The accuracy of magnetic measurements performed by autonomous vehicles is often limited by the presence of moving ferrous masses. This work presents a parameterized ellipsoid field calibration method for magnetic measurements in the sensor frame. In this manner, the ellipsoidal calibration coefficients are dependent on the locations of the moving masses. The parameterized calibration method is ...

MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang Autonomous underwater robots have been studied by researchers for the past half century. In particular, for the past two decades, due to the increasing demand for environmental sustainability, significant attention has been paid to aquatic environmental monitoring using autonomous underwater robots. In this dissertation, a ne...

Helox (79% helium and 21% oxygen) has often been used for thermobiological studies, primarily because helium is thought to be metabolically inert and to produce no adverse effects other than increasing heat loss. However, these assumptions have been questioned. As basal metabolic rate (BMR) represents maintenance energy requirements for vital body functions, potential physiological effects of h...

An inspection of signal processing approach in order to estimate underwater network cardinalities is conducted in this research. A matter of key prominence for underwater network is its cardinality estimation as the number of active cardinalities varies several times due to numerous natural and artificial reasons due to harsh underwater circumstances. So, a proper estimation technique is mandat...

Underwater robotics is currently a growing field. To be able to autonomously find and collect objects on the land and in the air is a complicated problem, which is only compounded within the underwater setting. Different techniques have been developed over the years to attempt to solve this problem, many of which involve the use of expensive sensors. This paper explores a method to find the dep...

Autonomous Underwater Vehicles (AUVs) usually operate in ocean environments characterized by complex spatial variability which can jeopardize their missions. To avoid this, planning safety routes with minimum energy cost is of primary importance. This work revisits the benefits, in terms of travelling time, of path planning in marine environments showing spatial variability. By means of a path ...

We present a cellular-automaton model of a reaction-diffusion excitable system with concentration dependent inhibition of the activator, and study the dynamics of mobile localizations (gliders) and their generators. We analyze a three-state totalistic cellular automaton on a twodimensional lattice with hexagonal tiling, where each cell connects with 6 others. We show that a set of specific rule...

Multi-gliders have been widely deployed as an array in nowadays ocean observation for fine and long-term research, especially deep-sea exploration. However, the strong, variable currents delayed information feedback of gliders are remaining huge challenges deployment glider arrays which may cause that observed data cannot meet study needs bring a prohibitive cost. In this paper, we develop Glid...