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Perception-driven optimal motion planning under resource constraints
(Massachusetts Institute of Technology, 2019)
Over the past few years there has been a new wave of interest in fully autonomous robots operating in the real world, with applications from autonomous driving to search and rescue. These robots are expected to operate at ...
Wave-, wind-, and tide-driven circulation at a well-mixed ocean inlet
(Massachusetts Institute of Technology, 2017)
The effects of waves, wind, and bathymetry on tidal and subtidal hydrodynamics at unstratified, shallow New River Inlet, NC, are evaluated using field observations and numerical simulations. Tidal flows are ebb-dominated ...
Effects of internal waves on low frequency, long range, acoustic propagation in the deep ocean
(Massachusetts Institute of Technology, 2007)
This thesis covers a comprehensive analysis of long-range, deep-ocean, low-frequency, sound propagation experimental results obtained from the North Pacific Ocean. The statistics of acoustic fields after propagation through ...
Laboratory evaluation of laser-induced breakdown spectroscopy (LIBS) as a new in situ chemical sensing technique for the deep ocean
(Massachusetts Institute of Technology, 2007)
Present-day expeditionary oceanography is beginning to shift from a focus on short-term ship and submersible deployments to an ocean observatory mode where long-term temporally-focused studies are feasible. As a result, a ...
Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles
(Massachusetts Institute of Technology, 2015)
The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment ...
Characterization of underwater target geometry from autonomous underwater vehicle sampling of bistatic acoustic scattered fields
(Massachusetts Institute of Technology, 2015)
One of the long term goals of Autonomous Underwater Vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based ...
A parallel hypothesis method of autonomous underwater vehicle navigation
(Massachusetts Institute of Technology, 2009)
This research presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating ...
Computational strategies for understanding underwater optical image datasets
(Massachusetts Institute of Technology, 2013)
A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical ...
Uncertainty Quantification in ocean state estimation
(Massachusetts Institute of Technology, 2013)
Quantifying uncertainty and error bounds is a key outstanding challenge in ocean state estimation and climate research. It is particularly difficult due to the large dimensionality of this nonlinear estimation problem and ...
Dense, sonar-based reconstruction of underwater scenes
(Massachusetts Institute of Technology, 2019)
Three-dimensional maps of underwater scenes are critical to-or the desired end product of-many applications, spanning a spectrum of spatial scales. Examples range from inspection of subsea infrastructure to hydrographic ...