The maritime domain continues to be important for our society. Significant investments continue to be made to increase our knowledge about what “happens” underwater, whether at or near the sea surface, within the water column, or at the seabed. The latest geophysical, archaeological, and oceanographical surveys deliver more accurate global knowledge at increased resolutions. Surveillance applic...

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...

Antarctic sea ice is known to provide unique ecosystem habitat at the ice–ocean interface. Mapping sea ice characteristics—such as thickness and roughness—at high resolution from beneath the ice is difficult due to access. A Geoswath Plus phase-measuring bathymetric sonar mounted on an autonomous underwater vehicle (AUV) was employed in this study to collect data underneath the sea ice at Cape ...

In recent years, considerable underwater robotics research has focused on manipulating sophisticated systems for inspecting and maintaining underwater structures, which can include cluttered and complex areas such as narrow clear spaces. These robots may be used for feature and cable tracking, deep-ocean exploration, and to carry out tasks in environments full of coral reefs (Zhang et al. 2004;...

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...