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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 ...
Automated open circuit scuba diver detection with low cost passive sonar and machine learning
(Massachusetts Institute of Technology, 2019)
This thesis evaluates automated open-circuit scuba diver detection using low-cost passive sonar and machine learning. Previous automated passive sonar scuba diver detection systems required matching the frequency of diver ...
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 ...
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 ...
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 ...
Real time bottom reverberation simulation in deep and shallow ocean environments
(Massachusetts Institute of Technology, 2015)
Due to the costs involved and time required to perform experiments at sea, it is important to provide accurate simulations of the ocean environment. Using the ray tracing code, BELLHOP, the Mission Oriented Operating Suite ...
Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle
(Massachusetts Institute of Technology, 2001)
mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the ...
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 ...
Interannual variability of the Pacific water boundary current in the Beaufort Sea
(Massachusetts Institute of Technology, 2013)
Between 2002 and 2011 a single mooring was maintained in the core of the Pacific Water boundary current in the Alaskan Beaufort Sea near 152° W. Using velocity and hydrographic data from six year-long deployments during ...