Underwater vehicle-manipulator (UVM) systems have been suggested for inspection, maintenance, repair and construction of underwater structures. The addition of manipulators to the vehicle makes control of the system more difficult due to the interaction forces between vehicle and manipulator. So, the efficient compensation of those interactions should be considered for accurate control of both ...

This work proposes an elegantly simple solution to the general task of classifying the shape of an object that has been viewed multiple times. Specifically, this problem is addressed in the context of underwater mine classification where the objective is to discriminate targets (i.e., mines) from benign clutter (e.g., rocks) when each object is observed in an arbitrary number of synthetic apert...

The aims of this investigation were to determine the evolution of selected turn variables during competitive backstroke races and to compare these kinematic variables between two different levels of swimmers. Sixteen national and regional level male swimmers participant in the 200 m backstroke event at the Spanish Swimming Championships in short course (25 m) were selected to analyze their turn...

Remotely Operated underwater Vehicles (ROVs) play an important role in a number of operations conducted in shallow and deep water (e.g.: exploration, survey, intervention, etc.), in several application fields like marine science, offshore construction, and underwater archeology. ROVs are usually equipped with different imaging devices, both optical and acoustic. Optical sensors are able to gene...

This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the p...

In this paper we discuss challenging issues related to positioning in underwater acoustic networks focussing in the major goal of establishing a common coordinate system which should allow applications to perform collaborative sensing tasks such as identification, detection, and/or tracking of sea targets. A general description of the most important positioning methods and algorithms which have...

In this paper a new algorithm has been designed to remove the problem of over-enhancement found in Mix CLAHE especially for underwater images. The underwater image suffers from low contrast and resolution due to dispossessed visibility circumstances, hence an object identification become typical task. The processing of underwater image captured is necessary because the quality of underwater ima...

Underwater Wireless Sensor Networks (UWSNs) is much more attractive area for the researchers due to its versatile applications like tactical surveillance, assisted navigation, equipment monitoring, oceanography data collection, pollution monitoring, offshore exploration, disaster prevention and seismic monitoring. The researchers are also collecting the scientific data from underwater environme...

The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for the subaquatic transmission medium. Moreover, different scheduling techniques are applied to the ar...