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Controller design for underwater vehicle systems with communication constraints
(Massachusetts Institute of Technology, 2015)
Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater, communication ...
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 ...
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 ...
Hydrodynamics of a multiple tidal inlet system : Katama Bay, Martha's Vineyard, MA
(Massachusetts Institute of Technology, 2015)
Observations, theoretical models, and a numerical model (ADCIRC) are used to investigate the effects of tides, waves, bay bathymetry, and changing inlet geometry on the hydrodynamics of the multiple-inlet Katama system, ...
Passive wake detection using seal whisker-inspired sensing
(Massachusetts Institute of Technology, 2015)
This thesis is motivated by a series of biological experiments that display the harbor seal's extraordinary ability to track the wake of an object several seconds after it has swum by. They do so despite having auditory ...