This paper presents the advanced sonar sensor model capable of building an underwater terrain map based on the Bayes filter in the manner of the occupancy grid. The proposed sonar sensor model basically considers the losses of received ultrasound intensity according to the underwater absorption and reflection on a terrain surface. The Bayes filter including the advanced sonar sensor model is ap...

The aim of this paper is to highlight the prospects and problems of optical wireless communication for applications in the field of Underwater Wireless Sensor Networks (UWSNs).This paper reviews the physical fundamentals and engineering implementations for efficient information exchange via wireless communication using physical waves as the carrier among nodes in an underwater sensor network. H...

Recently, various forms of ocean energy such as wave, tidal, marine current, and ocean thermal energy conversion are considered as source of alternative clean energy because of the increased oil price, international political issues, and global warming issues, etc. For this reason, underwater robot is believed to play a key role in both development and protection of the ocean. Until now, underw...

This study assessed accuracy of surface and underwater 3D reconstruction of a calibration volume with and without homography. A calibration volume (6000 × 2000 × 2500 mm) with 236 markers (64 above and 88 underwater control points--with 8 common points at water surface--and 92 validation points) was positioned on a 25 m swimming pool and recorded with two surface and four underwater cameras. Pl...

Underwater acoustic wireless sensor networks (UAWSNs) are capable of supporting underwater missions. Due to the unique characteristics of underwater environments e.g. large attenuation and long propagation delay, the transmission range of sensor nodes in UA-WSNs is usually much shorter than that of the terrestrial counterparts, which limits communications between sensors and makes the system in...

This paper proposes the result of hardware in the loop simulation (HILS) for performance evaluation about a small attitude heading reference system (AHRS) based micro electro mechanical system (MEMS) suitable for small unmanned underwater vehicle. Unmanned underwater vehicles (UUV) have many applications in scientific, military, and commercial area due to its autonomy and the navigation system ...

This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded ...

An indirect adaptive control for an autonomous underwater vehiclemanipulator system (UVMS) based on an extended Kalman filter (EKF) is presented in this paper. This method overcomes the disadvantages of existing disturbance observers and direct adaptive control schemes, which are designed or analyzed by linear system techniques and regressor-based techniques. The proposed control scheme can be ...

Underwater wireless sensor networks consist of a certain number of sensors and vehicles that interact to collect data and perform collaborative tasks. The sensor network consists of static and mobile underwater sensor nodes. The nodes communicate point-to-point using a novel high-speed optical communication system integrated into the TinyOS stack or other small operating system, and they broadc...

Underwater acoustic sensor networks (UASNs) consist of movable and stationary nodes, which usually communicate using the acoustic channel. Underwater acoustic communication networks are particularly susceptible to malicious attacks due to the high transmission power requirements, rapidly changing channel characteristics, multi-path echoes, high bit error rates, high ambient noise, high and vary...