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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 ...
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 ...
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 ...
Three-dimensional acoustic propagation through shallow water internal, surface gravity and bottom sediment waves
(Massachusetts Institute of Technology, 2011)
This thesis describes the physics of fully three-dimensional low frequency acoustic interaction with internal waves, bottom sediment waves and surface swell waves that are often observed in shallow waters and on continental ...
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 ...
Contributions to automated realtime underwater navigation
(Massachusetts Institute of Technology, 2012)
This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle ...
Stratification on the Skagit Bay tidal flats
(Massachusetts Institute of Technology, 2012)
Estuarine density stratification may be controlled primarily by cross-shore processes (analogous to longitudinal control in narrow estuaries), or by both cross- and alongshore processes (typical of coastal plumes). Here ...
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. ...
Performance analysis for lateral-line-inspired sensor arrays
(Massachusetts Institute of Technology, 2011)
The lateral line is a critical component of the fish sensory system, found to affect numerous aspects of behavior including maneuvering in complex fluid environments, schooling, prey tracking, and environment mapping. This ...
Broadband and statistical characterization of echoes from random scatterers : application to acoustic scattering by marine organisms
(Massachusetts Institute of Technology, 2013)
The interpretation of echoes collected by active remote-sensing systems, such as sonar and radar, is often ambiguous due to the complexities in the scattering processes involving the scatterers, the environment, and the ...