The maritime domain continues to be important for our society. Significant investments continue to be made to increase our knowledge about what “happens” underwater, whether at or near the sea surface, within the water column, or at the seabed. The latest geophysical, archaeological, and oceanographical surveys deliver more accurate global knowledge at increased resolutions. Surveillance applic...

Control of Underwater vehicle manipulator systems (UVMS) are limited to human intervened tele operation in almost all practical applications. Extending these missions to autonomous or semi autonomous operation requires accurate dynamic modeling of the system. Such modeling assists system design and controller testing of autonomous UVMS. The study performs a dynamic analysis to capture relative ...

This paper describes depth control of autonomous underwater vehicle (AUV) using a new approach of decentralized system environment using Open Control Platform (OCP), to accommodate in changing information and control components. An LQR control algorithm with Genetic Algorithm (GA) is employed for simulation. In the simulation results, we present empirical results that show how OCP could helps t...

The Phoenix autonomous underwater collaboration with other scientists interested in either vehicle (AUV) is a robot for student research in robot or virtual world. Repeated validation of shallow-water sensing and control (Figure 1). Phoenix simulation extensions through real-world testing is neutrally buoyant at 387 pounds (176 kg) with a hull remains essential. Details are provided on process ...

Underwater acoustic networks have the potential to support a wide variety of applications from facilitating communication between autonomous underwater vehicles to supporting the remote monitoring of underwater mining equipment or environmental conditions [1]. Even though underwater acoustics has been studied for many years, and communications technologies exist for underwater scenarios, intere...

Delay tolerance is a major design concern for supporting underwater acoustic wireless sensor networks (UA-WSNs) to carry out tasks in harsh subsea environments. Due to the great difference between the underwater acoustic channel and the radio frequency channel, most of the existing routing protocols developed for terrestrial wireless sensor networks perform poorly in underwater acoustic communi...

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs sto...

This paper presents two acoustic-based techniques to solve the localization problem for an autonomous underwater vehicle (AUV). After a brief description of the Bayesian filtering framework, the paper analyses two of the most common underwater scenarios. Each scenario corresponds to one of the two localization techniques. The scenarios are as follows: map-based localization, when the environmen...