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 20 of 28 for “"Underwater Navigation"”.
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Precision autonomous underwater navigation
… an emerging application of autonomous underwater vehicle (AUV) technology, requires precise navigation and guidance. As science requirements and engineering capabilities converge, navigating in the sensor-limited ocean remains a fundamental challenge. Despite the logistical cost, the …
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Contributions to automated realtime underwater navigation
… separate–but related–contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads …
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Certifiable cooperative localization for underwater navigation
Accurate underwater positioning remains one of the most significant obstacles to autonomous underwater vehicle (AUV) operations. Satellite-based navigation signals are unavailable underwater, so AUVs must dead-reckon using inertial sensors, coupled with velocity or heading references. Due to random …
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Contributions to automated realtime underwater navigation
… separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads …
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Fish swimming optimization and exploiting multi-body hydrodynamic interactions for underwater navigation
… to avoid obstacles and evaluate optimal paths. Underwater, vision is usually limited, but flow structures resulting from the hydrodynamic interactions between inert and/or living bodies contain rich information, which fish can read through a dedicated sensory system, the lateral line. Fish can …
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Design and fabrication of a MEMS-array pressure sensor system for passive underwater navigation inspired by the lateral line
… required for autonomous undersea vehicle (AUV) navigation. An array of passive underwater pressure sensors, with their ability to An object within a fluid flow generates local pressure variations that are unique and characteristic to the object's shape and size. For example, a three-dimensional …
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Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder
(cont.) Therefore, accurate underwater navigation using a single location transponder would provide dramatic time and cost savings for underwater vehicle operations. This thesis presents a simulation of autonomous underwater vehicle navigation using a single transponder to create a virtual long …
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Design and dynamic modeling of an unmanned underwater vehicle for submerged surface inspection exploiting hydrodynamic ground effect
… exploration, motivates a deeper understanding of underwater navigation in proximity to a submerged target surface. Common examples range from water tanks in nuclear reactors, submerged oil rig infrastructure, to ship hulls with hidden compartments and threats. We propose EVIE (Ellipsoidal Vehicle …
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A Comparative Study of Feature Detection Methods for AUV Localization
<p>Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific …
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Toward lifelong visual localization and mapping
… mobile robots one of the fundamental problems is navigation; which requires the robot to have a map of its environment, so it can plan its path and execute it. Having the robot use its perception sensors to do simultaneous localization and mapping (SLAM) is beneficial for a fully autonomous …
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Toward lifelong visual localization and mapping
… mobile robots one of the fundamental problems is navigation; which requires the robot to have a map of its environment, so it can plan its path and execute it. Having the robot use its perception sensors to do simultaneous localization and mapping (SLAM) is beneficial for a fully autonomous …
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Observability Analysis in Navigation Systems with an Underwater Vehicle Application
Precise navigation of autonomous underwater vehicles (AUV) is one of the most important challenges in the realization of distributed and cooperative algorithms for marine applications. We investigate an underwater navigation technology that enables an AUV to compute its trajectory in the presence …
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Gyroscope Calibration and Dead Reckoning for an Autonomous Underwater Vehicle
Autonomous Underwater Vehicles (AUVs) are currently being used for many underwater tasks such as mapping underwater terrain, detection of underwater objects, and assessment of water quality. Possible uses continue to grow as the vehicles become smaller, more agile, and less expensive to operate. …
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Tactile tomographic imaging using robotic whiskers
… object feature extraction, object tracking, underwater navigation, high-resolution fluid-flow imaging, source localization and environmental mapping.
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Battery-Free Subsea Internet-of-Things
… (e.g, Bluetooth, WiFi, GPS) cannot operate underwater, which has left 70% of our planet (the ocean) beyond their reach. In this thesis, I describe how we can change this reality by introducing IoT technologies that are inherently designed for the ocean. Specifically, I show how by rethinking …
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Development of a porous piezoresistive material and its applications to underwater pressure sensors and tactile sensors
… arrays are gaining attention in the field of underwater navigation because they are seen as alternatives to current sonar and vision-based systems that fail to navigate unmanned undersea vehicles (UUVs) in dark, unsteady and cluttered environments. Other advantages of MEMS pressure sensor …
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Underwater & out of sight: towards ubiquity in underwater robotics
… creatures that inhabit its waters. Autonomous underwater vehicles (AUVs) hold the promise of penetrating the ocean environment and uncovering its mysteries; and progress in underwater robotics research over the past three decades has resulted in vehicles that can navigate reliably and operate …
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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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Experimental Evaluation of Underwater Semantic SLAM
Autonomy is crucial for underwater vehicles due to the challenging and inaccessible nature of underwater environments. These environments pose significant difficulties for human-operated systems because of limited visibility, high pressure, and vast areas that are costly and risky to explore …
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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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