The survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV designed and developed at the Institute of Computer Engineering of the University of Luebeck. The drive is realized by the minimal configuration of three thrusters that are arranged at 120• to each other. To achieve omnidirectional movement in the 3D space, each motor pivots through 180• around its radial axis with the aid of a servo motor. This leads to a manoeuvrability of six degrees of freedom (DOF). Smart-E is equipped with various sensors like a pressure and temperature sensor, a 360• scanning sonar, an IMU-AHRS system and a tilt camera unit at the bottom. Besides the autonomous behaviors, the main challenge is to control all six DOF of the AUV to achieve a smooth and controllable omnidirectional underwater movement even in rough environments.
Abstract-Design space exploration and detailed analysis in the field of hardware design applies simulation in many variants. A frequently used method is stochastic simulation where systems are stimulated by randomised input. Synthetic traffic traces mainly form the load for stochastic simulation of network computing devices. The generator presented here utilises two well-known models to meet the features of a majority of applications and traffic sources. Based on application-specific parameter sets, the traffic models stochastically generate packet flows which are merged to an aggregated stream. Nevertheless, all packets can always be identified and are not resolved to a data mass representing the load of a link.
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