Papers by Richard Blidberg
... Dr. RD Shelton Mr. Geoff Holdridge Dr. George Gamota Principal Investigator WTEC Director Co-... more ... Dr. RD Shelton Mr. Geoff Holdridge Dr. George Gamota Principal Investigator WTEC Director Co-Principal ... AND SIBERIA FINAL REPORT August 1996 Brad Mooney (Panel Chair) Hassan B. Ali Richard Blidberg Michael DeHaemer Larry Gentry John Moniz Don Walsh ...
The Autonomous Undersea Systems Institute (AUSI) is currently working on the development of a sol... more The Autonomous Undersea Systems Institute (AUSI) is currently working on the development of a solar powered Autonomous Underwater Vehicle (AUV) in cooperation with the Institute of Marine Technology Problems of the Russian Academy of Sciences. This technology development program is investigating those technologies that will enable the use of solar energy to power autonomous vehicles. This paper will discuss some
Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492), 2003
... However, when the stack is sealed in the CPU housing, access is limited. ... also a base tech... more ... However, when the stack is sealed in the CPU housing, access is limited. ... also a base technology that will be used in future ALJV development in the Underwater Technologies Laboratory at ... collision avoidance system for use on the Tuvaaq vehicle is also underway at the UTL. ...
Offshore Technology Conference, 1978
Offshore Technology Conference, 1976
Technology and Applications of Autonomous Underwater Vehicles, 2002
2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578), 2004
... The DSR protocols, which are currently being deveIoped by the IETF Mobile Ad Hoc Networks Wor... more ... The DSR protocols, which are currently being deveIoped by the IETF Mobile Ad Hoc Networks Working (MANET) Group, are robust and suitable for the lower layers of the proposed application, but support a degree of scalability that AUVs will never require. ...
This report covers research submersibles and related subsea technologies in Finland, France, Russ... more This report covers research submersibles and related subsea technologies in Finland, France, Russia, Ukraine and the United Kingdom. Manned, teleoperated, and autonomous submersibles were of interest. The panel found that, in contrast to the United States, Europe is making substantial progress in cooperative and coordinated research in subsea technology, including the development of standards. France is a leader in autonomous
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
Robotic systems are of increasing interest for the widespread observation and monitoring of ecolo... more Robotic systems are of increasing interest for the widespread observation and monitoring of ecological and environmental systems. Autonomous vehicles are deployed as integral components of distributed sensor networks, and a common objective of such systems is the estimation ...
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Efficient adaptive strategies are required to facilitate the role of robotic vehicles as mobile p... more Efficient adaptive strategies are required to facilitate the role of robotic vehicles as mobile platforms supporting sensing, monitoring, and tracking capabilities. Such strategies utilize a representation of sensor variable fields as a basis for the selection of sample points. In this paper a curvature based criterion for sample selection is presented. The curvature-sensitive sampling algorithm (CSS) utilizes the estimated second-derivative of an intermediate variable field to select sample points of interest for complex process models, such as used in oceanographic sampling with AUVs. For processes for which little or no prior knowledge base exists, an iterative curvature-based adaptive sampling algorithm (ICASA) is presented. The ICASA algorithm iteratively selects sets of sample locations based on non-parametric field representations. These algorithms are evaluated with respect to simulated data, experimental data, and data from oceanographic models. The performance is shown to be significantly better than the conventional uniform grid methodology. The selected iterative samples are used to create a path plan for a robotic vehicle sampling in the region of interest
2010 IEEE Conference on Multisensor Fusion and Integration, 2010
Observation of spatially distributed oceanographic phenomena using sensor-enabled AUVs involves a... more Observation of spatially distributed oceanographic phenomena using sensor-enabled AUVs involves a trade-off between coverage and resolution. In this paper the performance of adaptive variation sensitive sample distributions in such a sensing task is evaluated under mission constraints such as finite measurement time and finite vehicle speed and compared to uniform sampling. The relative performance of the four algorithms considered is characterized in terms of localization of features in the test functions.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
This work focuses on the observation of environmental phenomena that occur as spatial distributio... more This work focuses on the observation of environmental phenomena that occur as spatial distributions in two and three dimensions, using sensor-enabled mobile vehicle (ground,air or undersea). Algorithms to guide an adaptive exploration of a given region through systematic choice of sampling locations under the constraints imposed by vehicles are presented. Variation sensitive multiresolution sample distributions are achieved through an iterative
Monitoring and controlling multiple Autonomous Underwater Vehicles (AUVs) can quickly become cumb... more Monitoring and controlling multiple Autonomous Underwater Vehicles (AUVs) can quickly become cumbersome, especially when dealing with missions extending over multiple days and when dealing with heterogeneous vehicles. The goal of ASMAC is to simplify this process so that it is easier for a user to monitor and control heterogeneous vehicles. ASMAC will achieve this through the use of a Common
IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259), 1998
Acoustic communication with an AUV is imperative for complex missions. An acoustic link between t... more Acoustic communication with an AUV is imperative for complex missions. An acoustic link between the AUV and the operator at the surface enables two way commands and data communications. The operating environment places constraints on the acoustic link, particularly in shallow water. A ray-traci ng program is presented that uses empirically derived models for both surface and bottom losses based on wave height and signal frequency; and sediment type, water properties (sound speed), signal frequency and angle of incidence respectively. Knowing the acoustic link and environmental parameters, the program predicts the sound propagation paths, identifies shadow zones and regions of multipath interference. The local sound intensity at the receiver is determined and a decision is made if communication with either another vehicle or a surface mounted link is viable.
Robotics and Autonomous Systems, 1991
ABSTRACT Although the ocean covers over two thirds of our planet, it remains in poorly explored a... more ABSTRACT Although the ocean covers over two thirds of our planet, it remains in poorly explored and only vaguely understood realm. The tools which currently exist to explore this hostile domain are limited. Autonomous Undersea Vehicle (AUV) systems are providing a new alternative for exploring and exploiting the undersea environment. This paper seeks to provide some understanding of the current state of these underwater robots and to highlight some of the research opportunities associated with underwater robotics. It suggests that the economic potential of the ocean, its strategic importance and its role in many of the global processes which mankind seeks to understand require increased research and development in the area of underwater robots. Although the last few years have seen increased attention focused in this area, much is left to be done.
Intelligent Service Robotics, 2011
... Table 2 US research organizations in marine robotics Organizations Contact researchers Key re... more ... Table 2 US research organizations in marine robotics Organizations Contact researchers Key research areas Marine robots Woods Hole Oceanographic Institution (WHOI) Dana Yoerger, Hanumant Singh, Mark Grosenbaugh, Chris von Alt, Andy Bowen ...
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998
Systems such as autonomous oceanographic sampling networks (AOSNs) that have multiple autonomous ... more Systems such as autonomous oceanographic sampling networks (AOSNs) that have multiple autonomous or semi-autonomous components must have an organization which speci es the interactions between the components to allow them to distribute and accomplish the system's tasks. AOSNs present a special challenge. They will be deployed for long periods of time, and they are open systems whose composition will change over time. Such systems require the ability to autonomously organize and reorganize in response to changes in its composition, the environment, or the mission.
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Papers by Richard Blidberg