SHORT ABSTRACT: Military Autonomous Underwater Vehicles (AUV) shall be able to execute survey missions in both known and unknown environments in order to detect a potential threat. These robots will significantly improve our exploration, analysis and intervention capability and will have a large decisional autonomy. While the primary mission of an AUV is data acquisition and collection (up to n...

Underwater sensor networks (UWSNs) are of interest to gather data from underwater nodes (SNs) and deliver information a terrestrial access point (AP) in the uplink transmission, transfer AP SNs downlink transmission. In this paper, we investigate triple-hop UWSN which autonomous vehicle (AUV) unmanned aerial (UAV) relays enable end-to-end communications between AP. It is assumed that SN–AUV, AU...

State Estimation for Tracking of Tagged Sharks with an AUV

The Monterey Bay Aquarium Research Institute (MBARI) is developing a high-resolution deepsea mapping capability to be deployed on the Dorado AUV. Dorado is a modular, 21” diameter, torpedo shaped vehicle that consists of a nose section with core sensors and computers, a tail section with propulsion and steering, and a variable length mid-body section including mission-specific sensors and data ...

The article presents ARTMAP and Fuzzy BKProduct approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and obstacles that is might meet in its way and whom AUV might avoid. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BKProduct cont...

This study is related to the obstacle avoidance issue for an Autonomous Underwater Vehicle (AUV). In addition to its original mission, the vehicle must ensure its own survival and therefore understand the environment in safety. The use of a Forward Looking Sonar (FLS) on AUV is one of the most efficient solutions to detect unexpected and potentially dangerous changes of the environment, like th...

A challenge to modeling and monitoring the health of the ocean environment is that it is largely under sensed and difficult to sense remotely. Autonomous underwater vehicles (AUVs) can improve observability, for example of algal bloom regions, ocean acidification, and ocean circulation. This AUV paradigm, however, requires robust operation that is cost effective and responsive to the environmen...

This paper presents and discusses a fault-tolerant control model on a autonomous underwater vehicle (AUV) with six thrusters, using five degrees of freedom. Simulations were made when there are no faults and when faults occur in two of the horizontal thrusters. The kinematics and dynamics of the vehicle and the thrusters are explained and it is given an introduction of automatons and how they w...

Coastal upwelling is a wind-driven ocean process that brings cooler, saltier, and nutrient-rich deep water upward to the surface. The boundary between the upwelling water and the normally stratified water is called the “upwelling front.” Upwelling fronts support enriched phytoplankton and zooplankton populations, thus they have great influences on ocean ecosystems. Traditional ship-based method...

Most autonomous underwater vehicles (AUVs) are propelled by a single thruster, use elevators and rudders as control surfaces, and are torpedo-shaped. Furthermore, they are positively buoyant to facilitate recovery during an emergency. For this class of nonhovering AUVs, there is a minimum speed at which the AUV must travel for stable depth control. Otherwise, the extra buoyancy will bring the A...