Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 10 of 10 for “"Marine Robotics"”.
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An Application of Graph of Convex Sets Trajectory Optimization to the Marine Robotics Domain
… becoming ubiquitous in applications exploring marine environments, and the design of path planning algorithms for these vehicles remains an open area of research. For marine environments, to save on energy a path between two points should be optimized to minimize distance traveled while …
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Battery-Free Wireless Imaging of Underwater Environments
… environments is of great importance to marine sciences, ocean sustainability, climatology, defense, marine robotics, geology, space exploration, and global food security. Despite advances in underwater imaging, most of the ocean and marine organisms remain unobserved and undiscovered. …
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Bedrock target analysis for ROV rockdrill sampling and existing sample stratigraphic and mineralogical verification (BeTar_drill)
… structures, such as fault escarpments and submarine canyon systems. This terrain is exemplified on the Irish Atlantic Margin (IAM) by the Porcupine Bank Canyon (PBC). Bedrock has been found here in the past, however, surveying in these areas continues to be a difficult task due to issues …
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Algorithmic advances in range-aided navigation
… SLAM has been called the ‘holy grail’ of field robotics, and in many instances it is a critical enabling capability for autonomous agents to operate in the real world. RA-SLAM is the specific case of SLAM which incorporates point-to-point distance measurements (e.g., distance measurements …
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State Estimation for Tracking of Tagged Sharks with an AUV
<p>Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a …
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A Virtual Ocean framework for environmentally adaptive, embedded acoustic navigation on autonomous underwater vehicles
Autonomous underwater vehicles (AUVs) are an increasingly capable robotic platform, with embedded acoustic sensing to facilitate navigation, communication, and collaboration. The global positioning system (GPS), ubiquitous for air- and terrestrial-based drones, cannot position a submerged AUV. …
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Tracking and monitoring marine animals with vision-guided underwater vehicles
Marine animals constitute an estimated 80% of all animal biomass on Earth, with nearly one- to two-thirds of marine species still undescribed to science and much of the ocean at depth remains underexplored. Even among the species we know, for many, we have few observations and limited understanding …
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Collision Avoidance Using a Low-Cost Forward-Looking Sonar for Small AUVs
… using the 690 AUV, built by the Center for Marine Autonomy and Robotics at Virginia Tech, with a prototype forward-looking sonar comprising of nine beams.
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Design, Simulation, and Experimental Validation of a Novel High-Speed Omnidirectional Underwater Propulsion Mechanism
This dissertation explores a novel omnidirectional propulsion mechanism for observation-class underwater vehicles, enabling for operation in extreme, hostile, or otherwise high-speed turbulent environments where unprecedented speed and agility are necessary. With a small overall profile, the …