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• AN ALGORITHM FOR CONTROLLING AN AUTONOMOUS UNDERWATER VEHICLE WHEN SEARCHING FOR A DESIGNATED BOTTOM OBJECT WITH THE INTEGRATED USE OF VARIOUS BOTTOM MONITORING TOOLS

  V.S. Bykova , А.I. Mashoshin

  2026-04-29

  Abstract ▼

  The search for designated bottom objects is one of the most difficult tasks solved by the AUV, due to a number of factors, the main of which are: the variety of search objects (sunken submarines, surface ships, airplanes, helicopters, mines, underwater pipelines and communication cables, various underwater infrastructure), the need for integrated use for search for various bottom monitoring tools that differ in their physical principles of operation, resolution, and search performance. The purpose of the work, the results of which are presented in the article, was to develop an algorithm for managing the AUV when searching for a designated bottom object that meets these requirements, and to verify it using a digital polygon and a digital twin of the AUV. The probability of correctly attributing the detected bottom object to the search object was chosen as a criterion for choosing a bottom monitoring tool in each specific case. As a result, the logic of searching for a designated bottom object is as follows. The search for bottom objects is carried out using a tool with maximum search performance. When a bottom object is detected, the probability of its belonging to the search object is determined. If it exceeds the set high threshold, a decision is made to locate the designated bottom object. If it is less than the specified low threshold, it is decided that an extraneous object has been detected. In other cases, a decision is made on the need to examine the object with a higher resolution. The technology of classification of bottom objects based on the training of an artificial neural network trained using synthesized training material is described. The results of checking the effectiveness of the developed algorithm using a digital polygon and a digital twin of AUV are presented. The simulation of the developed algorithm showed that the integrated use of bottom monitoring tools increases the likelihood of a successful solution to the problem and reduces the time needed to solve it.

• TOP-DOWN VS BOTTOM-UP METHODOLOGIES FOR ADAS SYSTEM DESIGN

  D.E. Chickrin, А. А. Egorchev

  2021-07-18

  Abstract ▼

  Selection of the principal design methodology has a significant impact on final product
  quality, including its evolvability and scalability. The article discusses the features of traditional
  bottom-up and top-down design methodologies in the context of ADAS (driver assistance and automated
  driving systems). Necessity of the combined design methodology is shown due to unacceptability
  of “pure” methodologies for design of this kind of systems. For this purpose, the features
  and limitations of the top-down approach are considered: commitment to maximum compliance
  of the developed system with its requirements; methodological rigor of the approach; difficulty
  of system testing in the process of the development; sensitivity to changes in requirements.
  The features and limitations of the bottom-up approach are considered: possibility of iterative
  development with obtaining intermediate results; possibility of using standard components; scalability
  and flexibility of the developed system; possibility of discrepancy of functions of subsystems
  to requirements, which may appear only at later stages of development; possible inconsistency in
  development of separate subsystems and elements. The features and factors of ADAS system development
  are considered: increased requirements for reliability and safety of the system; heterogeneity
  of used components. Two stages of ADAS-systems development are distinguished: the
  stage of intensive development and the stage of extensive evolution. The applicability of one or
  another methodology to various aspects of ADAS system development and evolution (such as:
  requirements definition; compositional morphism; scalability and extensibility; stability and sustainability;
  cost and development time; development capability) is considered. A comparison of themethodologies concludes that there are aspects of technical system design and development in
  which there is a significant advantage of one or the other of the methodologies. Only the bottomup
  approach can ensure the proper evolution of the system. However, for complex systems, it is
  critical to define the initial requirements for the system, which can only be achieved using the topdown
  methodology.