This paper reports the development of a new remotely operated underwater vehicle (ROV) designed to serve as a platform for rapid development and deployment of novel underwater vehicle systems. The goal is to enhance our ability develop new underwater vehicle subsystems in the laboratory, and rapidly field-test these new systems. Although a significant fraction of ONR and NSF sponsored underwate...

In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information su...

Underwater acoustic networks have recently emerged as a promising approach for oceanic applications such as exploration and surveillance. This new type of networks differs from terrestrial wireless sensor networks in that the network nodes are powerful and well equipped with many resources for diverse applications in challenging environments. Existing operating systems for terrestrial wireless ...

this paper presents a framework for underwater warfare simulation in a distributed system that is based on standard synthetic environment. The proposed framework adopts SEDRIS (Synthetic Environmental Data Representation and Interchange Specification) to represent the underwater environment in HLA (High Level Architecture) based distributed simulation systems. Although SEDRIS provides various m...

Underwater images suffers from low illumination and poor contrast due to refractions of light rays and poor visibility. Therefore, underwater image segmentation and object extraction is a difficult task. This paper proposed an efficient and fast underwater image segmentation method using thresholding with class 3 fuzzy Cmeans clustering and CLAHE enhancement method. CLAHE enhancement method is ...

Underwater sensor networks are emerging as a promising distributed data management system for various applications in underwater environments, despite their limited accessibility and restricted energy capacity. With the aid of recent developments in ubiquitous data computing, an increasing number of users are expected to overcome low accessibility by applying queries to underwater sensor networ...

Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameter...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interact...

Contemporary literary traumatheory indicates that experiencing trauma creates a fear that destroys identity. In fact, experiencing trauma creates a new identity for the victim. The representation of the trauma and the formation of the new identity for the victim are the building blocks of trauma novels. Due to the nature of trauma, it seems impossible to fully describe traumatic experiences by ...

Over 70% of our planet is covered by water. It is widely believed that the underwater world holds ideas and resources that will fuel much of the next generation of science and business. Unfortunately, underwater operations are fraught with di culty due to the absence of an easy way to collect and monitor data. In this thesis we propose a novel underwater sensor network designed to mitigate the ...