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Publicações

Publicações por Aníbal Matos

2013

Investigation of Underwater Acoustic Networking Enabling the Cooperative Operation of Multiple Heterogeneous Vehicles

Autores
Cruz, NA; Ferreira, BM; Kebkal, O; Matos, AC; Petrioli, C; Petroccia, R; Spaccini, D;

Publicação
MARINE TECHNOLOGY SOCIETY JOURNAL

Abstract
In this paper, we investigate the creation of an underwater acoustic network to support marine operations based on static and mobile nodes. Each underwater device combines communication, networking, and sensing capabilities and cooperates with the other devices in coordinated missions. The proposed system is built upon the SUNSET framework, providing acoustic communications and networking capabilities to autonomous underwater vehicles, autonomous surface vessels, and moored systems, using underwater acoustic modems. Specific solutions have been developed and tested to control the underwater nodes acoustically and to instruct the vehicles on keeping a given formation using acoustic links. One of the novelties of our approach has been the development and utilization of a realistic simulation infrastructure to provide a very accurate representation of all the dynamic systems involved in the network, modeling the vehicle dynamics, the acoustic channel, and the communication messages. This infrastructure has been extensively used to investigate and validate the proposed solutions under different environmental conditions before the actual deployment of devices. Several experiments were then conducted in the laboratory and in the field. The experimental results have confirmed the effectiveness of the proposed solutions and the reliability of the proposed simulation framework in estimating system performance.

2013

Localization of a sound source: optimal positioning of sensors carried on autonomous surface vehicles

Autores
Ferreira, BM; Matos, AC; Campos, HS; Cruz, NA;

Publicação
2013 OCEANS - SAN DIEGO

Abstract
This paper addresses the problem of optimal, three-dimensional, localization of an acoustic pinger. Making use of acoustic receivers, the time-of-arrivals are computed and fused with their positions to estimate the target position. Motivated by practical applications where autonomous surface vehicles are employed to carry sensing equipment, these receivers are constrained to lie in a plane. The optimal configuration of sensors is derived by maximizing the determinant of the Fisher information matrix. A method to track and estimate the position of the target is proposed and implemented in a formation of four vehicles. Experimental results show very motivating results with successful estimates of the target position.

2013

Measuring underwater noise with high endurance surface and underwater autonomous vehicles

Autores
Silva, A; Matos, A; Soares, C; Alves, JC; Valente, J; Zabel, F; Cabral, H; Abreu, N; Cruz, N; Almeida, R; Ferreira, RN; Ijaz, S; Lobo, V;

Publicação
2013 OCEANS - SAN DIEGO

Abstract
This paper describes the results of AcousticRobot'13 - a noise measurement campaign that took place off the Portuguese Coast in May 2013, using two high endurance autonomous vehicles capable of silent operation (an underwater glider and an autonmomous sailing vessel) equipped with hydrophones, and a moored hydrophone that served as reference. We show that the autonomous vehicles used can provide useful measurements of underwater noise, and describe the main advantages and shortcomings that became evident during the campaign.

2013

Modular Building Blocks for the Development of AUVs - from MARES to TriMARES

Autores
Cruz, NA; Matos, AC; Ferreira, BM;

Publicação
2013 IEEE INTERNATIONAL UNDERWATER TECHNOLOGY SYMPOSIUM (UT)

Abstract
The design of an Autonomous Underwater Vehicle (AUV) is governed by a complex tradeoff between mission performance and required payload sensors, and taking into account possible constraints in fabrication, assembly and operational logistics. On a commercial level, the technology is relatively mature, with several companies offering off-the-shelf AUV solutions in a wide range of sizes and performance levels, for a wide variety of operational scenarios. However, to ensure proper performance in specific applications, such broad-range systems require factory customization, with the consequent impact in time and cost. This paper describes a program for the development of underwater vehicles based on modular building blocks. In this case, modularity encompasses both physical parts and also software and control systems. These modules can be rearranged, replaced or individually redesigned to yield a great variety of AUV configurations in a relatively short time. The paper describes the development of MARES, a small hovering AUV, and also TriMARES, a custom 3-body hybrid AUV/ROV, built from the same modules in little over 6 months.

2013

Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation

Autores
Cruz, NA; Ferreira, BM; Matos, AC;

Publicação
SEA TECHNOLOGY

Abstract
The MARES is a small, torpedo-shaped AUV 1.5 meters long and 32 kilograms in weight in the basic version. In a typical configuration, a PC/104 computational system manages the entire mission, including communications with other devices and a control station. Navigation is provided by the fusion of data from an inertial measurement unit (IMU) and an acoustic system for long baseline localization (LBL), complemented by a small GPS receiver, when the vehicle is at the surface. Four thrusters provide the capability to move as fast as 5 knots and to hover in the water column, with a set of lithium-ion batteries ensuring 10 hours of operation. MARES is a highly modular vehicle, with the ability to integrate a great variety of payload sensors, and it has been operating since 2007, mainly in environmental- monitoring missions. The capability of vehicles to follow a given trajectory and maintain reliable data exchange is among the most relevant topics when it comes to coordination of marine robots.

2013

On the use of Particle Filters for Terrain Based Navigation of sensor-limited AUVs

Autores
Melo, J; Matos, A;

Publicação
2013 MTS/IEEE OCEANS - BERGEN

Abstract
Different Terrain Based Navigation systems for underwater vehicles have already been presented, with experimentally validated results and consistent performance. However, these results are mostly based on the use of both high accuracy inertial navigation systems and high quality sonars. This article presents a study on Particle Filter algorithms that cope with peculiarities of Terrain Based Navigation for sensor limited systems. The focus is on the influence on several parameters, namely the process noise, the measurement noise and the number of the particles, and how these can improve the obtained results. Based on the results obtained by simulation, we present some conclusions relevant for the design of future implementation of the algorithms.

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