Autonomous Underwater Vehicles (AUV) speed and position control systems are subjected to an increased focus with respect to performance and safety due to their increased number of commercial and military application as well as research challenges in past decades, including underwater resources exploration, oceanographic mapping, undersea wreckage salvage, cable laying, geographical survey, coas...

In this chapter, a real-time, graphical simulation system, called DynaMechs, for underwater robotic vehicle (URV) systems is presented. An eecient dynamic simulation algorithm is developed based on an eecient O(N) robot dynamics algorithm where N is the number of links in the system. It has been extended to include the eeects of various hydrodynamic forces that are exerted on these systems in u...

The requirement for monitoring the physiological functions of the test subject in weightlessness simulation activities coupled with the advantages of using telemetry for such monitoring led to the development of a biotelemetry system. One valuable technique for simulation of weightlessness uses the neutral buoyancy obtained by having the subject under water, which leads to a requirement that th...

Over 70% of our planet is covered by water. It is widely believed that the underwater world holds ideas and resources that will fuel much of the next generation of science and business. Unfortunately, underwater operations are fraught with di culty due to the absence of an easy way to collect and monitor data. In this thesis we propose a novel underwater sensor network designed to mitigate the ...

Source localization is a crucial issue in underwater acoustics. Traditional matched field processing (MFP) use large vertical arrays to locate an underwater acoustic target. However, the use of the large arrays not only increases equipment and computational cost but also some problems such as element failures and array title degrades the localization performance. In this paper, the matched fiel...

In this paper we investigate the creation of an underwater acoustic network to support marine operations based on static and mobile nodes. Each underwater device combines communication, networking, and sensing capabilities, and cooperates with the other devices in coordinated missions. The proposed system is built upon the SUNSET framework, providing acoustic communications and networking capab...

In this paper, an underwater base station initiating (UBSI) resource allocation is proposed for underwater cellular wireless networks (UCWNs), which is a new approach to determine the backhaul capacity of underwater base stations (UBSs). This backhaul is a communication link from a UBS to a UBS controller (UBSC). Contrary to conventional resource allocation protocols, a UBS initiates to re-dete...

When adapting computer vision algorithms to underwater imaging, two major differences in image formation occur. While still traveling through the water, light rays are scattered and absorbed depending on their wavelength, creating the typical blue hue and low contrast in underwater images. When entering the underwater housing of the camera, light rays are refracted twice upon passing from water...

Robotic service vehicles are presently seen as a viable means for performing satellite maintenance and ESA (European Space Agency) is presently investigating the possible characteristics and potential of a Geostationary Service Vehicle (GSV). A stereovision tracking system should be included in this GSV to help the operator track and capture the target satellite. This paper deals with a system,...

In this work, a boundary element model of an underwater landslide is developed. Careful gridding and time stepping techniques are demonstrated that produce highly accurate simulation results based on conservation of volume. A sensitivity analysis shows how to optimize simulation accuracy. The general techniques demonstrated herein are applicable to arbitrary moving submerged bodies. q 1999 Else...