2026-09-19T09:27:32Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/837532022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Henrik Schmidt.
Viquez Rojas, Oscar Alberto
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2014-01-09T19:51:22Z
2014-01-09T19:51:22Z
2013
http://hdl.handle.net/1721.1/83753
864756715
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 33).
This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from a dock, it was possible to record the acoustic signature generated by a small motor boat as it navigated towards, and then away from the sensor. The time-varying sound intensity was estimated by Root Mean Square of the sound amplitude in discrete samples. The time-derivative of the sound intensity was then used to estimate the time to arrival, or collision, of the acoustic source. The algorithm was found to provide a good estimate of the time to collision, with a small standard deviation for the projected collision time, when the acoustic source was moving at approximately constant speed, providing validation of the model at the proof-of-concept level.
by Oscar Alberto Viquez Rojas.
S.B.
33 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Evaluation of an acoustic detection algorithm for reactive collision avoidance in underwater applications
Thesis
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<Abstract>This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from a dock, it was possible to record the acoustic signature generated by a small motor boat as it navigated towards, and then away from the sensor. The time-varying sound intensity was estimated by Root Mean Square of the sound amplitude in discrete samples. The time-derivative of the sound intensity was then used to estimate the time to arrival, or collision, of the acoustic source. The algorithm was found to provide a good estimate of the time to collision, with a small standard deviation for the projected collision time, when the acoustic source was moving at approximately constant speed, providing validation of the model at the proof-of-concept level.</Abstract>
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