In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calib...

In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and comm...

The project iMARECULTURE is focusing in raising European identity awareness using maritime and underwater cultural interaction and exchange in Mediterranean Sea. Commercial ship routes joining Europe with other cultures are vivid examples of cultural interaction, while shipwrecks and submerged sites, unreachable to wide public are excellent samples that can benefit from immersive technologies, ...

Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchang...

—Localizing machine type communication (MTC) devices or sensors is signi cantly important due to the increasing popularity of machine to machine (M2M) communication networks in location-based applications such as health monitoring, rescue operations, vehicle tracking, and wild re monitoring. Moreover, ef cient localization approaches for sensor-based MTC devices reduce the localization error an...

Oceanographers need to study, analyse and interpret the biological and physical characteristics of marine organisms in the waterbed and sea floor. Images and Videos are important source of information and aids for their study. However, there are unique set of constraints in underwater environment that have limited our ability to process underwater images. Some of the important constraints in un...

This paper describes the design of an underwater acoustic communications system for multiple underwater vehicles, based on frequency-hopping multiple-access (FHMA) and tamed spreadspectrum communications. The system makes used of the tamed spread-spectrum method, frequency hopping, 4FSK, and a rake receiver. In order to make the system more practical, the underwater channel and the effect of th...

In this paper, we propose an underwater object detection method using monocular vision sensors. In addition to commonly used visual features such as color and intensity, we investigate the potential of underwater object detection using light transmission information. The global contrast of various features is used to initially identify the region of interest (ROI), which is then filtered by the...

An underwater robot is one of the important ocean equipment, and especially its stealth performance has influenced on the vitality in naval warfare. Structure radiation noise as the main source of underwater robot noise, so analysis on vibration and noise radiation is a topic of great concern. The way is used widely that based on fluid-solid coupling modal analysis combined with simulation on v...

Abstract: To provide a conventional autonomous underwater vehicle with gliding capability, we assume a moving battery and a buoyancy bag installed in a torpedo shaped autonomous underwater vehicle. We develop a mathematical model for the underwater vehicle and derive a stable gliding condition for it. Then an LQR controller is designed to control the zigzag depth of the vehicle, where the deriv...