{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/83753"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/83753","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Evaluation of an acoustic detection algorithm for reactive collision avoidance in underwater applications","abstract":"This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from a dock, it was possible to record the acoustic signature generated by a small motor boat as it navigated towards, and then away from the sensor. The time-varying sound intensity was estimated by Root Mean Square of the sound amplitude in discrete samples. The time-derivative of the sound intensity was then used to estimate the time to arrival, or collision, of the acoustic source. The algorithm was found to provide a good estimate of the time to collision, with a small standard deviation for the projected collision time, when the acoustic source was moving at approximately constant speed, providing validation of the model at the proof-of-concept level.","abstract_html":"This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from a dock, it was possible to record the acoustic signature generated by a small motor boat as it navigated towards, and then away from the sensor. The time-varying sound intensity was estimated by Root Mean Square of the sound amplitude in discrete samples. The time-derivative of the sound intensity was then used to estimate the time to arrival, or collision, of the acoustic source. The algorithm was found to provide a good estimate of the time to collision, with a small standard deviation for the projected collision time, when the acoustic source was moving at approximately constant speed, providing validation of the model at the proof-of-concept level.","abstract_has_math":false,"creators":["Viquez Rojas, Oscar Alberto"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Henrik Schmidt."],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013","date_published":"2013","updated_at":"2026-07-22T22:21:33Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. 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