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The exploration of buried deposits under the sea sediment requires high directivity and low attenuation beams. The parametric sub-bottom profiler meets these requirements; moreover, it is comparatively small and can be easily mounted on autonomous underwater vehicles (AUVs). For this reason, we are developing a new PSBP system for AUVs. This paper presents the recent results of the PSBP system for...
The challenge in the Autonomous Underwater Vehicle (AUV) navigation technology is how to ensure precise localization accurately. Extended Kalman filter (EKF) is the most widely used navigation method. Despite its long successful application, EKF has a number of problems in application, for instance, the system motion model usually not appropriate to be described as a linear system. This paper proposed...
This paper investigates trajectory tracking control problem for Autonomous Underwater Vehicles (AUVs) in presence of actuator dynamics constraints and a large initial tracking error or a sudden change in the desired trajectory. A new tracking control algorithm is developed by re-planning a new local trajectory. Based on the AUV's current position and the desired position after a certain interval,...
Propagation of underwater electromagnetic signals for real-time transmission and reception of data gathered during a survey mission between an Autonomous Underwater Vehicle (AUV) and underwater sensor nodes or a docking station, continues to generate a lot of interest worldwide. To this end, underwater antennas will play a significant role in ensuring good data rates and propagation distances for...
Transmission and reception of high-speed short range signal is important for successful underwater water communications between an Autonomous Underwater Vehicle (AUV) or Remote Operated Vehicles (ROVs) and a docking station or underwater sensor nodes during a survey mission. The need for this form of application is currently receiving global attention from scientific groups and industries. Hence,...
Mapping the seabed represents a fundamental task for many applications. A key technology for that goal is Side-Scan Sonar (SSS) imaging, which offers a large operating range and high resolutions. However, SSS often suffers from echo decay due to water absorption, producing undesired intensity non-uniformities in the image. We propose here a new inhomogeneity correction technique for SSS imagery that...
This paper presents a new method that applies laser line scanning to hydrodynamic coefficient identification for a self-developed autonomous underwater vehicle (AUV). The AUV positions/angles are calculated using laser images captured by an onboard camera, and a heuristic method is used to obtain an optimal combination of the hydrodynamic coefficients to be identified. In this paper, the AUV surge...
The cooperation and networking in heterogeneous underwater networks composed of vehicles running different control software and multi-vendor modems are a key issue due to the lack of standard. Since the interaction between different and multiple assets is of paramount importance for several application scenarios, in this paper we first present the new SUNSET Software Defined Communication Stack (SDCS)...
Exploring the seas and the oceans is essential for industrial and environmental applications. Given the fact that the seas cover 72% of the surface of the Earth and are home to 90% of all life found on it, underwater imaging has become an active research area in recent years. Due to the high absorption of electromagnetic waves by water, sonar is currently the exemplary choice used in underwater imaging...
Most Autonomous Underwater Vehicles (AUVs) mount an Acoustic Doppler Current Profilers (ADCP). Data from this sensor are rarely used in scientific studies due to the complexity of its processing and the lack of validation. Aside of that, AUV operators lack a set of guidelines regarding the optimal navigation modes and AUV-borne ADCP configurations to obtain the most accurate data possible. This study...
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