In this study, numerical computation is used to develop a physical model representing all important features of the Autonomous Underwater Vehicle's (AUV) shape using finite element methods. Because AUV an essential factor in determining application and vehicle's capability, investigating effect environment on profile needed. This paper illustrates Computational Fluid Dynamics (CFD) investigate ...

This paper describes the development of a fuzzy autopilot for controlling the non-linear yaw dynamics of an autonomous underwater vehicle (AUV) model. The autopilot design is based on a new approach that uses a Gaussian fuzzy inference mechanism. For the design study, the AUV model is hosted in the MATLAB/Simulink environment. Simulation results are presented which illustrate the potential of t...

An algorithm is presented for tracking of Autonomous Underwater Vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. The algorithm assumes that measurements and AUV dynamics uncertainties are unknown but bounded, with known bounds, and produces as output the set of admissible AUV positions. The algorithm has been validated by simulation in whi...

Proof. This theorem is a corollary of the (much more general) Kruskal-Katona theorem. The Kruskal-Katona theorem has a very hands-on proof, based on iteratively modifying the graph. We will see a linear-algebraic proof. Let A be the n×n adjacency matrix of G (Auv = 1 if vertex u is adjacent to vertex v, and Auv = 0 otherwise). Note that A is symmetric. It turns out that e and t are both fundame...

This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate t...

This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of...

The Monterey Bay Aquarium Research Institute (MBARI) has developed a 21-inch (54 cm) diameter docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, s...

This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (AUV). The development includes the physical limitations of the rudder that involve more constraints for the control that has a limited action and implies to reduce the gain loop of the controller. The whole system is simulated in simulink and three different control...

Abstract The development of underwater vehicles has opportunity to be further improved. One the most challenging for developing vehicle is automatic tracking system Autonomous Underwater Vehicle (AUV). This research develops AUV with object detection and systems. These systems are developed by using vision-based method. designed Penta Tubular type whereas started from captured image taken camer...