASA Automated Rendezvous and Capture Review held in Williamsburg, VA on November 19-21, 1991. Due to limitations on time and other considerations, not all abstracts could be presented during the review. The organizing committee determined however, that all abstracts merited availability to all participants and represented data and information reflecting state-of-the-art of this technology which should be captured in one document for future use and reference. The organizing committee appreciates the interest shown in the review and the response by the authors in submitting these abstracts

Architectures and algorithms for dynamic overlay networks

Most of today’s Internet of Things (IoT) applications assume that data will be moved offdevices into centralized cloud platforms. While existing IoT systems leverage cloud-based analytics for meaningful data reasoning, the assumption that data should always be moved off the devices is problematic. The amount of data to be moved from devices over Internet gateways to cloud platforms is huge which potentially make it cost inefficient. In other scenarios, privacy concerns of customers or organizational rules complicate the process of transferring data to third-party data centers.This dissertation proposes architectures and dynamic overlay network algorithms for in-networkand edge processing of data offered by the globally available IoT devices and provides a global platform for meaningful and responsive data analysis and decision making. The proposed techniques shift IoT analytics from a ”collect data now and analyze it later” scenario to directlyproviding meaningful information from the in-network processing of devices data at or near thedevices. The techniques serve future IoT use cases including distributed context awareness, on-demand data analysis, and in-network decision making. The dissertation comprises three main components.The first component is a device management protocol for cloning devices’ data in proximateEdge Computing platforms. Unlike existing application-layer IoT management protocols theproposed protocol uses the LTE LTE-A radio frame structure, device-to-device communication,and IoT data properties to avoid excessive network access latency in existing technologies.The second component realizes distributed IoT analytics as overlay networks of devices clones. By means of virtual network embedding, it selects and interconnects devices’ clones to efficiently realize applications’ virtual topologies to achieve goals such as minimum latency, minimum infrastructure cost, or maximum infrastructure utilization.Finally, the dissertation presents a communication middleware that allows autonomous discovery, self-deployment, and online migration of devices’ clones across heterogeneous Edge computing platforms. The middleware ensures that communication latency between clones is kept minimum despite the uncontrolled variability of the network and hosting platforms conditions.We evaluate the proposed architectures and algorithms through simulations and prototypeimplementation of various components in controlled testbed environments, which we evaluateusing real user applications. We explore the feasibility of the proposed techniques from boththeoretical and practical perspectives.Keywords: Cloud Computing, Internet of Things, Algorithmic Game Theory, Compressive Sensin

Risk-based supervisory guidance for detect and avoid involving small unmanned aircraft systems

A formidable barrier for small Unmanned Aircraft Systems (UAS) to be integrated into civil airspace is that small UAS currently lack the ability to Detect and Avoid (DAA) other aircraft during ight operations; however, this ability is an essential part of regulations governing the general operation of aircraft in civil airspace. In this way, the research described is focused on achieving an equivalent level of safety for small UAS as manned aircraft in civil airspace. A small UAS DAA system was proposed to guide small UAS to detect nearby traffic, identify hazards, assess collision risks, perform mitigation analyses, and choose appropriate maneuvers to avoid potential collisions in mid-air encounters. To facilitate system development and performance evaluation, the proposed DAA system was designed and implemented on a fast-time simulation-based analysis platform, on which a set of quantifiable analysis metrics were designed for small UAS to improve situation awareness in hazard identification and collision risk assessment; and a learning-based Smart Decision Tree Method (SDTM) was developed to provide real-time supervisory DAA guidance for small UAS to avoid potential collisions in mitigation analysis. The theoretical research achieved was also integrated into an effort to implement an Automatic Collision Avoidance System (ACAS) to verify the short range DAA performance for small UAS in the visual-line-of-sight ight tests performed at the RAVEN test site in Argentia, NL

Scalable and rate adaptive wireless multimedia multicast

The methods that are described in this work enable highly efficient audio-visual streaming over wireless digital communication systems to an arbitrary number of receivers. In the focus of this thesis is thus point-to-multipoint transmission at constrained end-to-end delay. A fundamental difference as compared to point-to-point connections between exactly two communicating sending and receiving stations is in conveying information about successful or unsuccessful packet reception at the receiver side. The information to be transmitted is available at the sender, whereas the information about successful reception is only available to the receiver. Therefore, feedback about reception from the receiver to the sender is necessary. This information may be used for simple packet repetition in case of error, or adaptation of the bit rate of transmission to the momentary bit rate capacity of the channel, or both. This work focuses on the single transmission (including retransmissions) of data from one source to multiple destinations at the same time. A comparison with multi-receiver sequentially redundant transmission systems (simulcast MIMO) is made. With respect to feedback, this work considers time division multiple access systems, in which a single channel is used for data transmission and feedback. Therefore, the amount of time that can be spent for transmitting feedback is limited. An increase in time used for feedback transmissions from potentially many receivers results in a decrease in residual time which is usable for data transmission. This has direct impact on data throughput and hence, the quality of service. In the literature, an approach to reduce feedback overhead which is based on simultaneous feedback exists. In the scope of this work, simultaneous feedback implies equal carrier frequency, bandwidth and signal shape, in this case orthogonal frequency-division multiplex signals, during the event of the herein termed feedback aggregation in time. For this scheme, a constant amount of time is spent for feedback, independent of the number of receivers giving feedback about reception. Therefore, also data throughput remains independent of the number of receivers. This property of audio-visual digital transmission is taken for granted for statically configured, single purpose systems, such as terrestrial television. In the scope of this work are, however, multi-user and multi-purpose digital communication networks. Wireless LANs are a well-known example and are covered in detail herein. In suchlike systems, it is of great importance to remain independent of the number of receivers, as otherwise the service of ubiquitous digital connectivity is at the risk of being degraded. In this regard, the thesis at hand elaborates at what bit rates audio-visual transmission to multiple receivers may take place in conjunction with feedback aggregation. It is shown that the scheme achieves a multi-user throughput gain when used in conjunction with adaptivity of the bit rate to the channel. An assumption is the use of an ideal overlay packet erasure correcting code in this case. Furthermore, for delay constrained transmission, such as in so-called live television, throughput bit rates are examined. Applications have to be tolerant to a certain level of residual error in case of delay constrained transmission. Improvement of the rate adaptation algorithm is shown to increase throughput while residual error rates are decreased. Finally, with a consumer hardware prototype for digital live-TV re-distribution in the local wireless network, most of the mechanisms as described herein can be demonstrated.Die in vorliegender Arbeit aufgezeigten Methoden der paketbasierten drahtlosen digitalen Kommunikation ermöglichen es, Fernsehinhalte, aber auch audio-visuelle Datenströme im Allgemeinen, bei hoher Effizienz an beliebig große Gruppen von Empfängern zu verteilen. Im Fokus dieser Arbeit steht damit die Punkt- zu Mehrpunktübertragung bei begrenzter Ende-zu-Ende Verzögerung. Ein grundlegender Unterschied zur Punkt-zu-Punkt Verbindung zwischen genau zwei miteinander kommunizierenden Sender- und Empfängerstationen liegt in der Übermittlung der Information über erfolgreichen oder nicht erfolgreichen Paketempfang auf Seite der Empfänger. Da die zu übertragende Information am Sender vorliegt, die Information über den Erfolg der Übertragung jedoch ausschließlich beim jeweiligen Empfänger, muss eine Erfolgsmeldung auf dem Rückweg von Empfänger zu Sender erfolgen. Diese Information wird dann zum Beispiel zur einfachen Paketwiederholung im nicht erfolgreichen Fall genutzt, oder aber um die Übertragungsrate an die Kapazität des Kanals anzupassen, oder beides. Grundsätzlich beschäftigt sich diese Arbeit mit der einmaligen, gleichzeitigen Übertragung von Information (einschließlich Wiederholungen) an mehrere Empfänger, wobei ein Vergleich zu an mehrere Empfänger sequentiell redundant übertragenden Systemen (Simulcast MIMO) angestellt wird. In dieser Arbeit ist die Betrachtung bezüglich eines Rückkanals auf Zeitduplexsysteme beschränkt. In diesen Systemen wird der Kanal für Hin- und Rückweg zeitlich orthogonalisiert. Damit steht für die Übermittlung der Erfolgsmeldung eine beschränkte Zeitdauer zur Verfügung. Je mehr an Kanalzugriffszeit für die Erfolgsmeldungen der potentiell vielen Empfänger verbraucht wird, desto geringer wird die Restzeit, in der dann entsprechend weniger audio-visuelle Nutzdaten übertragbar sind, was sich direkt auf die Dienstqualität auswirkt. Ein in der Literatur weniger ausführlich betrachteter Ansatz ist die gleichzeitige Übertragung von Rückmeldungen mehrerer Teilnehmer auf gleicher Frequenz und bei identischer Bandbreite, sowie unter Nutzung gleichartiger Signale (hier: orthogonale Frequenzmultiplexsignalformung). Das Schema wird in dieser Arbeit daher als zeitliche Aggregation von Rückmeldungen, engl. feedback aggregation, bezeichnet. Dabei wird, unabhängig von der Anzahl der Empfänger, eine konstante Zeitdauer für Rückmeldungen genutzt, womit auch der Datendurchsatz durch zusätzliche Empfänger nicht notwendigerweise sinkt. Diese Eigenschaft ist aus statisch konfigurierten und für einen einzigen Zweck konzipierten Systemen, wie z. B. der terrestrischen Fernsehübertragung, bekannt. In dieser Arbeit werden im Gegensatz dazu jedoch am Beispiel von WLAN Mehrzweck- und Mehrbenutzersysteme betrachtet. Es handelt sich in derartigen Systemen zur digitalen Datenübertragung dabei um einen entscheidenden Vorteil, unabhängig von der Empfängeranzahl zu bleiben, da es sonst unweigerlich zu Einschränkungen in der Güte der angebotenen Dienstleistung der allgegenwärtigen digitalen Vernetzung kommen muss. Vorliegende Arbeit zeigt in diesem Zusammenhang auf, welche Datenraten unter Benutzung von feedback aggregation in der Verteilung an mehrere Empfänger und in verschiedenen Szenarien zu erreichen sind. Hierbei zeigt sich, dass das Schema im Zusammenspiel mit einer Adaption der Datenrate an den Übertragungskanal inhärent einen Datenratengewinn durch Mehrbenutzerempfang zu erzielen vermag, wenn ein überlagerter idealer Paketauslöschungsschutz-Code angenommen wird. Des weiteren wird bei der Übertragung mit zeitlich begrenzter Ausführungsdauer, z. B. dem sogenannten Live-Fernsehen, aufgezeigt, wie sich die erreichbare Datenrate reduziert und welche Restfehlertoleranz an die Übertragung gestellt werden muss. Hierbei wird ebenso aufgezeigt, wie sich durch Verbesserung der Ratenadaption erstere erhöhen und zweitere verringern lässt. An einem auf handelsüblichen Computer-Systemen realisiertem Prototypen zur Live-Fernsehübertragung können die hierin beschriebenen Mechanismen zu großen Teilen gezeigt werden