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Naval Postgraduate School Report, January 2002 This report was prepared for the Center for Autonomous Underwater Vehicle Research and funded by the Office of Naval Research (ONR) (Dr. Tom Curtin) under project Nº N0001498WR30175.

Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, June, 1996 pp.125-134 This paper presents the use of the software program- ming environments PROLOG and CORAL for the im- plementation of the Strategic Level of the NPS Phoenix vehicle. Whereas PROLOG provides a rule based mission control specification language, CORAL builds on a graphi- cal interface to describe mission programs using Petri nets. The paper describes the interfacing of CORAL with the Tactical level of the vehicle, and details the programming and execution of a vehicle mission that was run in the NPS test tank.

This paper describes recent work with the NPS AUV H vehicle in the further development of the execution level software to incorporate hover control behavior in the NPS hover tank. Of particular interest is the use of the ST 1000 and ST 725 high frequency sonars to provide data about the environment. Thus positioning can be accomplished without the use of beacons. Motion behaviors may be instituted that include diving and pitch control under thruster power; heading control at zero speed; lateral and longitudinal positioning, as well as the automatic initiation of filters as needed when a new target is found. A simple task level language that will be used to direct tactical level output to a port in communication with the execution level software will be given.

Proceedings of the Second (1992) International Offshore and Polar Engineering Conference San Francisco, USA, 14-19 June 1992 A six degree of freedom model for the maneuvering of an underwater vehicle 15 discussed in which the hydrodynamic force coefficients are scaled from previous studies of a Swimmer Delivery Vehicle, and traditional as well as Sliding Mode controllers are designed for the steering, diving, and speed control functions. In slow speed flight control applications of this kind, difficulties arise because the system to be controlled is highly non-linear, coupled, and there is a good deal of parameter variation with operational conditions. The uncertainty in force coefficients and disturbances make control difficult. This paper presents an outline of the controller design methodology, a description of the testbed vehicle and a discussion of experimental flight control results for way point following, bottom following, and sonar mapping of the surrounding environment. It shows that a multivariable autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering and diving response of a slow speed AUV enabling autonomous missions to be planned. Naval Postgraduate School Direct Research Fund under the technical sponsorship of the Naval Surface Warfare Center White Oak Laboratories Office of Naval Technology Naval Postgraduate School Direct Research Fund under the technical sponsorship of the Naval Surface Warfare Center White Oak Laboratories Office of Naval Technology

This article describes the past accomplishments, present status, and future areas of concern for research at NPS in mission planning, mission execution, and post mission data analysis to meet the needs of future Naval Autonomous Underwater Vehicles. These vehicles are unmanned, untethered, free swimming, robotic submarines to be used for Naval missions including search, mapping, surveillance, and intervention activity. This project is joint between the Mechanical Engineering, Computer Science and Electrical and Computer Engineering Departments at the Naval Postgraduate School and is focused on a long range program to develop control technology for these vehicles. The approach taken combines computer simulation, real time robust control theory, computer architecture and code development, vehicle and component design, sonar data analysis and data visualization. Started in 1987, the major thrusts are in the areas of mission planning, both off-line and on-line, mission execution including navigation, collision avoidance, replanning, object recognition, vehicle dynamic response and motion control, real time control software architecture and implementation, and the issues of post mission data analysis. Naval Postgraduate School Direct Funded Research Program