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Seabed minerals in form of ferromanganese or polymetallic nodules (PMN) have been reported in the Pacific, Atlantic, and Indian oceans. The distribution of these PMN are influenced by several factors, such as the associated topographic undulations, surface chlorophyll levels, sediment type and thickness, and water depth. Traditionally, determination of the existence and the distribution of PMN involves...
Modeling the spatial variation of resources is necessary because it gives an estimate of what to expect during their exploration and exploitation. We focus on the spatial modeling of polymetallic nodules found in the deep sea regions of the Clarion-Clipperton zone in the Pacific. The data from this region available in the open domain is sparse, which warrants modeling techniques that can efficiently...
There is a high abundance of polymetallic nodules (PMN) scattered across the vast Clarion and Clipperton Fracture Zone (CCFZ) in the Pacific Ocean. These nodules possess high economic potential as they are rich in minerals such as manganese, nickel, copper and rare earth elements. Quantification of nodule coverage is important for economic feasibility studies and planning of effective exploitation...
The Singapore Autonomous Underwater Vehicle Challenge, dubbed as SAUVC, is an effort by the IEEE Oceanic Engineering Society Singapore Chapter to engage and expose the tertiary students to the challenges of AUV design. The programme was started in 2013 and was originally intended to create awareness among the local students on the importance of underwater robotics and its relevance to Singapore. However,...
In this paper we address the problem of tracking several moving targets with a sensor whose location and orientation are uncertain. This is a generalization of the well-known problem of feature-based simultaneous localization and mapping (SLAM). It is also a generalization of multitarget tracking (MTT) in general, and related to sensor bias estimation. We address such problems from the perspective...
In this paper we discuss the software system architecture that is developed for the autonomous launch and recovery platform (AutoLARS). The architecture comprises of several components distributed across physical processing units. The architecture handles the real time data from the hydrophones and subsequent processing of that data to guide the AutoLARS to intercept the autonomous underwater vehicle...
In this paper, a path planning system for mobile Autonomous Launch And Recovery System (AutoLARS) is presented. The unique AutoLARS is capable of tracking an AUV eqipped with a commercial off the shelf transponder. Path planning system uses the information of position and commands the AutoLARS control system with motion set points. The real time tracking of the AUV is used to build approximate trajectory...
This paper examines the detection of landmarks in the presence of false measurements from a blazed array sonar using random finite set models. A clutter rejection filter that is based on the fusion of the moment-approximation of the posterior density, also known as probability hypothesis density (PHD), within the random finite set framework with the conventional Extended Kalman Filter simultaneous...
Development of robust navigation algorithms for marine robotics is a challenge faced by many marine robotists. This paper presents MarineSIM, a marine robot simulation platform which provides an infrastructure to easily test and debug navigation algorithms before they are being deployed in the actual environment. The general architecture of the simulation platform is introduced together with the marine...
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