A. J. Healey

Learn More
This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle. An attempt is made to highlight its’ current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components(More)
A Small Autonomous Underwater Vehicle Nnavigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation system composed of low-cost and small-size components. It is designed to demonstrate the feasibility of using a low-cost strap-down inertial(More)
Underwater acoustic networks can be quite effective to establish communication links between autonomous underwater vehicles (AUVs) and other vehicles or control units, enabling complex vehicle applications and control scenarios. A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are(More)
A consequence of employing coherent detection methods in medical ultrasound imaging systems is the occurrence of interference effects in the received echo field, which produce the speckle artefact. Speckle can severely degrade the information content of the image, and its efficient removal from ultrasound pulse-echo images is the focus of a number of(More)
This paper proposes the use of Prolog as a rule based specification language for the coordination of multiple control functions as required to perform missions with autonomous underwater vehicles. We first define terms used in this type of control system and show that such systems fall into the class of 'Hybrid' controllers coupling discrete state / time(More)
An important capability for Autonomous Underwater Vehicles (AUVs) is station keeping. Station keeping is the ability of a vehicle to maintain position and orientation with regard to a reference object. In shallow water this mission most likely will be disrupted by the large wave induced hydrodynamic forces acting on the vehicle. To counter this problem,(More)