Underwater & out of sight : towards ubiquity in underwater robotics

The Earth's oceans holds a wealth of information currently hidden from us. Eective measurement of its properties could provide a better understanding of our changing climate and insights into the 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 consistently, providing oceanographers with an additional tool for studying the ocean. Unfortunately, the high cost of these vehicles has stied the democratization of this technology. We believe that this is a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size.

Name thesis:degree_name

Doctoral

Department dc:contributor.department

Joint Program in Applied Ocean Science and Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Rypkema, Nicholas Rahardiyan.

Advisor dc:contributor.advisor

• Henrik Schmidt.

• Joint Program in Applied Ocean Science and Engineering.
• Electrical Engineering and Computer Science.
• Woods Hole Oceanographic Institution.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/124118

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/124118