Contents XIX
9 Digital Signal Processing
Nikolaos I. Xiros .................................................................
197
9.1
Discrete-Time Systems ..................................................
197
9.2
Digital Filters.............................................................
206
9.3
The Fast Fourier Transform (FFT) ........................................
211
9.4
Waveform Analysis ......................................................
216
9.5
Optimal Signal Estimation ..............................................
220
9.6
Concluding Remarks ....................................................
225
References .......................................................................
225
10 Control Theory and Applications
Nikolaos I. Xiros, Pak-Cheung Edgar An.......................................
227
10.1 System Theory ...........................................................
227
10.2 Analysis of LTI Systems ..................................................
237
10.3 SISO System Controls.....................................................
247
10.4 Pole Placement of LTI Systems ..........................................
261
10.5 Course-Keeping Autopilots .............................................
267
References .......................................................................
275
Part B Autonomous Ocean Vehicles, Subsystems and Control
11 Highly Maneuverable Biorobotic Underwater Vehicles
Promode R. Bandyopadhyay ...................................................
281
11.1 Biorobotics ...............................................................
281
11.2 Theoretical Foundation of Animal-Inspired Hydrodynamics
and Control ..............................................................
286
11.3 Description of Biology-Inspired Vehicles of Emergent Maturity .....
289
11.4 Reliability, Low Power Consumption,
and Disturbance Rejection of Bio-Inspired Propulsion ..............
296
11.5 Demonstrated Maneuverings of NUWC Bio-Inspired Vehicles........
296
11.6 Discussion ................................................................
297
11.7 Concluding Remarks ....................................................
298
11.8 Nomenclature............................................................
298
References .......................................................................
299
12 Autonomous Underwater Gliders
Scott A. Jenkins, Gerald D’Spain................................................
301
12.1 Concept...................................................................
301
12.2 Hydrodynamics of Wings Versus Propellers............................
305
12.3 Underwater Glider Attributes and Limitations ........................
306
12.4 Optimal Size and Shape for Horizontal Transport Efficiency .........
308
12.5 Thermal Glider...........................................................
318
12.6 Discussion and Conclusions ............................................
319
References .......................................................................
320
13 Autonomous Sea Surface Vehicles
Stefano Brizzolara, Robert A. Brizzolara.......................................
323
13.1 Platforms .................................................................
324
13.2 Autonomous Maneuvering and Navigation ...........................
326
13.3 Naval Architecture of AUSV Design......................................
327