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A parallel hypothesis method of autonomous underwater vehicle navigation
(Massachusetts Institute of Technology, 2009)
This research presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating ...
Controller design for underwater vehicle systems with communication constraints
(Massachusetts Institute of Technology, 2015)
Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater, communication ...
Three-dimensional acoustic propagation through shallow water internal, surface gravity and bottom sediment waves
(Massachusetts Institute of Technology, 2011)
This thesis describes the physics of fully three-dimensional low frequency acoustic interaction with internal waves, bottom sediment waves and surface swell waves that are often observed in shallow waters and on continental ...
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 ...
Geoacoustic inversion by mode amplitude perturbation
(Massachusetts Institute of Technology, 2007)
This thesis introduces an algorithm for inverting for the geoacoustic properties of the seafloor in shallow water. The input data required by the algorithm are estimates of the amplitudes of the normal modes excited by a ...
Application of statistical learning theory to plankton image analysis
(Massachusetts Institute of Technology, 2006)
A fundamental problem in limnology and oceanography is the inability to quickly identify and map distributions of plankton. This thesis addresses the problem by applying statistical machine learning to video images collected ...
Cooperative localization for autonomous underwater vehicles
(Massachusetts Institute of Technology, 2009)
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position ...
Stratification on the Skagit Bay tidal flats
(Massachusetts Institute of Technology, 2012)
Estuarine density stratification may be controlled primarily by cross-shore processes (analogous to longitudinal control in narrow estuaries), or by both cross- and alongshore processes (typical of coastal plumes). Here ...
Performance analysis for lateral-line-inspired sensor arrays
(Massachusetts Institute of Technology, 2011)
The lateral line is a critical component of the fish sensory system, found to affect numerous aspects of behavior including maneuvering in complex fluid environments, schooling, prey tracking, and environment mapping. This ...
Three-dimensional propagation and scattering around a conical seamount
(Massachusetts Institute of Technology, 2007)
In this thesis, a numerically effcient three-dimensional propagation and scattering model is developed based on the three-dimensional coupled mode theory for axisymmetric bathymetry. The three-dimensional coupled mode ...