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Characterization of underwater target geometry from autonomous underwater vehicle sampling of bistatic acoustic scattered fields
(Massachusetts Institute of Technology, 2015)
One of the long term goals of Autonomous Underwater Vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based ...
Stochastic acoustic ray tracing with dynamically orthogonal equations
(Massachusetts Institute of Technology, 2020)
Developing accurate and computationally efficient models for ocean acoustics is inherently challenging due to several factors including the complex physical processes and the need to provide results on a large range of ...
Design considerations for engineering Autonomous Underwater Vehicles
(Massachusetts Institute of Technology, 2007)
Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and ...
Variable buoyancy system metric
(Massachusetts Institute of Technology, 2009)
Over the past 20 years, underwater vehicle technology has undergone drastic improvements, and vehicles are quickly gaining popularity as a tool for numerous oceanographic tasks. Systems used on the vehicle to alter buoyancy, ...
A parallel hypothesis method of autonomous underwater vehicle navigation
(Massachusetts Institute of Technology, 2009)
This research presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating ...
Computational strategies for understanding underwater optical image datasets
(Massachusetts Institute of Technology, 2013)
A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical ...
Signal absorption-based range estimator for undersea swarms
(Massachusetts Institute of Technology, 2020)
Robotic swarms are becoming increasingly complex on the surface and in air due to highspeed and reliable communication links, Global Positioning Satellites (GPS), and visual support to relative navigation. However, the ...
Uncertainty Quantification in ocean state estimation
(Massachusetts Institute of Technology, 2013)
Quantifying uncertainty and error bounds is a key outstanding challenge in ocean state estimation and climate research. It is particularly difficult due to the large dimensionality of this nonlinear estimation problem and ...
Automated open circuit scuba diver detection with low cost passive sonar and machine learning
(Massachusetts Institute of Technology, 2019)
This thesis evaluates automated open-circuit scuba diver detection using low-cost passive sonar and machine learning. Previous automated passive sonar scuba diver detection systems required matching the frequency of diver ...
Dense, sonar-based reconstruction of underwater scenes
(Massachusetts Institute of Technology, 2019)
Three-dimensional maps of underwater scenes are critical to-or the desired end product of-many applications, spanning a spectrum of spatial scales. Examples range from inspection of subsea infrastructure to hydrographic ...