Fig. 1-1. Bird's Eye View of VORAM AUV 34

Fig. 2-1. Arrangement of main equipments 38

Fig. 2-2. Main frame and buoyant 39

Fig. 2-3. General Arrangement of VORAM AUV 40

Fig. 2-4. Camera canister and OAS canister 41

Fig. 2-5. Bottom of VORAM AUV 43

Fig. 2-6. Bottom view of VORAM AUV 44

Fig. 2-7. Vertical thruster duct and mount... 46

Fig. 2-8. Horizontal thruster and main frame 47

Fig. 2-9. Mounting of main can 48

Fig. 2-10. Head cover of image processing... 48

Fig. 2-11. Mount of batteries 49

Fig. 2-12. Mount of ATM sonar 50

Fig. 2-13. Elevator actuators 51

Fig. 3-1. Control and navigation system configuration of VORAM AUV 56

Fig. 3-2. Canisters of VORAM AUV 58

Fig. 3-3. Electric system of CAN1 58

Fig. 3-4. Electric system of CAN2 59

Fig. 3-5. Electric system of CAN4 59

Fig. 3-6. Connector definition of main control system 60

Fig. 3-7. Connector definition of IFBD1 61

Fig. 3-8. Connector definition of IFBD2 61

Fig. 3-9. Connector definition of IFBD3 62

Fig. 3-10. Connector definition of IFBD1 62

Fig. 3-11. Connector definition of CAN1 and CAN2 63

Fig. 3-12. Photo of CAN2PS 64

Fig. 3-13. Description of connection between canisters 74

Fig. 3-14. Connection of electric system in CAN1 75

Fig. 3-15. Connection of electric system in CAN2 76

Fig. 3-16. Batteries built in frame of... 77

Fig. 3-17. Flow of power on... 80

Fig. 3-18. Main contol system equipped with main... 81

Fig. 3-19. Block diagram of emergency circuit 82

Fig. 3-20. Weight drop magnet unit 83

Fig. 3-21. Drivers of thruster and elevator motors 83

Fig. 3-22. Block diagram of thruster controller 85

Fig. 3-23. Block diagram of fin actuator system 85

Fig. 4-1. Sensors of VORAM AUV 87

Fig. 4-2. OAS sonar beam directions and coordinate system 88

Fig. 4-3. OAS system block diagram 90

Fig. 4-4. OAS transducers and amps 91

Fig. 4-5. Blades of current meter 93

Fig. 4-6. Dimension of current speed meter jigger 93

Fig. 4-7. Calibration of current speed meter 94

Fig. 4-8. Sensors of motion measurement system 96

Fig. 4-9. Motion measurement system of VORAM 97

Fig. 4-10. Camera and it's canister 98

Fig. 4-11. Camera recorder built in electric system 99

Fig. 5-1. Block Diagram of Acoustic Telemetry System in Underwater 103

Fig. 5-2. Main Connector between ATM and Control Processor 107

Fig. 5-3. Transducer Connections 108

Fig. 5-4. Program Flowchart of ATM for AUV 109

Fig. 5-5. Program Flowchart of ATM for the mother ship 111

Fig. 5-6. RF Communication System at Sea Surface 112

Fig. 5-7. Equivalent circuit of the acoustic projector transducer 115

Fig. 5-8. Electrical equivalent circuit of the designed transducer with... 120

Fig. 5-9. Transmitting and Receiving Sensitivity of Transducer(TVR/RVR) 121

Fig. 5-10. Transmitting and Receiving Sensitivity of Transducer... 122

Fig. 5-11. Impedance Characteristics of Transducer in water 122

Fig. 5-12. Block Diagram of Modulator and Demodulator 124

Fig. 5-13. Synchronization Circuit of 4800bps data 125

Fig. 5-14. Configuration of QPSK Modulation Circuit 125

Fig. 5-15. FM Modulator Circuit 126

Fig. 5-16. Configuration of QPSK Demodulation Circuit 127

Fig. 5-17. 1/3 Convolutional Encoder 129

Fig. 5-18. Code Tree of Convolutional Coding 129

Fig. 5-19. State Diagram of Convolutional Encoder 132

Fig. 5-20. Trellis Diagram 133

Fig. 5-21. Decoder Flowchart for Viterbi Algorithm 135

Fig. 5-22. Huffman Encoding of DC coefficient 137

Fig. 5-23. Encoding Procedure of AC coefficient 137

Fig. 5-24. Configuration of 2 dimension Huffman Encoding 138

Fig. 5-25. Element of base image 139

Fig. 5-26. Format of compressed image data 140

Fig. 5-27. Structure of compressed image data 141

Fig. 5-28. Configuration of ISA-JPEG-BIB... 143

Fig. 5-29. Configuration of Snapper-16 Acquisition Board 144

Fig. 5-30. Flowchart for JPEG Operating Program 144

Fig. 5-31. Tapped Delay Line Structure of the LMS Algorithm 146

Fig. 5-32. π/4 QPSK Modulation and Demodulation Signal 150

Fig. 5-33. Modulator and Demodulator of Acoustic Image... 151

Fig. 6-1. Software development environment 153

Fig. 6-2. Initializing and debugging environment 154

Fig. 6-3. AUV Operation environment 155

Fig. 6-4. Software architecture of VORAM 156

Fig. 6-5. Flowchart of HW test mode 159

Fig. 6-6. An example of flowchart for depth control 162

Fig. 7-1. Model Test Equipment(PMM) Drawing 167

Fig. 7-2. Vertical PMM test of VORAM AUV 168

Fig. 7-3. Coordinate System 169

Fig. 7-4A. Vertical Inclining Test : Variation of Longitudinal Force... 170

Fig. 7-4B. Vertical Inclining Test : Variation of Pitching Moment with... 170

Fig. 7-5A. Vertical Static Test : Variation of Longitudinal Force Coefficient... 171

Fig. 7-5B. Vertical Static Test : Variation of Normal Force Coefficient with... 171

Fig. 7-5C. Vertical Static Test : Variation of Pitching Moment Coefficient... 172

Fig. 7-6A. Static Elevator Test : Variation of Normal Force Coefficient with... 172

Fig. 7-6B. Static Elevator Test : Variation of Pitching Moment Coefficient... 173

Fig. 7-6C. One-Side Elevator Test : Variation of Rolling Moment Coefficient... 173

Fig. 7-7. Pure Heave Test : Variation of In-Phase Component of... 174

Fig. 7-8. Pure Pitch Test : Variation of Out-of-Phase Component of... 175

Fig. 7-9. Model Propulsion Points 176

Fig. 7-10A. One Side Propulsion Test : Variation of Sway Force... 177

Fig. 7-10B. One Side Propulsion Test : Variation of Yaw Moment... 177

Fig. 7-11. Stability Analysis 183

Fig. 7-12A. Simulation of VORAM's vertical plane motion 185

Fig. 7-12B. Simulation of VORAM'S vertical motion (delta, Vx, Vz,... 186

Fig. 7-13. Steady state motion of VORAM according to elevator angle's... 187

Fig. 7-14. Simulation of vertical plane motion for... 188

Fig. 7-15. Zig-zag test in vertical plane 189

Fig. 7-16A. Turning test of VORAM in horizontal plane 190

Fig. 7-16B. Turning test of VORAM in horizontal plane... 190

Fig. 8-1. Variable equivalent control region of... 200

Fig. 8-2. Body fixed coordinates of an AUV 202

Fig. 8-3. Dynamic response with continuous sliding... 206

Fig. 8-4. Dynamic response with continuous sliding... 206

Fig. 8-5. Dynamic response with discrete sliding mode... 207

Fig. 8-6. Dynamic response with discrete sliding mode... 207

Fig. 8-7. Tracking control with discrete sliding mode... 208

Fig. 8-8. Depth Keeping control of VORAM with continuous sliding... 210

Fig. 8-9. Depth Keeping control of VORAM with continuous sliding... 210

Fig. 8-10. Depth Keeping control of VORAM with discrete-time... 212

Fig. 8-11. Depth Keeping control of VORAM with discrete-time... 212

Fig. 8-12. Contouring control of VORAM with continuous sliding... 214

Fig. 8-13. Contouring control of VORAM with continuous sliding... 214

Fig. 8-14. Contouring control of VORAM with discrete-time sliding... 215

Fig. 8-15. Contouring control of VORAM with discrete-time slidlng... 215

Fig. 8-16. Contouring control of VORAM with discrete-time sliding... 216

Fig. 8-17. Contouring control of VORAM with discrete-time sliding... 216

Fig. 8-18. Experiment on depth keeping control of VORAM AUV in... 218

Fig. 8-19. Experimental and numerical results of depth keeping control... 220

Fig. 8-20. Experimental and numerical results : Δt=0.5, ρ=0.8 221

Fig. 8-21. Experimental and numerical results : Δt=1.0, ρ=0.3 223

Fig. 8-22. Experimental and numerical results : Δt=1.0, ρ=0.8 224

Fig. 8-23. Experimental and numerical results : Δt=2.0, ρ=0.3 225

Fig. 8-24. Experimental and numerical results : Δt=2.0, ρ=0.3 226

Fig. 8-25A. Planar motion of VORAM AUV (X-Y plot) 229

Fig. 8-25B. Planar motion of VORAM AUV (Yaw angle) 229

Fig. 8-25C. Planar motion of VORAM AUV (Velocities) 230

Fig. 8-25D. Planar motion of VORAM AUV (Drift angle &... 230

Fig. 9-1. Geometry of Sonar Transducers and Detected Slant Range 234

Fig. 9-2. Target position and coordinate system 238

Fig. 9-3. Simulation results : heel climbing without dynamic model 240

Fig. 9-4. Simulation results : heel climbing without dynamic model 241

Fig. 9-5. Simulation results : cliff climbing... 243

Fig. 9-6. Simulation results : cliff climbing without... 244

Fig. 9-7. Simulation result : heel climbing with dynamic... 245

Fig. 9-8. Simulation result : heel climbing with dynamic... 246

Fig. 9-9. Simulation result : heel climbing with dynamic... 246

Fig. 9-10. Simulation result : heel climbing with... 247

Fig. 9-11. Simulation result : heel climbing with... 247

Fig. 9-12. Simulation result : heel climbing with... 248

Fig. 9-13. Simulation result : heel climbing with... 248

Fig. 9-14. Simulation result : heel climbing with... 249

Fig. 9-15. Simulation result : cliff climbing with... 250

Fig. 9-16. Simulation result : cliff climbing with... 250

Fig. 9-17. Simulation result : cliff climbing with... 251

Fig. 9-18. Simulation result : cliff climbing with... 251

Fig. 9-19. Simulation result : cliff climbing with... 252