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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 ...
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 ...
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 ...
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 ...
Characterization of underwater target geometry from autonomous underwater vehicle sampling of bistatic acoustic scattered fields
(Massachusetts Institute of Technology, 2015)
One of the long term goals of Autonomous Underwater Vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based ...
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 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 ...
Broadband and statistical characterization of echoes from random scatterers : application to acoustic scattering by marine organisms
(Massachusetts Institute of Technology, 2013)
The interpretation of echoes collected by active remote-sensing systems, such as sonar and radar, is often ambiguous due to the complexities in the scattering processes involving the scatterers, the environment, and the ...
Passive wake detection using seal whisker-inspired sensing
(Massachusetts Institute of Technology, 2015)
This thesis is motivated by a series of biological experiments that display the harbor seal's extraordinary ability to track the wake of an object several seconds after it has swum by. They do so despite having auditory ...