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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 ...
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 ...
Understanding and utilizing waveguide invariant range-frequency striations in ocean acoustic waveguides
(Massachusetts Institute of Technology, 2011)
Much of the recent research in ocean acoustics has focused on developing methods to exploit the effects that the sea surface and seafloor have on acoustic propagation. Many of those methods require detailed knowledge of ...
Computational imaging and automated identification for aqueous environments
(Massachusetts Institute of Technology, 2011)
Sampling the vast volumes of the ocean requires tools capable of observing from a distance while retaining detail necessary for biology and ecology, ideal for optical methods. Algorithms that work with existing SeaBED AUV ...
Extraction of uranium from seawater : Design and testing of a symbiotic system
(Massachusetts Institute of Technology, 2017)
Seawater is estimated to contain 4.5 billion tonnes of uranium, approximately 1000 times that available in conventional terrestrial resources. Finding a sustainable way to harvest uranium from seawater will provide a source ...
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 ...
Advances in integrating autonomy with acoustic communications for intelligent networks of marine robots
(Massachusetts Institute of Technology, 2013)
Autonomous marine vehicles are increasingly used in clusters for an array of oceanographic tasks. The effectiveness of this collaboration is often limited by communications: throughput, latency, and ease of reconfiguration. ...
A computational approach to the quantification of animal camouflage
(Massachusetts Institute of Technology, 2014)
Evolutionary pressures have led to some astonishing camouflage strategies in the animal kingdom. Cephalopods like cuttlefish and octopus mastered a rather unique skill: they can rapidly adapt the way their skin looks in ...
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 ...
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 ...