NDLI: Implementation of machine learning algorism to autonomous surface vehicle for tracking and navigating AUV

Content Provider	IEEE Xplore Digital Library
Author	Osaku, J. Asada, A. Maeda, F. Yamagata, Y. Kanamaru, T.
Copyright Year	2013
Description	Author affiliation: Cosmo Ocean Corp., Kitakushu, Japan (Yamagata, Y.; Kanamaru, T.) \|\| Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan (Osaku, J.; Asada, A.; Maeda, F.)
Abstract	On the construction of Kanda port in Fukuoka prefecture, many harmful chemical bombs have been discovered beneath the sea bottom and they are needed to be dug up carefully and quickly as possible. So our group is trying to develop a new sub-bottom interferometric synthetic aperture imaging sonar (sub-bottom interferometric SAS) system to recognize chemical bombs as centimeters-resolution 3D-sub-bottom acoustic image. In this R&D study, it is the reasonable methodology to use an autonomous underwater vehicle (AUV) which can survey the seafloor with sub-bottom interferometric SAS transmitter and receiver at a constant height. To accomplish this R&D goal, positioning AUV accurately is needed, so we are trying to develop the technique which minimizes the error of positioning, using autonomous surface vehicle (ASV) which tracks AUV and surveys its absolute position by super short-baseline (SSBL) method. In development of tracking ASV, it is important to develop the controlling algorism which orders ASV to steer stably and control adequately its velocity according to the result of SSBL positioning of the AUV. Based on machine learning method, we are trying to develop an algorism which infers appropriate control of ASV from precious controlling log. Implementation of this algorism will improve the precision of underwater positioning. This paper reports the development status of our ASV and controlling algorism.
Sponsorship	Japan Council OE Chapt.
Starting Page	1
Ending Page	4
File Size	923343
Page Count	4
File Format	PDF
ISBN	9781467359481
e-ISBN	9781467359498
DOI	10.1109/UT.2013.6519900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Synthetic aperture sonar Computers Software Acoustics Compass Weapons Global Positioning System
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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