Published by De Gruyter (O)

Volume 63 Issue 5 - Special Issue: Maritime Systems / Jürgen Beyerer

Issue of at - Automatisierungstechnik

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Contents
Journal Overview

Publicly Available April 28, 2015

Editorial

April 28, 2015

Maritime Systems

Thomas Rauschenbach, Jürgen Beyerer

Page range: 323-324

Übersicht

April 28, 2015

Towards Underwater Inspection Using AUVs

A review on the state of the art and technology taking the autonomous inspection of the “Albstollen” as challenging use case

Jörg Kalwa

Page range: 325-333

Abstract

AUVs – Autonomous Underwater Vehicles have reached a state of maturity that allows bringing them into applications beyond research. Still being a new “toy” in the toolbox for offshore work the market is somewhat reluctant to employ these robots due to missing field prove. This paper gives an overview about the state of the art of applications and technology and finalizes in a recent example, dmonstrating autonomy and robustness.

Methoden

April 28, 2015

Approaches to Acoustic and Visual Underwater Sensing

Philipp Woock, Thomas Stephan, Jürgen Beyerer

Page range: 334-343

Abstract

This paper presents an overview of the challenges encountered in underwater sensing. Two state-of-the-art approaches are presented dealing with optic and acoustic sensor data processing. Employing suitable methods for the different modalities enables fusion of the information contained in the optic radiative transfer and acoustic reflectivity.

April 28, 2015

Cooperative Navigation in a Team of Marine Robots for a Specific Ocean Mapping Mission

Thomas Glotzbach, Sebastian Eckstein, Christoph Ament

Page range: 344-354

Abstract

The estimation of position and orientation of underwater agents is the basis for control, guidance and mapping tasks. We present a solution for a team of submerged marine agents for a specific scenario. The concept takes advantage of the distribution of the single agents, with one of them at the surface to access GPS measurements. The submerged units use data from a USBL unit, local sensors, and acoustic communication and employ a set of filters to perform relative navigation. We will describe the concept and show results of HIL simulation as precondition for upcoming sea trials.

Anwendungen

April 28, 2015

Guidance, Navigation and Control of Unmanned Surface Vehicles

Martin Kurowski, Adel Haghani, Philipp Koschorrek, Torsten Jeinsch

Page range: 355-367

Abstract

In this paper, a framework for guidance, navigation and control of marine vehicles is proposed. The focus is on application of unmanned surface vehicle for performing high accuracy measuring tasks. The desired maneuvering path is defined as a combination of standard path sections and delivered to the guidance system. The measurements are filtered and the unmeasurable states are estimated in navigation system and fed back to the guidance and control systems. An extended Kalman filter based approach is used in navigation system, in order to take the nonlinear behaviors of the system into consideration. The proposed control scheme is a modular system consisting of a cascade structure, where the unified inner loop is responsible for velocity control and the outer loop can be adapted independently to various missions. The model parameters are estimated based on subspace identification method using data obtained from a measuring vehicle, MESSIN. The results have been further used for design of control and navigation systems. The performance and effectiveness of the proposed framework are demonstrated on a model for a path following mission.

April 28, 2015

Precise Maneuver Planning for Berth-to-Berth Navigation of Modern Ships

Holger Korte, Oliver Koeckritz, Martin Kurowski

Page range: 368-379

Abstract

Modern steering devices for ships lead to an improved control capability and allow independent actions without tugs by mates in use with modern electronics. Within the project AdaNav developed MIMO controller enables DP equivalent functions for ships being able to traverse. The following contribution shows the inclusion of such modern maneuvering quality as computer based assistance system into electronic ship guidance systems like ECDIS. To guarantee fully responsibility of mates the concept bases on introduced planning practice implementing additional waypoints and attributes.

April 28, 2015

Guidance of AUVs for Autonomous Underwater Inspection

Marco Jacobi, Divas Karimanzira

Page range: 380-388

Abstract

In this paper, a task-based online path-planning and guidance system of underactuated unmanned underwater vehicles (UUVs) for inspection of underwater infrastructure is described. Whether there are harbor submerged structures, cables, pipes, hydro-technical works, they all need to be checked in relation to structural deterioration specific potential problems such as scour, erosion, and accelerated local corrosion problems. At the highest level, the mission controller handles different event types, permitting also the execution of mission tasks. The online path-planning module generates a set of waypoints based on an environmental perception module for the AUV to follow the target object with a constant distance. The guidance method actually controls the vehicle to follow the waypoints, assuming the relative position and attitude of the vehicle is precisely estimated in real-time. By combining these methods, an AUV can perform fully autonomous inspection of underwater structures. The system was evaluated with success for several harbor and pipeline inspection scenarios in a test basin and sea trials.

April 28, 2015

Challenges in Design and Automation of Autonomous Waterborne Vehicles

Sebastian Ritz, Carl Thiede, Florin Boeck, Matthias Golz, Gerd Holbach

Page range: 389-399

Abstract

Autonomous waterborne vehicles are complex technical systems, which operate in a harsh environment. This article sensitizes to the special challenges and requirements and gives an approach for further considerations. Additionally, some automation components, especially developed for this kind of application and first practical experiences are presented.

Persönliches

April 28, 2015

Ernst Dieter Gilles 80 Jahre

Gerhart Eigenberger, Michael Zeitz

Page range: 400-401

About this journal

Objective
Automatisierungstechnik (AUTO) publishes articles covering the entire range of automation technology: development and application of methods, the operating principles, characteristics, and applications of tools and the interrelationships between automation technology and societal developments. The journal includes a tutorial series on "Theory for Users," and a forum for the exchange of viewpoints concerning past, present, and future developments. Automatisierungstechnik is the official organ of GMA (The VDI/VDE Society for Measurement and Automatic Control) and NAMUR (The Process-Industry Interest Group for Automation Technology).

Topics

control engineering
digital measurement systems
cybernetics
robotics
process automation / process engineering
control design
modelling
information processing
man-machine interfaces
networked control systems
complexity management
machine learning
ambient assisted living
automated driving
bio-analysis technology
building automation
factory automation / smart factories
flexible manufacturing systems
functional safety
mechatronic systems

Article formats
Overview articles (reviews), methodological papers, applications papers, tools papers

Volume 63 Issue 5 - Special Issue: Maritime Systems / Jürgen Beyerer

Issue of at - Automatisierungstechnik

Frontmatter

Maritime Systems

Towards Underwater Inspection Using AUVs

A review on the state of the art and technology taking the autonomous inspection of the “Albstollen” as challenging use case

Abstract

Approaches to Acoustic and Visual Underwater Sensing

Abstract

Cooperative Navigation in a Team of Marine Robots for a Specific Ocean Mapping Mission

Abstract

Guidance, Navigation and Control of Unmanned Surface Vehicles

Abstract

Precise Maneuver Planning for Berth-to-Berth Navigation of Modern Ships

Abstract

Guidance of AUVs for Autonomous Underwater Inspection

Abstract

Challenges in Design and Automation of Autonomous Waterborne Vehicles

Abstract

Ernst Dieter Gilles 80 Jahre