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Modifiable stability and maneuverability of high speed unmanned underwater vehicles (UUVs) through bioinspired control fins
(Massachusetts Institute of Technology, 2020)
Underwater Vehicles generally have control fins located only near their aft end, for making controllable changes in directions. This design allows for stability of control; however, the turns are typically large in comparison ...
Coordinated tracking and interception of an acoustic target using autonomous surface vehicles
(Massachusetts Institute of Technology, 2019)
In today's highly advanced society, more industries are beginning to turn to autonomous vehicles to reduce costs and improve safety. One industry in particular is the defense industry. By using unmanned and autonomous ...
Development and deployment of a novel deep-sea in situ bubble sampling instrument for understanding the fate of methane in the water column
(Massachusetts Institute of Technology, 2019)
Methane (CH₄) is a potent greenhouse gas that is often found in a solid, hydrate clathrate form in marine sediments along continental margins and will often escape from the seafloor and rise through the water column as ...
The feasibility of sodar wind profile measurements from an oceanographic buoy
(Massachusetts Institute of Technology, 2006)
This thesis explores the feasibility of making wind speed profile measurements from an oceanographic buoy using a Doppler sodar. In the fall of 2005, we deployed a Scintec SFAS sodar on an ASIS buoy. Roughly one week of ...
Target tracking onboard an autonomous underwater vehicle : determining optimal towed array heading in an anisotropic noise field
(Massachusetts Institute of Technology, 2007)
In order to overcome the challenges that an anisotropic noise field poses for underwater target tracking, we conduct an onboard estimation of the horizontal noise directionality in the real-time processing suite of an ...
Detection, classification and localization of seabed objects with a virtual time reversal mirror
(Massachusetts Institute of Technology, 2009)
The work presented in this thesis addresses the problem of the detection, classification and localization of seabed objects in shallow water environments using a time reversal approach in a bistatic configuration. The ...
Quantification of the spatial and temporal evolution of stratified shear instabilities at high Reynolds number using quantitative acoustic scattering techniques
(Massachusetts Institute of Technology, 2015)
The spatial and temporal evolution of stratified shear instabilities is quantified in a highly stratified and energetic estuary. The measurements are made using high-resolution acoustic backscatter from an array composed ...
Sparse Bayesian information filters for localization and mapping
(Massachusetts Institute of Technology, 2008)
This thesis formulates an estimation framework for Simultaneous Localization and Mapping (SLAM) that addresses the problem of scalability in large environments. We describe an estimation-theoretic algorithm that achieves ...
Modeling and frequency tracking of marine mammal whistle calls
(Massachusetts Institute of Technology, 2009)
Marine mammal whistle calls present an attractive medium for covert underwater communications. High quality models of the whistle calls are needed in order to synthesize natural-sounding whistles with embedded information. ...
Stochastic acoustic ray tracing with dynamically orthogonal equations
(Massachusetts Institute of Technology, 2020)
Developing accurate and computationally efficient models for ocean acoustics is inherently challenging due to several factors including the complex physical processes and the need to provide results on a large range of ...