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...

Atmospheric muons play an important role in underwater/ice neutrino detectors. In this paper, a parameterisation of the flux of single and multiple muon events, their lateral distribution and of their energy spectrum is presented. The kinematics parameters were modelled starting from a full Monte Carlo simulation of the interaction of primary cosmic rays with atmospheric nuclei; secondary muons...

The Solar-powered Autonomous Underwater Vehicle (SAUV) platform has been developed over the past several years as a means to achieve long-endurance cooperative missions, and the design of mobile routing protocols has become one of the main areas of focus during this process. This paper reports on the lessons learned from the design, simulation-based evaluation, and field testing of two protocol...

history of underwater diving dates back to antiquity. breath-hold technique in diving was known to the ancient nations. however, deep diving progressed only in the early decades of the 19 th century as the result of advancements in efficient underwater technologies which subsequently led to invention of sophisticated sets of scuba diving in the 20 th century. currently, diving is performed for ...

Aiming at high overshoot and steady-state error in fuzzy controller of underwater vehicles, a new method based on data mining technique was presented. Apply Boolean association rule data mining to mine the polling list of fuzzy control from the database of manual operation record, and simulation and outfield experiments were carried out on Super Mohawk underwater vehicle to verify the feasibili...

Due to the absorption and scattering effects of light in water bodies non-uniformity insufficiency artificial illumination, underwater images often present various degradation problems, impacting their utility applications. In this paper, we propose a model-based image simulation learning-based enhancement method for coping with problems images. We first derive simplified model describing image...

Although the techniques of cooperative transmission have been developed for terrestrial sensor networks in recent years to improve the bit error rate (BER) performance, the unique characteristics of the underwater acoustic communication channel, such as large and variable propagation delay and the three-dimensional network topology, make it necessary to reconsider the implementation and analysi...

We transform the 3D underwater positioning problem into its 2D counterpart via a projection technique that employs depth information available to underwater sensors. After showing that a non-degenerative projection preserves network localizability, we present a purely distributed localization scheme termed USP for underwater acoustic sensor networks. In USP, reference nodes are projected to the...

Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV‐based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition...

Behavior of blast wave in underwater explosion is of interest to metal forming community and ship designers. Underwater detonation is, also a potential hazard to the water intakes or a plant spent fuel pool. In this paper, some techniques for calculating free-field blast parameters such as pressure and impulse in underwater explosion and prediction of bubble pulsation parameters are presented a...