Although the techniques of cooperative transmission have been developed for terrestrial sensor networks in recent years to improve the bit error rate (BER) performance, the unique characteristics of the underwater acoustic communication channel, such as large and variable propagation delay and the three-dimensional network topology, make it necessary to reconsider the implementation and analysi...

Applications of underwater sensor networks involve environmental monitoring, disaster prevention, and resource detection. As the importance of these applications has recently grown, underwater sensor networks made up of sensor nodes have to be further investigated. However, little research has been performed to develop an underwater sensor node with communication functionality. In an underwater...

This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing gl...

Underwater acoustic communication is deemed as the technique that will be widely used for oceanography, data collection, pollution monitoring, offshore exploration and tactical surveillance applications [1]. However, the characteristics of underwater acoustic channels, such as high bit error rate (BER), large round-trip delay, multipath coherence, as well as the half-duplex property of typical ...

In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemente...

When adapting computer vision algorithms to underwater imaging, two major differences in image formation occur. While still traveling through the water, light rays are scattered and absorbed depending on their wavelength, creating the typical blue hue and low contrast in underwater images. When entering the underwater housing of the camera, light rays are refracted twice upon passing from water...

This paper reports the development of a new remotely operated underwater vehicle (ROV) designed to serve as a platform for rapid development and deployment of novel underwater vehicle systems. The goal is to enhance our ability develop new underwater vehicle subsystems in the laboratory, and rapidly field-test these new systems. Although a significant fraction of ONR and NSF sponsored underwate...

In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information su...

Underwater acoustic networks have recently emerged as a promising approach for oceanic applications such as exploration and surveillance. This new type of networks differs from terrestrial wireless sensor networks in that the network nodes are powerful and well equipped with many resources for diverse applications in challenging environments. Existing operating systems for terrestrial wireless ...

this paper presents a framework for underwater warfare simulation in a distributed system that is based on standard synthetic environment. The proposed framework adopts SEDRIS (Synthetic Environmental Data Representation and Interchange Specification) to represent the underwater environment in HLA (High Level Architecture) based distributed simulation systems. Although SEDRIS provides various m...