XX Contents
13.4 Optimized Class of Autonomous Unmanned Surface Vehicles .......
330
13.5 Conclusions ..............................................................
337
References .......................................................................
339
14 Autonomous Underwater Vehicle Navigation
John J. Leonard, Alexander Bahr...............................................
341
14.1 Sensors ...................................................................
343
14.2 Algorithms ...............................................................
346
14.3 Summary .................................................................
352
14.4 Conclusion ...............................................................
353
References .......................................................................
354
15 Acoustic Communication
Milica Stojanovic, Pierre-Philippe J. Beaujean................................
359
15.1 A Brief History ...........................................................
360
15.2 Current and Emerging Modem Applications...........................
360
15.3 Existing Technology .....................................................
361
15.4 Propagation Channel....................................................
364
15.5 Point-to-Point Links: Signal Processing ...............................
374
15.6 Future Trends ............................................................
383
References .......................................................................
383
16 Autonomous Underwater Vehicle Docking
James G. Bellingham............................................................
387
16.1 Technical Elements of Docking .........................................
388
16.2 AUV Characteristics ......................................................
390
16.3 Sensors For Homing .....................................................
391
16.4 Capture and Connection Mechanisms .................................
395
16.5 Coupling Power and Communications .................................
399
16.6 AUV Control Considerations .............................................
400
16.7 Conclusions and Future Prospects .....................................
403
References .......................................................................
404
17 Underwater Vehicle Manipulators
Tae Won Kim, Giacomo Marani, Junku Yuh ...................................
407
17.1 Underwater Vehicles for Intervention Missions .......................
407
17.2 Dynamics of Underwater Vehicle Manipulators .......................
409
17.3 Teleoperation of Underwater Vehicle Manipulators ..................
410
17.4 Sensor-Based Manipulator Control ....................................
411
17.5 Coordinated Motion Control
of Underwater Vehicle-Manipulator Systems .........................
413
17.6 Underwater Autonomous Manipulation...............................
414
17.7 Conclusions ..............................................................
419
References .......................................................................
419
18 Non-Acoustic Sensors
David Fries, William Kirkwood .................................................
423
18.1 Non-Acoustic Ocean Sensors: Sourcing and Classification ...........
423
18.2 Classical Non-Acoustic Ocean Sensors .................................
424
18.3 Chemical Sensor Systems ...............................................
426
18.4 Biological Sensor Systems...............................................
429