In this paper, we propose a novel technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater images. There are various reason of quality degradation of underwater images i. e. , non-uniform illumination of light on the surface of objects, scattering and ...

Abstract— The Ocean is a dynamic and complex environment; it is a very complicated transmission channel that can change rapidly with the environmental conditions. Hence, to avoid failure of underwater monitoring missions, it’s crucial to predict the behavior of underwater acoustic channel. In this paper, several fundamental key aspects of underwater acoustic channel are investigated. A model ch...

Underwater systems are modern and challenging area of modern robotics. Underwater exploration is also crucial for investigating bio-marine species, monitoring pollution, and developing disaster warning system. The most significant part of the underwater exploration activities are sensing and measuring. In a dynamic environment, it is not sufficient to scan an area or volume with a single sensor...

The KM3NeT EU-funded consortium, pursuing a cubic kilometre scale neutrino telescope in the Mediterranean Sea, is developing technical solutions for the construction of this challenging project, to be realized several kilometres below the sea level. In this framework a proposed DC/DC power system has been designed, maximizing reliability and minimizing difficulties and expensive underwater acti...

This paper deals with the efficient numerical solution of the two–dimensional one– way Helmholtz equation posed on an unbounded domain. In this case one has to introduce artificial boundary conditions to confine the computational domain. The main topic of this work is the construction of so–called discrete transparent boundary conditions for state-of-the-art parabolic equations methods, namely ...

This paper describes a texture recognition based method for segmenting kelp from images collected in highly dynamic shallow water environments by an Autonomous Underwater Vehicle (AUV). A particular challenge is image quality that is affected by uncontrolled lighting, reduced visibility, significantly varying perspective due to platform egomotion, and kelp sway from wave action. The kelp segmen...

The widespread use of influence diagrams to represent and solve Bayesian decision problems is still limited by the inflexibility and rather restrictive semantics of influence diagrams. We propose a number of extensions and adjustments to the definition of influence diagrams in order to make the practical use of influence diagrams more flexible and less restrictive. In particular, we describe ho...

Rotary bucket dredgers are used in various operations: dredging, mining, development of all types soil. Despite their high weight, cost and complexity construction, they increasingly underwater soil due to versatility efficiency. The article presents the developed method for calculating rotary dredgers, taking into account placement under water.

Underwater vehicles have been extensively applied to underwater intervention missions instead of human in recent years. As the crucial equipment of underwater vehicles, underwater manipulators typically play an important role in the underwater tasks. Generally, underwater manipulators are operated manually by human with remotely operated vehicles (ROVs). A KORDI ROV with a dual teleoperated man...