This paper deals with the three-dimensional reconstruction of an underwater environment from multiple acoustic range views acquired by a remotely operated vehicle. The problem is made challenging by the very noisy nature of the data, the low resolution and the narrow field of view of the sensor. Our contribution is twofold: first, we introduce a statistically sound thresholding (the X84 rejecti...

This paper presents the specification and verification in the Prototype Verification System (PVS) of a protocol intended to facilitate communication in an experimental remotely operated vehicle used by NASA researchers. The protocol is defined as a stack-layered composition of simpler protocols. It can be seen as the vertical composition of protocol layers, where each layer performs input and o...

-There are schools where good teachers do not want to go. The reasons for this are discussed in the context of both developing and developed economies. It is proposed that learning in such areas, particularly for children, needs the support of appropriate technology. The concept of “presence” of a mediator is discussed in the context of distance education. Some results from experiences in teach...

There are many harmful marine organisms, such as starfishes, in underwater environments. Underwater task to eliminate such organisms by divers is dangerous and inefficient. This paper proposes a novel remotely operated vehicle (ROV) platform for a robotic application to capture harmful marine organisms. The proposed underwater robotic platform has four rotatable thrusters for hovering motion ag...

In the last decades, robots have been used to explore areas hard to reach for humans. Underwater environments fall into this category, since their operating conditions make even simpler operations risky to be carried out by divers, especially when they have to be performed at high depth. A possible approach to overcome this problem is to use a Remotely Operated Vehicle (ROV), although this easi...

This work describes the procedures and methodology employed in recent mission at sea for gathering data from submerged sites of archaeological interest. The emphasis in this activity is mainly in developing, testing and validating solutions that simplify the work of archaeologist by employing unmanned robotic vehicles and automatic procedures and that can be applied to deep water sites that are...

ROV (Remotely Operated Vehicle) is applied widely currently which is an important tool for detecting in the water, salving on the ocean floor and resources surveying in the ocean. However it is common for ROV that is affected by surging and altering barycenter in the practice, and it is easy for pitching usually, and then ROV is low efficiency. Aiming at the problem, we designed a system of pit...

The abundance and behaviour of fish on and around coral reefs at Twin Mounds and Giant Mounds, carbonate mounds located on the continental shelf off Ireland (600–1100 m), were studied using two Remotely Operated Vehicle (ROV) dives. We recorded 30 fish taxa on the dives, together with three species of Scleractinia (Lophelia pertusa, Madrepora oculata and Desmophyllum cristagalli) and a diverse ...

Four non-invasive methods (three acoustic and one video) were compared to estimate the abundance and vertical distribution of scyphomedusae, using the locally abundant coronate species Periphylla periphylla in Lurefjorden, north of Bergen, Norway, as the test organism. The acoustic methods included single-target quantification by, respectively, a hull-mounted 38 kHz split-beam echo sounder and ...

Remotely keyed encryption schemes (RKESs) support fast encryption and decryption using low-bandwidth devices, such as secure smartcards. The long-lived secret keys never leave the smartcard, but most of the encryption is done on a fast untrusted device, such as the smartcard’s host. This paper describes an new scheme, the length-preserving “accelerated remotely keyed” (ARK) encryption scheme an...