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Purely rotational relative equilibria of an ellipsoidal underwater vehicle occur at nongeneric momentum where the symplectic reduced spaces change dimension. The stability these relative equilibria under momentum changing perturbations is not accessible by Lyapunov functions obtained from energy and momentum. A blow-up construction transforms the stability problem to the analysis symmetry-break...

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for vehicle-arm coordination, compliant motion tasks, and co...

Research on automatic mosaic creation for underwater applications has been investigated in the last fifteen years. The reconstruction of complex 3-D structures is useful in several underwater applications; in particular, 3-D mosaicking constitutes an important tool for seabed exploration, improving visualization and navigation in the underwater medium. Moreover, underwater measurement systems h...

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and .orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of...

Neutrino astrophysics offers new perspectives on Universe investigation: high energy neutrinos, produced by the most energetic phenomena in our Galaxy and in the Universe, carry complementary (if not exclusive) information about the Cosmos with respect to photons. While the small interaction cross section of neutrinos allows them to come from the core of astrophysical objects, it is also a draw...

The operation and in particular the construction of offshore wind converters induce considerable underwater noise emissions. It is assumed that small whales and seals can be affected by noise from machines and vessels, piling and installation of the wind turbines. Piling, in particular using hydraulic hammers creates impulsive noise with considerable high energy levels. Currently, only little k...

underwater target imaging using acoustic waves is possible by employing the method used in synthetic aperture radars. in recent years, synthetic aperture sonar has been the subject of several researches. wherein imaging of underwater moving target is required, inverse synthetic aperture sonar (isas) idea can be used but specifications and limitations of underwater channel should be considered. ...