ECE Graduate Seminar
You are cordially invited to attend the following seminar:
Department of Electrical & Computer Engineering
Old Dominion University
Architecture of the Riverscout Sub-Scale
Unmanned Surface Vehicle
Dr. Yiannis Papelis
Virginia Modeling Analysis and Simulation Center
Old Dominion University
Friday, November 8, 2013
3:00 p.m. KH 224
Host: Dr. González
Full size and sub-scale unmanned surface vehicles (USVs) are increasingly used in a variety of tasks such as surveillance, patrolling and data gathering. Sub-scale USVs in particular are attractive for operations in protected waters because of their relatively low cost, stealth due to small size and operational flexibility. Typically the USVs are tele-operated, something that can create challenges because of their susceptibility to external disturbances, such wind and currents. Similar challenges apply to the design of the guidance laws utilized when the USV operates in partial autonomy modes. In this talk we describe the architecture of the Riverscout, a sub-scale, jet-powered, V-hull USV designed for protected water operations. The talk will describe the overall system design with focus on the operational modes of the craft, the basic control scheme used for the boat’s auto-pilot as well as the use of guidance vector fields for implementing waypoint following and loitering. A modeling and simulation framework is presented that allows on-site and off-site testing of the craft. Field data is provided to demonstrate the craft’s performance.
Dr. Yiannis Papelis is a Research Professor at Old Dominion University's Virginia Modeling Analysis & Simulation Center (VMASC). Before joining ODU, Dr. Papelis spent a year as visiting faculty at UCF, during which time he got involved in the DUC project. Before UCF, Dr. Papelis was the Chief Technical Officer at the National Advanced Driving Simulator at the Univ. of Iowa, where he conducted traffic safety research and worked extensively on agent based modeling of traffic, virtual environment modeling 3D visualization, and operator-in-the-loop simulator. Dr. Papelis has led numerous research projects related to transportation safety using human-in-the-loop simulation, and has been active in various national and international committees. Yiannis Papelis earned a BSEE (with honors) from Southern Illinois University in 1988, a MSEE from Purdue University in 1989 and a Ph.D. degree in Electrical & Computer Engineering from the University of Iowa in 1993. He has been involved in research on immersive virtual environments used primarily in ground vehicle simulations. Dr. Papelis is currently conducting research on autonomous agent modeling issues as applied to a wide range of topics, including simulation of critical infrastructure components, realistic simulation of crowds and control of autonomous ground and aerial vehicles.
Posted By: Linda Marshall
Date: Mon Nov 04 11:32:24 EST 2013