This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the p...

In this paper we discuss challenging issues related to positioning in underwater acoustic networks focussing in the major goal of establishing a common coordinate system which should allow applications to perform collaborative sensing tasks such as identification, detection, and/or tracking of sea targets. A general description of the most important positioning methods and algorithms which have...

In this paper a new algorithm has been designed to remove the problem of over-enhancement found in Mix CLAHE especially for underwater images. The underwater image suffers from low contrast and resolution due to dispossessed visibility circumstances, hence an object identification become typical task. The processing of underwater image captured is necessary because the quality of underwater ima...

Underwater Wireless Sensor Networks (UWSNs) is much more attractive area for the researchers due to its versatile applications like tactical surveillance, assisted navigation, equipment monitoring, oceanography data collection, pollution monitoring, offshore exploration, disaster prevention and seismic monitoring. The researchers are also collecting the scientific data from underwater environme...

The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for the subaquatic transmission medium. Moreover, different scheduling techniques are applied to the ar...

Underwater Acoustic methods have been extensively used to locate and identify marine objects. These applications include locating underwater vehicles, finding shipwrecks, imaging sediments and imaging bubble fields. Ocean is fairly transparent to sound and opaque to all other sources of radiation. Acoustics technology is the most effective tool for monitoring this environment because of the sou...

Marine buoy is an important part of underwater acoustic communication system. It is of great significance to track and locate it. It is widely used in ocean environment three-dimensional monitoring, underwater multimedia communication, underwater mobile carrier navigation and positioning, marine resources detection, remote control of submarine topography mapping and offshore oil industry, data ...

trauma is a leading cause of death and disability around the world. injuries are responsible for about six million deaths annually, of which ninety percent occur in developing countries. in iran, injuries are the most common cause of death among age groups below fifty. trauma system development is a systematic and comprehensive approach to injury prevention and treatment whose effectiveness has...

in this paper, for the purpose of investigating horizontal sound propagation, based on the results obtained from practical measurements in the strait of hormoz and available data on sound speed variations at different depths, a comprehensive model for shallow water multipath underwater acoustic channel is presented. mathematical modeling of multipath effect is based on ray theory and the image ...

The paper presents algorithm of underwater vehicle’s dynamics modeling using technique of artificial neural networks. Paper includes mathematical description of used dynamical neurons and basis of its learning process. Next the results of research for real underwater vehicle were presented. Key-Words: artificial neural networks, dynamics modeling, underwater vehicles