Underwater shield tunneling will disturb the soil near river, especially in water-rich soft ground. This may cause a groundwater infiltration hydraulic gradient to exceed critical value, leading calamities, such as unexpected flooding or submerged erosion. To ensure security of construction and stability river embankment seepage, it is crucial assess safety underwater tunnel cover thickness. A ...

Underwater transportation is an essential approach for scientific exploration, maritime construction and military operations. Determining the hydrodynamic coefficients a complex underwater system comprising multiple vehicles challenging. Here, suitability of quick less costly semi-empirical to obtain two Unmanned Vehicles (UUVs) investigated, where interaction effects between UUVs are assumed b...

Water covers more than 70% of the planet, contains much of its natural resources, and defines the greater territories of many nations. With the increasing use of underwater sensors for the exploitation and monitoring of vast underwater resources, underwater wireless sensor network (UWSN), mostly based on acoustic transmission technologies, have been developing steadily in terms of operation ran...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems by underwater recharging and data transfer for AUVs. In this work, we propose a vision based framework for underwater docking following these systems. The pr...

Terrestrial wireless sensor networks with fixed and mobile nodes were initially developed for military applications such as battlefield surveillance and are now commonplace in many industrial and civilian application areas. It is easy to appreciate that such networks could be of immense value for military and civilian underwater tasks such as surveillance, monitoring and surveying. Autonomous u...

This paper describes the use of particle filters for visual tracking of underwater elongated structures such as cables or pipes. Models for probabilistic tracking are obtained directly from real underwater image sequences. Extensive experiments on realistic underwater videos of power cables installed almost 30 years go (i.e. they cannot be easily discriminated from the background) show the robu...

Due to its applications in marine research, oceanographic, and undersea exploration, underwater communication has been recently under intense investigation. Although underwater communication has been improving its performance (in terms of bandwith, QoS, etc.), image transmission in autonomous underwater vehicles (AUVs) networks is still considered a frontier work. Here, we address the progressi...

This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture. The main goal is to allow long endurance autonomous missions, such as ocean monitoring. As the system propulsion relies on wind forces instead of motors, sailboat techniques are introduced and discussed, including...

The large-scale mobile Underwater Wireless Sensor Network (UWSN) is a useful networking paradigm to explore underwater environments. The characteristics of mobile UWSNs, such as low communication bandwidth, large propagation delay, and floating node mobility are significantly different from wireless sensor networks. In this paper, we propose a new efficient routing protocol, called multi-path r...