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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 ...
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. ...
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 ...
Forward sound propagation around seamounts : application of acoustic models to the Kermit-Roosevelt and Elivs seamounts
(Massachusetts Institute of Technology, 2009)
The Basin Acoustic Seamount Scattering Experiment (BASSEX) of 2004 was conducted to measure forward-scattering around the Kermit-Roosevelt Seamount Complex in the Northeast Pacific. The BASSEX experiment was focused on the ...
Error and uncertainty in estimates of Reynolds stress using ADCP in an energetic ocean state
(Massachusetts Institute of Technology, 2006)
(cont.) To that end, the space-time correlations of the error, turbulence, and wave processes are developed and then utilized to find the extent to which the environmental and internal processing parameters contribute to ...
Biomimetic oscillating foil propulsion to enhance underwater vehicle agility and maneuverability
(Massachusetts Institute of Technology, 2008)
Inspired by the swimming abilities of marine animals, this thesis presents "Finnegan the RoboTurtle", an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce ...
Acoustic scattering from sand dollars (Dendraster Excentricus) : modeling as high aspect ratio oblate objects and comparison to experiment
(Massachusetts Institute of Technology, 2008)
Benthic shells can contribute greatly to the scattering variability of the ocean bottom, particularly at low grazing angles. Among the effects of shell aggregates are increased scattering strength and potential subcritical ...