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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 ...
Computational approaches for sub-meter ocean color remote sensing
(Massachusetts Institute of Technology, 2021)
The satellite ocean color remote sensing paradigm developed by government space agencies enables the assessment of ocean color products on global scales at kilometer resolutions. A similar paradigm has not yet been developed ...
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 ...
Adaptive sampling in autonomous marine sensor networks
(Massachusetts Institute of Technology, 2006)
In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. ...
Quantifying hurricane wind speed with undersea sound
(Massachusetts Institute of Technology, 2006)
Hurricanes, powerful storms with wind speeds that can exceed 80 m/s, are one of the most destructive natural disasters known to man. While current satellite technology has made it possible to effectively detect and track ...
Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery
(Massachusetts Institute of Technology, 2006)
This thesis presents a stochastic mapping framework for autonomous robotic chemical plume source localization in environments with multiple sources. Potential applications for robotic chemical plume source localization ...