The first goal of this project involves the further development and transition of ChemFIN, a prototype autonomous profiling sensor for chemicals and biomolecules, into a commercial product that can be readily deployed on fixed or mobile ocean observation platforms such as coastal gliders, profiling moorings, and propeller driven unmanned underwater vehicles (UUVs). The second goal of this proje...

The undersides of floating ice shelves and sea in the Antarctic Arctic are among least accessible environments on Earth. interactions between shelves, ice, ocean considerable scientific interest. In order to fully understand complex picture not just its surface, it is quite necessary map underside comprehend full context growth decay patterns. Autonomous Underwater Vehicles (AUVs) rapidly becom...

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely reliably. Autonomous Underwater Vehicles employing advanced navigation control systems present several advantages. Robust algorithms novel improvements positioning are needed optimize operations. This paper proposes a new general formulation of this problem together with basic approach fo...

As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for the use of underwater vehicle systems has become more apparent. Underwater vehicles represent a fast-growing research area and promising industry as advanced technologies in various subsystems develop and potential application areas are explored. Great efforts have ...

This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying in the underwater environment. Moreover, the proposed control law adopts quaternions to represent attitude errors, and thus avoids representation singularities that occur when using instead Euler angles des...