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Current autonomous vehicle interoperability is limited by vehicle-specific data formats and support systems. Until a standardized approach to autonomous vehicle command and control is adopted, true interoperability will remain elusive. This work explores the applicability of a data model supporting arbitrary vehicles using the Extensible Markup Language (XML). An exemplar, the Autonomous Vehicle Command Language (AVCL), encapsulates behavior-scripted mission definition, goalbased mission definition, inter-vehicle communication, and mission results. Broad applicability is obtained through the development of a behavior set capturing arbitrary vehicle activities, and automated conversion of AVCL to and from vehicle-specific formats. The former uses task-level behaviors suitable for mission scripting and goal decomposition. Translations use the Extensible Stylesheet Language for Transformation, XML data binding, context-free language parsing, and artificial intelligence machine learning and search techniques. Translation capability is demonstrated through mappings of AVCL to and from multiple vehicle-specific formats. A final demonstration of the power of a common autonomous vehicle data model is provided by the implementation of a hybrid control architecture. The model's vehicle-independence and the ability to generate vehicle-specific data are leveraged in the design of an architecture that provides increased autonomy by augmenting a vehicle's existing controller. The utility of this architecture is demonstrated through implementation on the Naval Postgraduate School's ARIES Unmanned Underwater Vehicle., http://archive.org/details/designimplementa1094510150, US Navy (USN) author., Approved for public release; distribution is unlimited.

This thesis demonstrates the process by which the concepts of open systems architecture (OSA) might be applied within the context of an existing systems engineering methodology to result in a flexible system. This is accomplished by combining an existing systems engineering process model with OSA management and business principles to execute a successful asset-repurposing program. To demonstrate utility of this OSA approach to systems engineering management, this thesis analyzes an atypical asset-repurposing program: the conversion of a 1610 Class Landing Craft Utility to an unmanned surface vehicle. This thesis shows that OSA technical architecture is best implemented by defining high-level, business and technical flexibility requirements. This thesis argues that proper up-front architecting can balance non-recurring acquisition costs with future recurring lifecycle and modernization costs. A reference model and open standards are used to show the value of interface flexibility. This analysis makes the case for extending the useful service life of a Naval asset via repurposing rather than disposing of the asset, as is traditional. Furthermore, this analysis shows that strategic reuse or repurposing of assets represents an innovative alternative to the traditional sense of new-product acquisition, new-construction, and product modernization decisions., http://archive.org/details/convertingmanned1094544004, Civilian, Department of the Navy, Approved for public release; distribution is unlimited.

The thesis addressed the control system development for a high-speed surface vessel. In particular, the work utilized modern adaptive control techniques to design a speed following controller for the SeaFox ASV; the vehicle features three distinct speed, regimes including the displacement, rapid transition and planing regimes. The study started with the collection of experimental data required to characterize the operating modes and the inherent nonlinear phenomena of the high-speed ASV. Then, it proceeded to system identification study with an objective to develop a mathematical model of the vehicle thus aiming to represent the ASVs speed dynamics at various regimes and to facilitate control system development. After completing the model development, three speed following controllers were designed A classical Proportional-Integral-Derivative (PID), a nonlinear Model Reference Adaptive (MRAC) and a L1 Adaptive Controller. The motivation behind the choice of three different controllers is two-fold. First, comparison of the linear and nonlinear control approaches is desired to better illustrate the achievable control architecture limitations. Second, comparing two types of nonlinear adaptive control architectures allowed the selection of the best control algorithm for operating the ASV speed in the presence of highly non-linear dynamics and significant disturbances acting on it. Furthermore, each controller is integrated with the SeaFox mathematical model and implemented with and without realistic operational disturbances. This provided a basis for objective comparison among the controllers and gave a means to demonstrate their relative robustness and performance characteristics. Finally, the MRAC and the PID controller were implemented onboard the actual SeaFox ASV and tested in numerous sea-trials under natural conditions to once again demonstrate the advantages and limitations of the chosen control architectures., http://archive.org/details/adaptivespeedcon109456811, Lieutenant, United States Navy

Unmanned vehicles (UVs) are expected to be an integral part of the U.S. Navy's expeditionary and carrier strike groups and are quickly being integrated into maritime operations. Command and control issues must be resolved, however, in order to utilize unmanned systems as intelligence, surveillance, and reconnaissance assets. The purpose of this research was to assess the current doctrine of mission tasking with respect to tactical unmanned vehicles (UVs) and determine a method for effectively tasking these systems. The problem was analyzed by applying the factors of METT-T: mission, enemy, terrain and weather, troops and support available, and time available to UV-enabled maritime missions. The analysis identified specific implications for unmanned vehicles and emphasized important considerations for tasking and allocating UVs. METT-T analyses generally result in courses of action, however, tasking is a command and control issue, and therefore, four organizational structures emerge for tasking UVs A significant finding of this study is that the current doctrinal framework of the composite warfare commander's concept can support tasking unmanned vehicles, but requires revision to effectively address UV allocation issues., http://archive.org/details/missiontaskingof109451569, Ensign, United States Navy, Approved for public release; distribution is unlimited.

Robust communications are key to the success of naval operations such as area surveillance, control, and interdiction. Communication and sensor networks allow the flow of data and critical information that is necessary for conducting an operation from both the tactical and strategic perspectives. In naval operations, the platforms are hardly stationary, as the networking infrastructure operates from a variety of platforms in motion on the sea, above the sea, and from space, in the case of satellite support. Sensor networks consist of nodes made up of small sensors that are able to monitor, process, and analyze phenomena over geographical regions of varying sizes and for significant periods. Some categories of these small, and sometimes low-cost, sensors are able to collect and transmit, or relay, sensor data about physical values (e.g., temperature, humidity, and sea state), or dynamic attributes of objects, such as speed, direction, and the existence of dangerous substances (e.g., radioactive materials and explosives). The objective of this thesis is to examine how unstructured sensor networks, known also as ad-hoc sensor networks, can effectively support maritime interdiction operations and regional security by providing reliable communications and flow of information., http://archive.org/details/adhocsensornetwo1094517389, Lieutenant, Hellenic Navy

U.S. military and civilian vessels are critically vulnerable to asymmetric threats in littoral environments. Common asymmetric weapons such as Anti-Ship Cruise Missiles (ASCM), Low Slow Flying (LSF) aircraft and Fast Attack Craft (FAC) / Fast Inshore Attack Craft (FIAC) threaten U.S. strategic goals and can produce unacceptable losses of men and material. The SEA-18B team presents an operational concept for a family of Unmanned Surface Vessels USV) capable of defending ships from asymmetric swarm attacks. This USV, the Tailorable Remote Unmanned Combat Craft (TRUCC), can operate in concert with the next generation of capital surface vessels to combat this critical threat with maximum efficiency. Critical performance criteria of the TRUCC family were determined through agent-based simulation of a Straits of Hormuz Design Reference Mission. Additional models addressed ship synthesis and operational availability. A Technology and Capability Roadmap outlines areas of interest for investment and development of the next-generation USV. Interim technology and capability milestones in the Roadmap facilitate incremental USV operational capabilities for missions such as logistics, decoy operations and Mine Warfare. The TRUCC operational concept fills a critical vulnerability gap. Its employment will reduce combat risk to our most valuable maritime assets: our ships and our Sailors., http://archive.org/details/tailorableremote1094515434, Approved for public release; distribution is unlimited.

The ability of Towed Linear hydrophone Arrays (TLA) to detect submarine-emitted narrow band tonals makes them the submarine tracking sensor of choice. Recent TLA improvements allow surface ships, Unmanned Underwater Vehicles (UUVs), Unmanned Surface Vehicles (USVs), and submarines alike to detect modern submarines by towing arrays. Allowing the full spectrum of Navy assets access into the Anti-submarine Warfare (ASW) arena is vital to countering future submerged threats. The generation of dynamic TLA and state estimation models in Simulink is detailed in this thesis. The dynamic TLA model receives user-specified TLA parameters and performs Dolph-Chebyshev optimization to form a set of beams which are steered for tracking. The TLA parameters can be specified to meet the needs of the towing vehicle, whether it is a submarine, ship, USV or UUV. The state estimation model uses outputs received from a mobile platform towing an array to estimate the target state. The state estimation model uses both bearing-only and Doppler-bearing Extended Kalman Filters to estimate target state. These models provide a basic platform which can be used to enhance ASW capabilities. Specifically, the models can aid in determining optimal future ASW-asset allocation, improving TLA tracking algorithms, and improving information presented to submarine operators., http://archive.org/details/dynamictowedrray1094537725, Lieutenant Commander, United States Navy, Approved for public release; distribution is unlimited.

The Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This final report summarizes concepts generated by five teams of junior officers and early career engineers over the course of three days., Deputy Undersecretary of the Navy – PPOI, 100 Navy Pentagon Room 5E171, Washington, DC 20350 and Office of Naval Research (ONR), One Liberty Center, 875 North Randolph Street, Suite 1425, Arlington, VA 22203-1995, Approved for public release; distribution is unlimited.

The Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This report is the compilation of annual reports from FY11 through FY16 summarizes CRUSER activities in the first five years of operation., Deputy Undersecretary of the Navy – PPOI, Office of Naval Research (ONR), Approved for public release; distribution is unlimited.

The Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This FY18 annual report summarizes CRUSER activities in its seventh year of operations, and highlights future plans., Deputy Undersecretary of the Navy – PPOI, 100 Navy Pentagon Room 5E171, Washington, DC 20350, Office of Naval Research (ONR), One Liberty Center, 875 North Randolph Street, Suite 1425, Arlington, VA 22203-1995, Prepared for: Naval Research Program (NRP), Approved for public release; distribution is unlimited.

The U.S. Navy seeks to reduce costs associated with anti-submarine warfare (ASW) operations by exploring the use of unmanned surface vehicles (USVs). Currently, the process of finding submarines tends to be tedious and manpower intensive due to the high volume of acoustic data with limited means to filter for valuable information. Therefore, innovative software frameworks are required to transition from a one-to-many to a many-to-one USV/ human interaction model. By examining potential software frameworks, this thesis addresses many of the benefits and challenges inherent to using USVs in dynamic maritime environments. Furthermore, this evaluation provides a building block for the continued development of USV software systems., http://archive.org/details/softwarerchitect1094550537, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.