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...

Underwater images suffers from low illumination and poor contrast due to refractions of light rays and poor visibility. Therefore, underwater image segmentation and object extraction is a difficult task. This paper proposed an efficient and fast underwater image segmentation method using thresholding with class 3 fuzzy Cmeans clustering and CLAHE enhancement method. CLAHE enhancement method is ...

Underwater sensor networks are emerging as a promising distributed data management system for various applications in underwater environments, despite their limited accessibility and restricted energy capacity. With the aid of recent developments in ubiquitous data computing, an increasing number of users are expected to overcome low accessibility by applying queries to underwater sensor networ...

Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameter...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interact...

Anthropogenic noise in aquatic environments is a worldwide concern due to its potential adverse effects on the environment and aquatic life. The Hongkong-Zhuhai-Macao Bridge is currently under construction in the Pearl River Estuary, a hot spot for the Indo-Pacific humpbacked dolphin (Sousa chinensis) in China. The OCTA-KONG, the world's largest vibration hammer, is being used during this const...