Abstract— The Ocean is a dynamic and complex environment; it is a very complicated transmission channel that can change rapidly with the environmental conditions. Hence, to avoid failure of underwater monitoring missions, it’s crucial to predict the behavior of underwater acoustic channel. In this paper, several fundamental key aspects of underwater acoustic channel are investigated. A model ch...

Underwater systems are modern and challenging area of modern robotics. Underwater exploration is also crucial for investigating bio-marine species, monitoring pollution, and developing disaster warning system. The most significant part of the underwater exploration activities are sensing and measuring. In a dynamic environment, it is not sufficient to scan an area or volume with a single sensor...

Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution optical and acoustic maps that are a c...

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesi...

Hydrodynamic coefficients strongly affect the dynamic performance of autonomous underwater vehicles (AUVs). A novel kind of underwater vehicle (Heavier-than-water AUV) with higher density than water is presented, which is different from conventional ones. RANS method and overlapping grids are used to simulate the flow field around the vehicle. Lifts, drags and moments of different attack and dr...

Underwater microrobots are in urgent demand for applications such as pollution detection and video mapping in limited space. Compact structure, multi-functionality, and flexibility are normally considered incompatible characteristics for underwater microrobots. Nevertheless, to accomplish our objectives, we designed a novel inchworm-inspired biomimetic locomotion prototype with ionic polymer me...

There are many technical challenges for designing large-scale underwater sensor networks, especially the sensor node localization. Although many papers studied for large-scale sensor node localization, previous studies mainly study the location algorithm without the cross layer design for localization. In this paper, by utilizing the network hierarchical structure of underwater sensor networks,...

This paper describes a novel strategy to restore underwater images using fusion and wavelet Transform. Built on the fusion principles, our strategy derives the inputs and the weight measures only from the degraded version of the image. In order to overcome the limitations of the underwater medium we define two inputs that represent color corrected and contrast enhanced versions of the original ...

Research on underwater robots is attracting increased attention around the world. Various kinds of underwater robots have been developed, using an assortment of shapes, sizes, weights, and propulsion methods. In this paper, we propose a novel underwater robot, employing a spherical hull and equipped with multiple vectored water-jet-based thrusters. The overall design of the robot is first intro...