Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μ AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing st...

In the present work, sedimentary microbial fuel cells (s-MFC) have been proposed as effective tools to power remote sensors in different aquatic environments, thanks their ability produce renewable and sustainable energy continuously autonomously. The work proposes optimization of cylindrical a compact cost-effective system suitable be integrated payload an Autonomous Underwater Vehicle (AUV). ...

Research on the autonomous underwater vehicles (AUVs) has been gaining more interest in the recent past. AUVs have been envisioned as a cost effective and safe solution for various underwater missions including but are not limited to underwater scientific test-bed, deep oceanic surveillance, environmental monitoring and underwater structures inspection. The control for such autonomous vehicles,...

The limitations of underwater acoustic communications mean that the side-scan sonar data an autonomous vehicle (AUV) cannot be transmitted back and processed in real time, which means targets detected time. To address problem, this paper proposes vehicle-based real-time detection method for targets. First, describes system operation underwater-target by mounted on vehicle. Next, it a processing...

This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of constant unknown ocean currents and parametric modeling uncertainty. A nonlinear adaptive controller is proposed that steers an AUV along a sequence of way-points consisting of desired positions (x, y) in a inertial reference frame, followed by...

Due to the receding sea-ice extent in the Arctic, and the potentially large undiscovered petroleum resources present north of the Arctic circle, offshore activities in ice-infested waters are increasing. Due to the presence of drifting sea-ice and icebergs, ice management (IM) becomes an important part of the offshore operation, and an important part of an IM system is the ability to reliably m...

Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way for persistent autonomous operations of underwater vehicles this work focusses its efforts on investigating the effects of actuator failures, on an autonomous underwater vehicle (AUV) capable of long-term inspection missions. This paper i...

In this paper we present strategies for adaptive sampling using Autonomous Underwater Vehicle (AUV) fleets. The central theme of our strategies is the use of feedback that integrates distributed in-situ measurements into a coordinated mission planner. The measurements consist of GPS updates and estimated gradients of the environmental fields (e.g., temperature) that are used to navigate the AUV...

An underwater magnetic induction positioning and communication system an energy-efficient distributed control algorithm for base stations are proposed in this paper. The consists of a number Autonomous Underwater Vehicle (AUV) equipped with three-axis source coils respectively. AUV receives signal based on its amplitude phase information is able to locate the communicate station. Due short dist...

The maximum potential for underwater exploration rests within the use of multiple Autonomous Underwater Vehicles (AUVs) and tasks involving human diver-AUV coordination. Such missions are gaining increasing popularity with the advent of better control mechanisms and availability of acoustic modems. However, high costs and the lack of useful tools to simulate multiAUV tasks have hindered the ful...