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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 ...
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 ...
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 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 ...