Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.

This work presents in detail the fuzzy control design for yaw and velocity control of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations of forward velocity. The model is linearized and several linear controllers are designed for actuation at certain situations, in a way that the fuzzy control allows to handle these controllers globally.

Las empresas de comunicaciones celulares móvi­les en Colombia requieren mayor recurso espectral para ampliar su portafolio de servicios; sin embar­go, no hay frecuencias adicionales para tal fin, no obstante es conocido que existe infrautilización de muchas bandas licenciadas. Por esta razón nuevas tecnologías de radio son estudiadas para su imple-mentación en búsqueda de solucionar este proble­ma, ellas son: Radio Definida por Software (RDS ) [1], Radio Cognición (RC) [2] y Acceso Dinámico al Espectro (ADE) [3]. Estasestrategias proponen movilidad en todo el espectro de las comunicacio­nes de radio para suplir necesidades y lograr ma­yor eficiencia en la administración de dicho recur­so. Desde esta perspectiva se presenta un estudio de caso para examinar los requisitos que se deben cumplir para la implementación de una red de radio cognitiva en Bogotá, para lo cual se evaluó la po­sibilidad de migración de las comunicaciones ce­lulares desde sus bandas asignadas a las bandas de televisión UHF, y la coexistencia sin interferencias entre estos 2 servicios. El estudio arrojó viabilidad en dicha migración; sin embargo, la implementa-ción de radio cognitiva compromete voluntades de los operadores y del Ministerio de Tecnologías de la Información y las Comunicaciones de Colom­bia, y demanda disponibilidad de hardware, soft­ware y plataformas de radio flexibles.

Abstract-This paper presents the design of an obstacle avoidance algorithm for Guanay II AUV. The obstacle detection system disposes a SONAR and its use guarantees the safety in navigation of AUV. Obstacle avoidance is performed based on a fuzzy reactive architecture for different forward speeds of the vehicle. The simulation results obtained through the implementation of the algorithms designed in Matlab validate the designs.

The autonomous underwater vehicle(AUV) Guanay II was designed to navigate on the surface of the sea, and in specific points stop and realize a vertical immersion. This vehicle has three thrusters located on stern, oriented to provide propulsion and yaw control on the horizontal plane. The used immersion system is based in the change of buoyancy of the vehicle, by using a piston system. Due to this design, the vehicle does not have the ability to navigate in immersion, considering that the inclination of the vehicle (pitch angle) cannot be controlled. In this work, we show the design of the vector propulsion system for the vehicle Guanay II, which will allow to control the pitch in immersion. To this end, we have provided to the two laterals thruster the possibility of varying their propulsion angle on the vertical plane, by the use of servomotors. Next, we will show the design and the results obtained.