The cost function of constant modulus algorithm (CMA) is simplified to meet second norm form, and the blind equalizer can use recurrent least squares (RLS) algorithm to update the weights. Considering the underwater acoustic channel is usually nonlinear, decision feedback equalizer is used as the blind equalizer. According to the simplified cost function of CMA, the weights of forward part and ...

good dynamics model is essential and critical for the successful design of navigation and control system of an underwater vehicle. However, it is difficult to determine the hydro-dynamics forces, especially the added mass and the drag coefficients. In this paper, a new experimental method has been used to find the hydrodynamics forces for the ROV II, a remotely operated underwater vehicle. The ...

The new method of the synthesis of multidimensional adaptive control system with reference model self-adjustment for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly prov...

This paper considers thruster dead zones and saturation limits in fine motion control of underwater robots. Thruster dead zones and saturation limits are major nonlinear elements that make fine motion control of underwater robots difiicult. If the vehicle is designed with a redundant thruster configuration, the dead zone and the nonlinear region around it can be completely avoided by implementi...

Design of autonomous underwater robots is particularly difficult due to the physical and sensor challenges of the underwater environment. Inaccessibility during operation and low probability of failure recovery makes robot stability and reliability paramount. Building an accurate and complete virtual world simulation is proposed as a necessary prerequisite for design of an autonomous underwater...

In this paper, we proposed a novel receiver algorithm for coherent underwater acoustic communications. The proposed receiver is composed of three parts: (1) Doppler tracking and correction, (2) Time reversal channel estimation and combining, and (3) Joint iterative equalization and decoding (JIED). To reduce computational complexity and optimize the equalization algorithm, Time reversal (TR) ch...

In setting up an underwater acoustic network the first and foremost task is node deployment. In underwater acoustic sensor networks, localization is one of the most important technologies to increase the coverage area and also to reduce the energy consumption of the node. Localization plays a critical role in many applications. This paper aims at analysing the node deployment strategies on loca...

In this paper, an eecient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on eecient O(N) algorithms, where N is the number of links in the manipulator, and has been extended to include the eeects of a mobile base (the URV body). In addition, the various hydrodynamic forces exerted on these systems in underwater ...

A novel localization method based on multiple signal classification (MUSIC) algorithm is proposed for positioning an electric dipole source in a confined underwater environment by using electric dipole-receiving antenna array. In this method, the boundary element method (BEM) is introduced to analyze the boundary of the confined region by use of a matrix equation. The voltage of each dipole pai...

Before the wide deployment of underwater sensor networks becomes a reality, one challenge to be met is efficient error recovery in the presence of high error probability, long propagation delays and low acoustic bandwidth. We believe that network coding is a promising technique for this purpose due to Eq. (1) the computational capability of underwater sensor nodes, and Eq. (2) the broadcast nat...