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From: brutzman@cs.nps.navy.mil (Don Brutzman)
Subject: AUV 94 program
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Organization: Naval Postgraduate School, Monterey
Date: Sat, 16 Jul 1994 20:47:44 GMT
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                        IEEE Oceanic Engineering Society
              Symposium on Autonomous Underwater Vehicle Technology
                                     AUV 94

                                July 19-20, 1994

                        Charles Stark Draper Laboratories
                          Cambridge, Massachusetts USA

     The IEEE Oceanic Engineering Society is sponsoring the next Symposium on
Autonomous Underwater Vehicle Technology (AUV 94) on July 19-20, 1994.  The
Symposium will be held at the Charles Stark Draper Laboratories in Cambridge,
Massachusetts USA.

     The focus of the Symposium is AUTONOMOUS OPERATION OF UNDERWATER VEHICLES. 
Topics include but are not limited to:

   Sensors and Multi-Sensor Fusion   Communications and Telemetry
   Navigation                        Imaging Techniques and Systems
   Modeling and Simulation Methods   Mission Control and Software Architectures
   Energy Systems                    Autonomous Manipulation
   Vehicle Design and Control        Launch and Recovery Techniques and Issues
   Multiple Cooperating Vehicles     Scientific and Environmental Applications


                               Advance Program


Vehicle Systems

Distribution of Guidance, Navigation, and Control Functionality in the 
Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work 
Packages Program
G.M. Trimble, R.V. Markett, Marine Systems, Lockheed Missiles and Space 
Company, Sunnyvale, CA

Smart Communications System (SMART COMMS)
T.A. Frank, A. L. Sheridan, Naval Undersea Warfare Center, Undersea 
Systems Division, Newport, RI

Remote Environmental Measuring Units
C. von Alt, B. Allen, T. Austin, R. Stokey, Woods Hole Oceanographic 
Institution, Woods Hole, MA


Underwater Vision

Real-Time Video Mosaicking of the Ocean Floor
R.L. Marks, S.M. Rock, Department of Aeronautics and Astronautics, 
Stanford University, Palo Alto, CA
M.J. Lee, Monterey Bay Aquarium Research Institute, Monterey, CA

The Role Of Vision for Underwater Vehicles
J. Santos-Victor, J. Sentieiro, Instituto de Sistemas e Robotica,  
Instituto Superior Tecnico, Lisboa, PORTUGAL

An AUV Vision System for Target Detection and Precise Positioning       
H.H. Pien, D.E. Gustafson, The Charles Stark Draper Laboratory,
Cambridge, MA
W.F. Bonnice, SatCon Technology Corporation, Cambridge, MA


Software Architectures I

Activity--Based Mission Planning and Plan Management for Autonomous Vehicles
W.D. Hall, The Charles Stark Draper Labs, Cambridge, MA
J.A. Farrell, College of Engineering, University of California -- Riverside,
Riverside, CA

A Concurrent, Object--Oriented Implementation for the Tactical Level of the
Rational Behavior Model Software Architecture for UUV Control             
S.--H.  Kwak, F. P. B. Thornton Jr., Dept. of   Computer Science, Naval   
Postgraduate School, Monterey, CA                                         

Distributed Decentralized Architecture for Autonomous Cooperative Operation 
of Multiple Agent System
A. Yavnai, RAFAEL, Haifa, ISRAEL


Vehicle Systems II
 
The Control System of a Small Virtual AUV
G. Veruggio, R. Bono, M. Caccia, CNR - Istituto Automazione Navale, 
Genova, ITALY

SPV--Self Propelled Vehicle Underwater Platform for MCM Search and
Classification Sonars
C. Podesta, C. Ghignone, Riva Calzoni S.p.A., Bologna, ITALY

Experimental Study on a Underwater Robotic Vehicle: ODIN
S.K. Choi, G. Takashige, J. Yuh, Dept. of Mechanical Engineering,       
University of Hawaii at Manoa, Honolulu, HI


Object Detection
 
A Sonar Based Obstacle Avoidance System for AUVs
G. Conte, S. Zanoli, Dipartimento Electronica e Automatica, Universita di
Ancona, Ancona, ITALY

On Shape and Range Recovery from Images of Underwater Environments
S. Negahdaripour, Electrical and Computer Engineering Dept., University 
of Miami, Coral Gables, FL
R. Dutta, Computer Science Dept., University of Massachusetts, Amherst, MA

Real Time Underwater Object Detection Based on an Electrically Scanned 
High Resolution Sonar
L. Henriksen, Institute of Automatic Control Systems, Institute of
Automatic Control Systems, Technical University of Denmark, Lyngby, 
DENMARK


Software Architectures II

An Approach to Intelligent Distributed Control for Autonomous Underwater 
Vehicles
S. M. Smith, Ocean Engineering Department,      
Florida Atlantic University, Boca Raton, FL

Design of a Mission Management System for the Autonomous Underwater 
Vehicle MARIUS
C. Bizingre, P. Oliveira, A. Pascoal, F. L. Pereira, et al, University 
of Porto, PORTUGAL

A Heuristically Constrained Dynamic Perception Architecture for the  
Explosive Ordance Disposal Autonomous Underwater Vehicle Robotic Work
Packages Program                                                     
G.M. Trimble, Lockheed Missiles and Space Company, Sunnyvale, CA     


Vehicle Systems III

Tactical/Execution Level Communication for Control of Hovering Behaviors
of the NPS AUV II 
A.J. Healey et al, Dept. of Mechanical Engineering, Naval Postgraduate 
School, Monterey, CA

The Ocean Voyager II: An AUV Designed for Coastal Oceanography
S.M. Smith, S.E. Dunn, Ocean Engineering Department,    
Florida Atlantic University, Boca Raton, FL

A Second Generation Survey AUV
J.G. Bellingham, C.A. Goudey, T.R. Consi, J.W. Bales, D.K. Atwood, 
J.J. Leonard, C. Chryssostimidis, Underwater Vehicles Laboratory, MIT Sea 
Grant College Program, Cambridge, MA


Underwater Communications
 
Adaptive Equalization Algorithms For High Rate Underwater Acoustics 
Communications
J.G. Proakis, Dept of Electrical and Computer Engineering, Northeastern  
University, Boston, MA
M. Stojanovic, J.A. Catipovic, Woods Hole Oceanographic Institution, Woods
Hole, MA        

Reduced-Complexity RLS Estimation for Shallow Water Channels
M. Kocic, D. Brady, Dept of Electrical and Computer Engineering, 
Northeastern  University, Boston, MA
S. Merriam, Woods Hole Oceanographic Institution, Woods Hole, MA 

Noise Cancelling Performance of an Adaptive Receiver for Underwater 
Communications
J. Catipovic, M. Johnson, Woods Hole Oceanograhic Institution, Woods Hole, 
MA
D. Adams, Loral Defense Systems, Akron, OH


Power Components
 
Aluminium Fuel Cell Power Sources For Long Range Unmanned Underwater 
Vehicles
G. M. Scamans, Alupower Inc., Warren, NJ
D. K. Creber, J. H. Stannard, J. E. Tregenza, Alupower Canada, Kingston,
CANADA

Electric Motor/Controller Design Tradeoffs for Noise, Weight, and 
Efficiency
N. L. Kopp, G.W. Brown, Kollmorgen, Industrial Drives Division, Radford, VA 

Comparison of Advanced Rechargeable Batteries for Autonomous Underwater 
Vehicles
J.P. Decroix, G. Chagnon, SAFT R & D Center, Cockeysville, MD

%--------------------------------------------------------------------------


Vehicle Design Issues

Design, Construction and Hydrodynamic Testing of the AUV MARIUS
P. Egeskov, A. Bjerrum, COWIconsult, Birkerod, DENMARK
A. Pascoal, C. Silvestre, Institute for Systems and Robotics, Instituto 
Superior Tecnico, Lisboa, PORTUGAL
C. Aage, Dept. of Ocean Engineering, Technical University of Denmark, 
Lyngby, DENMARK
L.W. Smitt, Danish Marine Institute, Lyngby, DENMARK 

An Integrated Approach to the Design and Analysis of Navigation,        
Guidance and Control Systems for AUVs
D. Fryxell, P. Oliveira, A. Pascoal, C. Silvestre,  Instituto Superior 
Tecnico, Lisboa, PORTUGAL

Cable Tracking for Autonomous Underwater Vehicles
Y. Ito, KDD R&D Labs, Saitama, JAPAN
N. Kato, Tokai University, Shizuoka, JAPAN
J. Kojima, S. Takagi, K. Asakawa, Y. Shirasaki, KDD R&D Labs, Saitama, 
JAPAN



Fuzzy Control

An Initial Assessment of Fuzzy Logic Vessel Path Control
M.G. Parsons, A.C. Chubb, Y. Cao, Dept. of Naval Architecture and Marine
Engineering, 
University of Michigan, Ann Arbor, MI
A.G. Stephanopoulou, Dept. of Electrical Engineering and Computer 
Science, University of Michigan, Ann Arbor, MI

Fuzzy Logic for Depth Control of Unmanned Undersea Vehicles
P.A. DeBitetto, The Charles Stark Draper Laboratory, Cambridge, MA

A Comparative Study of Some Control Systems For a Submersible 
H.F. Moraes, R.M. Sales, Dept. of Electrical Engineering, 
Univ. of Sao Paulo, BRAZIL
H.P. Cumming, W.M. Silva, COPESP, Cidade Universitaria, BRAZIL



Vehicle Positioning and Motion

Motion Minimization of AUV's for Improved Imaging Sensor Performance 
Beneath a Seaway
R.S. Peterson, T. Nguyen, R. S. Rodriguez, Coastal Systems Station Dahlgren
Division, Naval Surface Warfare Center, Panama City, FL

Computational Issues in Motion Planning For Autonomous Underwater Vehicles
with Manipulators
A.W. Quinn, D.M. Lane, Ocean System Lab., Dept. Computing and Electrical 
Engineering,    
Heriot-Watt University, Edinburgh, UK

Navigation and Localization in a Partially Known Environment
R. Cristi, Dept. of Electrical and Computer Engineering, Naval Postgraduate
School, Monterey, CA


Adaptive Control

A Quick Adaptation Method in a Neural Network Based Control System for AUVs
K. Ishii, T. Fujii, T. Ura, Institute of Industrial Science, University of 
Tokyo, JAPAN

Hybrid Adaptive Control of Autonomous Underwater Vehicle
S.S.Tabaii, F. El-Hawary, M. El-Hawary,  
Technical University of Nova Scotia, CANADA 

Motion Control of an Autonomous Underwater Vehicle with an Adaptive Feature
N.E. Leonard, P.S. Krishnaprasad, Institute for Systems Research and 
Department of Electrical Engineering, 
University of Maryland, College Park, MD



Acoustic Sensors
									   
Propagation Medium Impact on Sonar Coherent Processing for High Frequency  
Synthetic Aperture Imaging                                                 
C.M. Ciany, G.M. Walsh, Equipment Division, Raytheon Company,
Portsmouth, RI
A.M. Clark, Harbor Branch Oceanographic Institution, Fort Pierce, FL
									   
Arctic  Ocean Trials of Trackpoint Ultrashort Baseline Acoustic Positioning
Systems                                                                    
M.R. Black, Defence Research Establishment Pacific, Victoria, CANADA
B. Butler, I.S.E. Research Ltd., Port Coquitlam, CANADA

Low Side--Lobe PVDF Element Using a Space Tapered Electrode
M.F. Janik, P. Brogan, L. Livernois, Vehicle Sonar Systems, Raytheon Company, 
Portsmouth, RI                                                              



Multiple Vehicles
							 
COLA: A Language to Support Communication Between Multiple Cooperating  
Vehicles                                                                
E.H. Turner, Computer Science Department,University of New Hampshire,   
Durham, NH                                                              
S.G. Chappell, Marine Systems Engineering Lab., Northeastern University,
Boston, MA                                                              
S.A. Valcourt, M.J. Dempsey, Computer Science Department, University of
New Hampshire, Durham, NH                                               
									
Using a Fleet of Autonomous Bottom Crawling Vehicles for Surf Zone      
Operations                                                              
C.N. Duarte, Naval Undersea Warfare Center, Newport, RI    
D.J. Carlino, DJC Analytics Inc., Wakefield, RI                         

Vehicle  Control Architecture for Operating Multiple Vehicles      
Y. Kuroda, T. Ura, K. Aramaki, Institute of Industrial Science,
University of Tokyo, JAPAN                                         


Thrusters and Propulsors

Propeller / Stator Propulsors for Autonomous Underwater Vehicles
M. Guner, E.J. Glover,  Department of Marine Technology, University of 
Newcastle upon Tyne, UK

High Efficiency, Counter--Rotating Ring Thruster for Underwater Vehicles
J.K. Holt, D.G. White, Engineering Division, Harbor Branch Oceanographic 
Institution, Fort Pierce, FL

Toward an Improved Understanding of Thruster Dynamics for Underwater 
Vehicles
A.J. Healey, Dept. of Mechanical Engineering, Naval Postgraduate School, 
Monterey, CA
S.M. Rock, Aerospace Robotics Lab., Stanford University, Palo Alto, CA
S. Cody, Mech. Eng., N.P.S., Monterey, CA
D. Miles, Aerospace Robotics Lab., Stanford University, Palo Alto, CA
J.P. Brown, Mech. Eng., N.P.S., Monterey, CA


 
Navigation I

Hybrid Navigation System for Long Range Operation                         
J.M. Rendas, I. M. G. Lourtie,  Electrical and Computer Engineering Dept.,
Instituto Superior Tecnico, Lisboa, PORTUGAL                             
									  
Advances in the State of the Art for AUV Inertial Sensors and Navigation  
Systems                                                                   
R. Cox, S. Wei, Business Developement, Litton Guidance and Control Systems
Div., Woodland Hills, CA                                                  
									  
Acoustic Differential  Delay and Doppler Tracking System for Long Range   
AUV Positioning and Guidance                                              
A. H. Carof, Activites Sous Marine, Thompson Sintra, Sophia Antipolis, 
FRANCE                                                                    



Reliability

Failure Detection in an Autonomous Underwater Vehicle                     
A. Orrick, M. McDermott, Mechanical Engineering Dept., Texas A&M         
University, College Station, TX                                           
D.M. Barnett, E.L. Nelson, G.N. Williams, Computer Science Dept., Texas   
A&M University, College Station, TX                                      
									  

On--Line Damage Detection for Autonomous Underwater Vehicles
G.J.S.  Rae, Marine and Environmental Systems Division, Florida Institute 
of Technology, Melbourne, FL
S.E. Dunn, Ocean Engineering Program, Florida Atlantic University,  
Boca Raton, FL                                                            
									  
A Compact Underwater Acoustic Modem                                       
D. Herold, M. Johnson, Woods Hole Oceanograhic Institution, Woods Hole, MA



Simulation and Control

A Comparison Between H--Infinity/Mu--Synthesis Control and Sliding--Mode 
Control for Robust Control of a Small Autonomous Underwater Vehicle
C.L. Logan, Dept. of Electrical Engineering and Computer Science, 
Massachusettes Institute of Technology, Cambridge, MA

Submersible Control Using the Linear Quadratic Gaussian with Loop Transfer 
Recovery Method
D. L. Juul, Texas Instruments, Texas A&M 
University, College Station, TX
M. McDermott, Mechanical Engineering Dept., Texas A&M 
University, College Station, TX
E.L. Nelson, D.M. Barnett, G.N. Williams, Computer Science Dept., 
Texas A&M University, College Station, TX 

On Optimum Turning Configurations
C.J. Henry, General Dynamics Corporation, Electric Boat Division, 
Groton, CT

Improvement of the Low--Speed Control Authority of an AUV Through Hull 
Shaping
D.E. Humphreys, Vehicle Control Technologies Inc., Burke, VA

Simulation of UUV Environmental Sampling in Modeled Ocean Frontal Zones
E.R. Levine, Naval Undersea Warfare Center, Division Newport, Newport, RI
A. Shein, J. Kloske, Ocean Engineering Dept., Florida Atlantic University, 
Boca Raton, FL


Navigation II

The Application of Spread Spectrum Signalling Techniques to Underwater 
Acoustic Navigation
T.C. Austin, Woods Hole Oceanographic Institution, Woods Hole, MA

AUV  Guidance with Chemical Signals
T.R. Consi, MIT Sea Grant Underwater Vehicles Laboratory, Cambridge, MA
J. Atema, Boston University Marine Program, Woods Hole, MA
C.A. Goudey, J. Cho, C. Chryssostomidis, MIT Sea Grant Underwater Vehicles
Laboratory, Cambridge, MA

Ultra--High Resolution, Biologically Inspired Sonar
S. S. Reese, J.B. Kenney, Equipment Div, Raytheon Company, Portsmouth, RI

Acoustic  Communication Between Two Autonomous Underwater Vehicles
S. G. Chappell, J.C. Jalbert, Marine System Engineering Labs., 
Northeastern University, Boston,MA
P. Pietryka, J. Duchesney, Datasonics, Inc., Cataumet, MA

A Simulation Model for AUV Navigation
S.T. Tuohy, Dept. of Ocean Engineering, Massachusettes Institute of 
Technology, Cambridge, MA




AUV94 CONFERENCE REGISTRATION FORM
BOSTON CAMBRIDGE MARRIOTT
JULY 19-20, 1994

Last Name_________________________First Name_______________                     
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Full Registration - 
Includes Proceedings + Video Tape+ 1 Dinner Cruise Ticket
Fees Prior to June 15 1994      Fees After June 15 1994
[ ] Member IEEE $235.00         [ ] Member IEEE $285.00
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One Day Registration- Technical Sessions Only Plus Proceedings
[ ] Member IEEE $100.00 [ ] Nonmember   $125.00
Please Specify Which Day        [ ] Tuesday             [ ] Wednesday

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(Certification of Current Enrollment must accompany registration)
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TOTAL REGISTRATION FEES                                 $________       

Additional Proceedings@$60.0 / copy     $________
(Available at the Conference)

Additional Dinner Cruise 
Tickets@ $65.00 ea.                     $_______                        

TOTAL ADDITIONAL COSTS                                  $________               

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Payment may be made by check payable to 'AUV94', or by credit card 
if the following is supplied

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AUV94 Conference Registration
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or Fax to (216)-963-0319


HOTEL RESERVATION FORM
1994 IEEE 
Autonomous Underwater Vehicle
Symposium
Boston Marriott, Cambridge, Mass.
July 19-20, 1994

Please Reserve_________________room(s) for_________person(s).
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