The paper surveys recent advances in underwater vehicle navigation and identifies future research challenges. Improvements in underwater navigation sensor technology and underwater navigation algorithms are enabling novel underwater vehicles and novel underwater vehicle missions. This paper first reviews advances in underwater navigation sensor technology. Second, advances in deterministic and ...

Reducing the radiated noise from ships is becoming increasingly important as ship -builders aim to reduce the disturbance to marine life, passengers and crew. A major contributor is on-board machinery which typically radiates noise to the water column from both structure-borne and air-borne transmission paths. Problematic machinery is often decoupled from the hull by supporting it on resilient ...

During the 1990s, numerous worldwide research and development activities have occurred in underwater robotics, especially in the area of autonomous underwater vehicles (AUVs). As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for and use of underwater robotic systems has become more apparent. Great efforts have been ma...

In the world of underwater robotics, fish-like structures are able to accelerate and maneuver better than most other artificial underwater vehicles. For these reasons, fish-like robots are well suited for submarine exploration tasks. However, a complete understanding of mechanisms governing the swimming movements of fish-like robots remains elusive, limiting the performance of such underwater r...

We study stability of underwater vehicle dynamics for a six-degree-of-freedom vehicle modeled as a neutrally buoyant, submerged rigid body in an ideal fluid. We consider the case in which the center of gravity and the center of buoyancy of the vehicle are noncoincident such that gravity introduces an orientation-dependent moment. Noting that Kirchhoff’s equations of motion for a submerged rigid...

Reliable hermetic packaging of microelectromechanical system (MEMS) pressure sensor arrays for underwater applications always presents a formidable challenge, which is further compounded by the unforgiving harsh sea environments, during the design, fabrication and characterization stages of the sensor arrays. As such, a flexible underwater diaphragm-based pressure sensor array packaging scheme ...

In recent years underwater robotics has become a major area of research owing to the development of many diverse technologies. Autonomous underwater vehicles (AUVs) are used today for exploration, pipeline monitoring, military reconnaissance and other scientific tasks. AUVs can also be used effectively to teach principles in many disciplines of science ranging from physics to robotics. Any good...