Cheap Technology Will Challenge U.S. Tactical Dominance
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Global Inventory of AUV and Glider Technology Available for Routine Marine Surveying
Appendix 1. Global Inventory of AUVs and Gliders Global Inventory of AUV and Glider Technology available for Routine Marine Surveying Project Leaders: Dr Russell Wynn (NOC) and Dr Elizabeth Linley (NERC) Report Prepared by: Dr James Hunt (NOC) Inventory correct as of September 2013 1 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders Contents United Kingdom Institutes ................................................................. 16 Marine Autonomous and Robotic Systems (MARS) at National Oceanography Centre (NOC), Southampton ................................. 17 Autonomous Underwater Vehicles (AUVs) at MARS ................................... 18 Autosub3 ...................................................................................................... 18 Technical Specification for Autosub3 ......................................................... 18 Autosub6000 ................................................................................................ 19 Technical Specification .............................................................................. 19 Autosub LR ...................................................................................................... 20 Technical Specification .............................................................................. 20 Air-Launched AUVs ........................................................................................ 21 Gliders at MARS .............................................................................................. 22 Teledyne -
A Novel Concept for the Study of Heterogeneous Robotic Swarms
Swarmanoid: a novel concept for the study of heterogeneous robotic swarms M. Dorigo, D. Floreano, L. M. Gambardella, F. Mondada, S. Nolfi, T. Baaboura, M. Birattari, M. Bonani, M. Brambilla, A. Brutschy, D. Burnier, A. Campo, A. L. Christensen, A. Decugni`ere, G. Di Caro, F. Ducatelle, E. Ferrante, A. F¨orster, J. Martinez Gonzales, J. Guzzi, V. Longchamp, S. Magnenat, N. Mathews, M. Montes de Oca, R. O’Grady, C. Pinciroli, G. Pini, P. R´etornaz, J. Roberts, V. Sperati, T. Stirling, A. Stranieri, T. St¨utzle, V. Trianni, E. Tuci, A. E. Turgut, and F. Vaussard. IRIDIA – Technical Report Series Technical Report No. TR/IRIDIA/2011-014 July 2011 IRIDIA – Technical Report Series ISSN 1781-3794 Published by: IRIDIA, Institut de Recherches Interdisciplinaires et de D´eveloppements en Intelligence Artificielle Universite´ Libre de Bruxelles Av F. D. Roosevelt 50, CP 194/6 1050 Bruxelles, Belgium Technical report number TR/IRIDIA/2011-014 The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright breaches that may result from publication of this paper in the IRIDIA – Technical Report Series. IRIDIA is not responsible for any use that might be made of data appearing in this publication. IEEE ROBOTICS & AUTOMATION MAGAZINE, VOL. X, NO. X, MONTH 20XX 1 Swarmanoid: a novel concept for the study of heterogeneous robotic swarms Marco Dorigo, Dario Floreano, Luca Maria Gambardella, Francesco Mondada, Stefano Nolfi, Tarek Baaboura, -
AUV Adaptive Sampling Methods: a Review
applied sciences Review AUV Adaptive Sampling Methods: A Review Jimin Hwang 1 , Neil Bose 2 and Shuangshuang Fan 3,* 1 Australian Maritime College, University of Tasmania, Launceston 7250, TAS, Australia; [email protected] 2 Department of Ocean and Naval Architectural Engineering, Memorial University of Newfoundland, St. John’s, NL A1C 5S7, Canada; [email protected] 3 School of Marine Sciences, Sun Yat-sen University, Zhuhai 519082, Guangdong, China * Correspondence: [email protected] Received: 16 July 2019; Accepted: 29 July 2019; Published: 2 August 2019 Abstract: Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed. Keywords: autonomous underwater vehicle(s); maritime robotics; adaptive sampling; underwater feature tracking; in-situ sensors; sensor fusion 1. Introduction Autonomous underwater vehicles (AUVs) are unmanned marine robots. Owing to their mobility and increased ability to accommodate sensors, they have been used for a broad range of oceanographic missions, such as surveying underwater plumes and other phenomena, collecting bathymetric data and tracking oceanographic dynamic features. -
MODELING, DESIGN and CONTROL of GLIDING ROBOTIC FISH By
MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang A DISSERTATION Submitted to Michigan State University in partial fulfillment of the requirements for the degree of Electrical Engineering – Doctor of Philosophy 2014 ABSTRACT MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang Autonomous underwater robots have been studied by researchers for the past half century. In particular, for the past two decades, due to the increasing demand for environmental sustainability, significant attention has been paid to aquatic environmental monitoring using autonomous under- water robots. In this dissertation, a new type of underwater robots, gliding robotic fish, is proposed for mobile sensing in versatile aquatic environments. Such a robot combines buoyancy-driven gliding and fin-actuated swimming, inspired by underwater gliders and robotic fish, to realize both energy-efficient locomotion and high maneuverability. Two prototypes, a preliminary miniature underwater glider and a fully functioning gliding robotic fish, are presented. The actuation system and the sensing system are introduced. Dynamic model of a gliding robotic fish is derived by in- tegrating the dynamics of miniature underwater glider and the influence of an actively-controlled tail. Hydrodynamic model is established where hydrodynamic forces and moments are dependent on the angle of attack and the sideslip angle. Using the technique of computational fluid dynamics (CFD) water-tunnel simulation is carried out for evaluating the hydrodynamic coefficients. Scaling analysis is provided to shed light on the dimension design. Two operational modes of gliding robotic fish, steady gliding in the sagittal plane and tail- enabled spiraling in the three-dimensional space, are discussed. -
Glider Robot a Sleek Ocean Explorer 27 December 2009, by Sandy Bauers
Glider robot a sleek ocean explorer 27 December 2009, By Sandy Bauers The sea was heaving, the skies gray. The captain surface. of the research ship was worried about the weather. About 120 miles off the coast of Spain, Roemmich works with another project, dubbed three Rutgers University scientists had a narrow Argo, which employs 3,000 buoys worldwide, about window of opportunity to find and retrieve their 180 miles apart, to sample the water column. But prize -- an 8-foot, torpedo-shaped yellow robot that they can only drift. they had launched seven months earlier off the coast of New Jersey. The glider, loaded with data sensors, can be directed. They could grab it and learn from it, or in the rough seas accidentally ram it and sink it. "We are data poor for understanding how the ocean operates, and this is going to give us the capability After an hour of pitching in the 20-foot waves, the to understand this much better," said Richard shipmates let out a cheer. Having spent 221 days Spinrad, assistant administrator of the National at sea on a voyage of 4,604 miles, the robot Oceanic and Atmospheric Administration in Silver dubbed Scarlet Knight was safely aboard. Spring, Md. With that came the completion of a mission that "If we can go across the Atlantic, we can go just made oceanographic history. about anywhere with these." Not only was the robot -- an underwater glider -- And what a way to go. the first of its ilk to cross the Atlantic, a mission supporters compared to Sputnik and Charles For its long, solo flights, the glider needs to be a Lindbergh's solo flight. -
A Multi-Level Motion Controller for Low-Cost Underwater Gliders
2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015 A Multi-level Motion Controller for Low-Cost Underwater Gliders Guilherme Aramizo Ribeiro, Anthony Pinar, Eric Wilkening, Saeedeh Ziaeefard, and Nina Mahmoudian Abstract— An underwater glider named ROUGHIE (Research deploying UGs [23] for submarine tracking. With a valida- Oriented Underwater Glider for Hands-on Investigative Engineer- tion platform, researchers will be able to better understand ing) is designed and manufactured to provide a test platform and glider dynamics [24] and improve UG effectiveness in littoral framework for experimental underwater automation. This paper presents an efficient multi-level motion controller that can be used zones. Additionally, underwater localization and positioning to enhance underwater glider control systems or easily modified and path planning in high risk areas will be improved. for additional sensing, computing, or other requirements for ROUGHIE is 1 m long and weighs 12 kg (payload 1 kg) advanced automation design testing.The ultimate goal is to have with minimum operating endurance of 8 hours and maximum a fleet of modular and inexpensive test platforms for addressing depth of 40 m. At 10% of the cost of commercial underwater the issues that currently limit the use of autonomous underwater vehicles (AUVs). Producing a low-cost vehicle with maneuvering gliders, a ROUGHIE fleet is affordable without compromis- capabilities and a straightforward expansion path will permit easy ing the sophisticated control systems and maneuverability experimentation and testing of different approaches to improve (See the detailed characteristics in Table I). underwater automation. In this paper, the mechanical and electrical components of the ROUGHIE are introduced in Section I as a plant for the INTRODUCTION controller design. -
Wednesday Morning, 30 November 2016 Lehua, 8:00 A.M
WEDNESDAY MORNING, 30 NOVEMBER 2016 LEHUA, 8:00 A.M. TO 9:05 A.M. Session 3aAAa Architectural Acoustics and Speech Communication: At the Intersection of Speech and Architecture II Kenneth W. Good, Cochair Armstrong, 2500 Columbia Ave., Lancaster, PA 17601 Takashi Yamakawa, Cochair Yamaha Corporation, 10-1 Nakazawa-cho, Naka-ku, Hamamatsu 430-8650, Japan Catherine L. Rogers, Cochair Dept. of Communication Sciences and Disorders, University of South Florida, USF, 4202 E. Fowler Ave., PCD1017, Tampa, FL 33620 Chair’s Introduction—8:00 Invited Papers 8:05 3aAAa1. Vocal effort and fatigue in virtual room acoustics. Pasquale Bottalico, Lady C. Cantor Cutiva, and Eric J. Hunter (Commu- nicative Sci. and Disord., Michigan State Univ., 1026 Red Cedar Rd., Lansing, MI 48910, [email protected]) Vocal effort is a physiological entity that accounts for changes in voice production as vocal loading increases, which can be quanti- fied in terms of Sound Pressure Level (SPL). It may have implications on potential vocal fatigue risk factors. This study investigates how vocal effort is affected by room acoustics. The changes in the acoustic conditions were artificially manipulated. Thirty-nine subjects were recorded while reading a text, 15 out of them used a conversational style while 24 were instructed to read as if they were in a class- room full of children. Each subject was asked to read in three different reverberation time RT (0.4 s, 0.8 s, and 1.2 s), in two noise condi- tions (background noise at 25 dBA and Babble noise at 61 dBA), in three different auditory feedback levels (-5 dB, 0 dB, and 5 dB), for a total of 18 tasks per subject presented in a random order. -
Navegación Y Control De Un Mini Veh´Iculo Submarino Autónomo
CENTRO DE INVESTIGACION´ Y DE ESTUDIOS AVANZADOS DEL INSTITUTO POLITECNICO´ NACIONAL UNIDAD ZACATENCO DEPARTAMENTO DE CONTROL AUTOMATICO´ Navegaci´on y control de un mini veh´ıculo submarino aut´onomo TESIS Que presenta M. en C. Iv´an Torres Tamanaja Para obtener el grado de DOCTOR EN CIENCIAS EN LA ESPECIALIDAD DE CONTROL AUTOMATICO´ Directores de Tesis: Dr. Jorge Antonio Torres Mu˜noz Dr. Rogelio Lozano Leal MEXICO´ DISTRITO FEDERAL AGOSTO DEL 2013. El riego de nadar entre tiburones, no son los tiburones. El verdadero riesgo es sangrar mientras lo haces. (I.T.T.) A la memoria de mi Chan´ın. Q.E.P.D. Dedicatoria A mis padres: Sa´ul Torres Jim´enez Guillermina Tamanaja Ram´ırez Por su palabras de aliento, por la confianza que siempre me han dado, porque son el refugio en mis momentos de duda, porque con nada pago el gran amor y cari˜no que me profesan sin esperar nada a cambio. Por ser una gu´ıa, ejemplo y motor impulsor en mi vida. A mis hermanas: Ivonne e Ivette Qu´epor todo y sobre todo han mostrado ser las mejores hermanas, porque demuestran su afecto y cari˜no con las cosas m´as b´asicas. A mis sobrinos: Iv´an Santiago David Con sus sonrisas me recuerdan que la vida es un juego. Agradecimientos A Dios, que me da la oportunidad de abrir los ojos a un nuevo d´ıatodos los d´ıas. Al CONACYT, por otorgarme una beca para poder realizar mis estudios de docto- rado. Al Dr. Pedro Castillo Garcia, que con su estilo muy particular de aconsejar.. -
Science & Technology Trends 2020-2040
Science & Technology Trends 2020-2040 Exploring the S&T Edge NATO Science & Technology Organization DISCLAIMER The research and analysis underlying this report and its conclusions were conducted by the NATO S&T Organization (STO) drawing upon the support of the Alliance’s defence S&T community, NATO Allied Command Transformation (ACT) and the NATO Communications and Information Agency (NCIA). This report does not represent the official opinion or position of NATO or individual governments, but provides considered advice to NATO and Nations’ leadership on significant S&T issues. D.F. Reding J. Eaton NATO Science & Technology Organization Office of the Chief Scientist NATO Headquarters B-1110 Brussels Belgium http:\www.sto.nato.int Distributed free of charge for informational purposes; hard copies may be obtained on request, subject to availability from the NATO Office of the Chief Scientist. The sale and reproduction of this report for commercial purposes is prohibited. Extracts may be used for bona fide educational and informational purposes subject to attribution to the NATO S&T Organization. Unless otherwise credited all non-original graphics are used under Creative Commons licensing (for original sources see https://commons.wikimedia.org and https://www.pxfuel.com/). All icon-based graphics are derived from Microsoft® Office and are used royalty-free. Copyright © NATO Science & Technology Organization, 2020 First published, March 2020 Foreword As the world Science & Tech- changes, so does nology Trends: our Alliance. 2020-2040 pro- NATO adapts. vides an assess- We continue to ment of the im- work together as pact of S&T ad- a community of vances over the like-minded na- next 20 years tions, seeking to on the Alliance. -
Comprehensive Review on Modular Self-Reconfigurable Robot Architecture
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 Comprehensive Review on Modular Self-Reconfigurable Robot Architecture Muhammad Haziq Hasbulah1, Fairul Azni Jafar2, Mohd. Hisham Nordin2 1Centre for Graduate Studies, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia 2Faculty of Manufacturing Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - Self-reconfigurable modular robot is a new film directed by William Don Hall. In this movie, a character approach of robotic system which involves a group of identical named Hiro create a lot of Microbots that able to be robotic modules that are connecting together and forming controlled by neurotransmitter. They are designed by Hiro to structure that able to perform specific tasks. Such robotic connect together to form various shapes and perform tasks system will allows for reconfiguration of the robot and its cooperatively Hall and Williams [3]. The idea of that movie structure in order to adapting continuously to the current concept is multiple robots that able to change shape in group needs or specific tasks, without the use of additional tools. being controlled by human thought. Nowadays, the use of this type of robot is very limited because The MSR robot is build based on the electronics components, it is at the early stage of technology development. This type of computer processors, and memory and power supplies, and robots will probably be widely used in industry, search and also they might have a feature for the robot to have an ability rescue purpose or even on leisure activities in the future. -
Long-Endurance Maritime Surveillance with Ocean Glider Networks
Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection 2015-09 Long-endurance maritime surveillance with ocean glider networks Nott, Bradley J. Monterey, California: Naval Postgraduate School http://hdl.handle.net/10945/47308 NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS LONG-ENDURANCE MARITIME SURVEILLANCE WITH OCEAN GLIDER NETWORKS by Bradley J. Nott September 2015 Thesis Advisor: John E. Joseph Second Reader: Tetyana Margolina Approved for public release; distribution is unlimited THIS PAGE INTENTIONALLY LEFT BLANK REPORT DOCUMENTATION PAGE Form Approved OMB No. 0704–0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202–4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704–0188) Washington DC 20503. 1. AGENCY USE ONLY 2. REPORT DATE 3. REPORT TYPE AND DATES COVERED September 2015 Master’s thesis 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS LONG-ENDURANCE MARITIME SURVEILLANCE WITH OCEAN GLIDER NETWORKS 6. AUTHOR(S) Nott, Bradley J. 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING Naval Postgraduate School ORGANIZATION REPORT Monterey, CA 93943–5000 NUMBER 9. SPONSORING /MONITORING AGENCY NAME(S) AND 10. SPONSORING / ADDRESS(ES) MONITORING AGENCY N/A REPORT NUMBER 11. SUPPLEMENTARY NOTES The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or the U.S. -
3D Printing Quarterly Report—Q32018 3D PRINTING–A FAST MOVING MARKET Developments in 3D Printing a Sector by Sector Overview
3D Printing Quarterly Report—Q32018 3D PRINTING–A FAST MOVING MARKET Developments in 3D Printing A Sector by Sector Overview Overview This report explores developments in 3D printing across several sectors and categories for the quarterly period of July 1 to October 10, 2018. For more information, Table of Contents please contact: Overview ................................... 2 Patents & Copyright ................. 12 Food ....................................... 21 Mark E. Avsec General ..................................... 2 Auto & Transportation ............... 12 Consumer Goods & Retail ......... 22 (216) 363-4151 Materials ................................... 4 Aviation & Aerospace ............... 13 Education ................................ 23 [email protected] Printing Techniques & Health & Life Sciences ............. 14 Environmental Efforts ............... 24 Capabilities .............................. 5 Manufacturing & Construction... 17 Arts & Entertainment ................ 25 M&A and Investments ................ 9 Clothing & Wearables ............... 20 Sports ..................................... 25 www.beneschlaw.com Miscellaneous Partnerships ...... 11 3D PRINTING–A FAST MOVING MARKET 3D Printing Quarterly Report—Q3 A Sector by Sector Overview General Aurora Group to market Nano Dimension 3D printers in China The deal expands Nano Dimension’s already active presence in Asia Pacific beyond Hong Kong, South Korea, Singapore and Taiwan. Founded in 2012, Nano Dimensions develops and manufactures 3D printers for the electronics