Bibliographic record
Abstract
A nonlinear, 6 degree-of-freedom maneuvering dynamics and control simulator for the Theseus autonomous underwater vehicle (AUV) has been validated against several sets of full scale trials and independent predictive methods. The vehicle hydrodynamic coefficients are estimated with standard theoretical and empirical methods augmented with towing tank test results. The control algorithm implemented in the simulator is the same as the one used in the actual vehicle. A propulsion model makes it possible to optimize vehicle range and transit speeds as the battery capacity changes during the mission. The simulated vehicle response compares well against full scale sea trials data. The paper discusses the simulator validation and its use for vehicle design and mission applications. 1.0 INTRODUCTION In 1992, Defence Research Establishment Pacific (now amalgamated with Defence Research Establishment Atlantic (DREA)) contracted ISE Research Ltd. (ISER) to build an AUV capable of laying cable under Arctic ice. ISER designed and built the Theseus AUV shown in Figure 1 for a 450 km range, a cruising speed of 2 m/s, a working depth of 1000 m, and with variable ballast tanks fore and aft. With a 2.44 m long by 1.12 m diameter payload bay and additional ballast tanks to correct for deploying cable, Theseus can lay up to 220 km of fiber-optic cable in its current configuration. The vehicle has a modular design for ease of transport, fault-tolerant control software, navigational accuracy to better than 0.5% of distance traveled (cross track error is much better), acoustic and fiber-optic telemetry systems, and terminal acoustic homing (Ferguson et al, 1995). In April 1995, Theseus went on its first Arctic mission in the ice covered waters offEllesmere Island, Canada. The successful trial verified launch and recovery procedures, tested all vehicle systems in an under-ice environment (navigation, telemetry, cable deployment, etc.), and led to refined techniques for delivering fibre-optic cable under the ice. Four dives accumulated 13 kin of under-ice distance traveled and laid 9 km of fiber-optic cable. , i ~' ~ Cable Packs ., buoyancy Tank Cable Exit Tube ~/ Figure 1: The Theseus AUV is 10.5 m long, 1.3 m diameter, displaces 119 kN, and has a 5 kW electric propulsion motor In April 1996 at Alert, Canada, Theseus met its operational objectives and laid 175 km of cable. The AUV was deployed through a 2 m by 13 m hole in the 1.7 m thick ice, traversed at depths of up to 425 m, delivered the other end of the fiber optic cable by flying through a 200 m loop suspended from the ice surface and returned to the launch site (Ferguson et al, 1999). The vehicle was autonomous for all of the 54 hour, 350 km round trip except when delivering the far end of the cable, when manual control of the vehicle via this same cable was used. This experience, which spans design, construction, and operations, has shown that judicious use of vehicle dy~mics and control models can contribute to many stages of the development process. The models are valuable tools for: vehicle hullfonn and control algorithm design; testing old and developing new maneuvers; evaluating vehicle responses; determining how top speed, endurance, battery power, and propulsion requirements can be met; experimenting with ballast compensation strategies to address payload changes during a mission; analyzing navigational schemes; investigating emergency scenarios, and minimizing costly sea trial time. However, these models need to be validated to be of practical use. ISER has been collaborating with DREA to develop and validate vehicle
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".