Underwater robotics addresses the problem of object detection apparatus. Offers a probabilistic formulation of the problem, which uses the reduction of the detection task to a classical task of Buffon. This formulation arises naturally in the formulation of the problem in the coordinate system associated with the apparatus. It is shown that the problem allows analysis in the presence of an asym...

In this paper a new approach for the underwater sensor network based on the blue-green laser has been proposed. We describe the application of the underwater sensor network in the undersea exploration, and discuss the difficulties in the traditional the underwater acoustic sensor network. A basic of prototype of underwater laser sensor network has been advanced, which include the architecture o...

A new type of optical fiber underwater acoustic sensor (hydrophone) constructed with two fiber Bragg gratings (FBG) and a self-demodulation ethod is presented in this paper. Unlike other FBG sensors which have separate sensing and demodulating elements, this FBG hydrophone has nly a single structure for both sensing and demodulating using a pair of matched FBGs. The cylindrical structure of the...

Efficient path planning algorithms and decision-making control system are crucial issues for modern autonomous underwater vehicle (AUV) in complex underwater environment. In this paper, Fast Marching (FM) algorithm is used to extract cost optimal paths from complex and continuous environments, and meanwhile, we design a decision-making control system with reactive structure based on behavior. T...

Investigation of the waves generated by underwater disturbances gives precious insight into the effect of man-made underwater explosions as well as natural phenomena, such as underwater volcanoes or oceanic meteor impact. On the other hand, prediction of the effects of such waves on the coastal installations and structures is required for preparation worthwhile criteria for coastal engineers to...

This paper examines several clustering methods for the structure learning in constructing efficient neuro-fuzzy systems. The structure learning establishes the internal structure (i.e., the number of term sets and fuzzyrule base generation) of a given neuro-fuzzy architecture. The fundamental ideas of existing rule generation algorithms are addressed and discussed. Performance of the neuro-fuzz...

in the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. in this study, hydrodynamic coefficients of an autonomous un...

In this paper, we propose a novel technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater images. There are various reason of quality degradation of underwater images i. e. , non-uniform illumination of light on the surface of objects, scattering and ...

We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed foll...

In this paper, we propose a novel technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater images. There are various reason of quality degradation of underwater images i. e. , non-uniform illumination of light on the surface of objects, scattering and ...