Underwater soft robots are challenging to model and control because of their high degrees freedom intricate coupling with water. In this letter, we present a method that leverages the recent development in differentiable simulation coupled differentiable, analytical hydrodynamic assist modeling an underwater robot. We apply Starfish, customized robot design is easy fabricate intuitive manipulat...

Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance ...

in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...

underwater target imaging using acoustic waves is possible by employing the method used in synthetic aperture radars. in recent years, synthetic aperture sonar has been the subject of several researches. wherein imaging of underwater moving target is required, inverse synthetic aperture sonar (isas) idea can be used but specifications and limitations of underwater channel should be considered. ...

In this paper, we propose a new metric to measure the spatial reuse efficiency in networks: the spatial reuse index. We observed that the spatial reuse index in Underwater Sensor Networks (UWSNs) is significantly lower than in RF networks due to the relatively low spreading loss of acoustic signals. As a result, UWSNs generally have much lower network throughput. To address this problem, we pro...