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  • Remote submersibles  (14)
  • Chemistry
  • LUNAR AND PLANETARY EXPLORATION
  • Polymer and Materials Science
  • Massachusetts Institute of Technology and Woods Hole Oceanographic Institution  (15)
  • 2010-2014  (15)
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  • 1
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2000
    Description: The thesis develops and demonstrates methods of classifying ocean processes using an underwater moving platform such as an Autonomous Underwater Vehicle (AUV). The "mingled spectrum principle" is established which concisely relates observations from a moving platform to the frequency-wavenumber spectrum of the ocean process. It clearly reveals the role of the AUV speed in mingling temporal and spatial information. For classifying different processes, an AUV is not only able to jointly utilize the time-space information, but also at a tunable proportion by adjusting its cruise speed. In this respect, AUVs are advantageous compared with traditional oceanographic platforms. Based on the mingled spectrum principle, a parametric tool for designing an AUVbased spectral classifier is developed. An AUV's controllable speed tunes the separability between the mingled spectra of different processes. This property is the key to optimizing the classifier's performance. As a case study, AUV-based classification is applied to distinguish ocean convection from internal waves. The mingled spectrum templates are derived from the MIT Ocean Convection Model and the Garrett-Munk internal wave spectrum model. To allow for mismatch between modeled templates and real measurements, the AUVbased classifier is designed to be robust to parameter uncertainties. By simulation tests on the classifier, it is demonstrated that at a higher AUV speed, convection's distinct spatial feature is highlighted to the advantage of classification. Experimental data are used to test the AUV-based classifier. An AUV-borne flow measurement system is designed and built, using an Acoustic Doppler Velocimeter (ADV). The system is calibrated in a high-precision tow tank. In February 1998, the AUV acquired field data of flow velocity in the Labrador Sea Convection Experiment. The Earth-referenced vertical flow velocity is extracted from the raw measurements. The classification test result detects convection's occurrence, a finding supported by more traditional oceanographic analyses and observations. The thesis work provides an important foundation for future work in autonomous detection and sampling of oceanographic processes.
    Description: This thesis research has been funded by the Office of Naval Research (ONR) under Grants NOOOl4-95-1-1316, NOO0l4-97-1-0470, and by the MIT Sea Grant College Program under Grant NA46RG0434.
    Keywords: Convection ; Internal waves ; Power spectra ; Remote submersibles ; Oceanographic submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 2
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution May 1999
    Description: This thesis focuses on improving the productivity of autonomous and telemanipulation systems consisting of a manipulator arm mounted to a free flying underwater vehicle. Part I minimizes system sensitivity to misalignment by developing a gripper and a suite of handles that passively self align when grasped. After presenting a gripper guaranteed to passively align cylinders we present several other self aligning handles. The mix of handle alignment and load resisting properties enables handles to be matched to the needs of each task. Part I concludes with a discussion of successful field use of the system on the Jason Remotely Operated Undersea Vehicle operated by the Woods Hole Oceanographic Institution. To enable the exploitation of contact with the environment to help stabilize the vehicle, Part II develops a technique which identifies the contact state of a planar vehicle interacting with a fixed environment. Knowing the vehicle geometry and velocity we identify kinematically feasible contact points, from which we construct the set of feasible contact models. The measured vehicle data violates each model’s constraints; we use the associated violation power and work to select the best overall model. Part II concludes with experimental confirmation of the contact identification techniques efficacy.
    Keywords: Manipulators ; Adaptive control systems ; Robots ; Remote submersibles ; Knorr (Ship : 1970-) Cruise KN145-19
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 3
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1993
    Description: Control systems for underwater vehicles have reached the level of sophistication where they are limited by the dynamic performance of the thrust actuators. Standard fixed-pitch propellers have been shown to have very poor dynamic characteristics, particularly at low thrust levels The dynamic response of a fixed-pitch propeller is dependent upon highly non-linear transients encountered while the shaft speed approaches its steady-state value. This thesis proposes the use of a controllable pitch propeller system to address this problem. A controllable pitch propeller varies the amount of thrust produced by varying the pitch angle of the blades at a constant shaft speed. The bandwidth of this type of thrust actuator would be dependent primarily on the speed at which the pitch angle of the blades are changed. A variable pitch propeller system suitable for retrofit into an ROV is designed and built. The system is designed for maximal pitch angle bandwidth with low actuator power consumption.
    Keywords: Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 4
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Ocean Engineer at the Massachusetts Institute of Technology and Woods Hole Oceanographic Institution September 1994
    Description: Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of motion. This coupling between an UUV's six degrees of freedom (6 DOF) is particularly important when attempting complex maneuvers such as coordinated turns (e.g. simultaneous dive and heading change) or vehicle hovering in such an environment. Given the parameter and modelling uncertainties endemic to these equations of motion, then a robust 6 DOF sliding controller employing six-element vector sliding surfaces provides a framework in which satisfactory UUV control can be achieved in shallow water. The vehicle equations of motion are developed and cast in a form that is amenable to non-linear sliding control design. A complete 6 DOF sliding controller with vector sliding surfaces is then formulated via a Lyapunov-like analysis. The sliding controller is then modified via a weighted least-squares approach to work with a particular UUV which has only 4 DOF control authority available. The modified controller is shown to work well for a variety of commanded UUV maneuvers in the presence of significant environmental disturbances and vehicle hydrodynamic parameter uncertainties via numerical simulation. Use of the signals generated by the controller are shown to be of utility in vehicle buoyancy control.
    Description: The financial support of the Office of Naval Research under Contract No. N00014-90-J-1912 is gratefully acknowledged.
    Keywords: Submersibles ; Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 5
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1997
    Description: A review of the Odyssey IIB autonomous underwater vehicle shows that energy costs associated with vehicle controls can be reduced and operational flexibility improved with relatively simple, low cost improvements. Because the operating speed that minimizes forward drag is not necessarily the same as that required for optimum sensor performance, a variable speed capability extending to the bottom of the vehicle speed range is sought. Optimizing Odyssey IIB AUV performance for slower speed operations and extended duration missions necessitates a multi-disciplinary review including control system design, hydrodynamic performance and sensor selection and utilization. Reducing the vehicle controls-fixed directional instability by adding vertical fixed fins, implementing an actuation filter, and designing a model based adaptive sliding controller improves the variable speed performance and reduces the control actuation necessary to provide the desired performance level with energy savings.
    Keywords: Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 6
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution May 1997
    Description: Navigation is a key technology for autonomous underwater vehicles (AUVs), and currently, it limits potential and existing vehicle capabilities and applications. This thesis presents a terrain-relative navigation system for AUVs that does not require the deployment of acoustic beacons or other navigational aids, but instead depends on a supplied digital bathymetric map and the ability of the vehicle to image the seafloor. At each time step, a bathymetric profile is measured and compared to a local region of the supplied map using a mean absolute difference criterion. The region size is determined by the current navigation uncertainty. For large regions, a coarse-to-fine algorithm with a modified beam search is used to intelligently search for good matches while reducing the computational requirements. A validation gate is defined around the position estimate using the navigation uncertainty, which is explicitly represented through a covariance matrix. A probabilistic data association filter with amplitude information (PDAFAI), grounded in the Kalman Filter framework, probabilistically weights each good match that lies within the validation gate. Weights are a function of both the match quality and the size of the innovation. Navigation updates are then a function of the predicted position, the gate size, all matches within the gate, and the uncertainties on both the prediction and the matches. The system was tested in simulation on several terrain types using a deep-ocean bathymetry map of the western flank of the Mid-Atlantic Ridge between the Kane and Atlantis Transforms. Results show more accurate navigation in the areas with greater bathymetric variability and less accurate navigation in flatter areas with more gentle terrain contours. In most places, the uncertainties assigned to the navigation positions reflect the ability of the system to follow the true track. In no case did the navigation diverge from the true track beyond the point of recovery.
    Description: Funding was provided by Office of Naval Research Grants N00014-96-1-5028, N00014-94-1- 0466 and N00017-92-J-1714; Naval Research Underwater Warfare Center Grant N0014-90-D- 1979, and Naval Research Laboratory N00014-92-C-6028.
    Keywords: Remote submersibles ; Ocean engineering
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 7
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution July 1996
    Description: The continuing development of the autonomous underwater vehicle as an oceanographic research tool has opened up the realm of scientific possibility in the field of deep ocean research. The ability of a vehicle to travel to the ocean floor untethered, collect data for an extended period of time and return to the surface for recovery can make precise oceanographic surveying more economically practical and more efficient. This thesis investigates several scalar parameter searching techniques which have their basis in mathematical optimization algorithms and their applicability for use specifically within the context of autonomous underwater vehicle dynamics. In particular, a modified version of the circular gradient evaluation in the simulated environment of a hydrothermal plume is examined as a test case. Using a priori knowledge of the expected structure of the scalar parameter contour is shown to be advantageous in optimizing the search.
    Keywords: Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 8
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1996
    Description: Propeller dynamics have typically been ignored in controller design, lumped into the category of 'unmodeled dynamics.' This is acceptable for propellers operating at constant speed in relatively uniform flows. Operational parameters of small remotely operated vehicles and autonomous underwater vehicles require a great deal of transient operation of the propellers. This and the small mass of the vehicles make the dynamics of the propellers a significant factor in vehicle control. Expanding roles of these vehicles require improved control and therefore improved understanding of the dynamics of the thrusters during maneuvering. In this thesis, the dynamics of maneuvering thrusters were explored through numerical simulation and experiments. Vortex lattice propeller code developed for use with nonuniform inflow was adapted to incorporate varying propeller speed and inflow velocity. Test runs were made using a three bladed propeller. Experiments were preformed on a thruster from the ROV Jason using the water tunnel at the Massachusetts Institute of Technology. The thruster incorporated a ducted three bladed propeller. Runs were made using step changes in shaft velocity as well as sinusoidal perturbations on top of steady state velocities. Runs were also made incorporating fully reversing propeller operation. Experiments were done with and without the duct in place. The numerical simulation and experimental results showed that accelerating propeller angular velocity created higher thrust values than steady state propeller operation at the corresponding instantaneous shaft velocity. Decelerating angular velocities created lower thrust values. This is attributed to a lag in the local flow velocity due to the momentum of the fluid. For the case of the accelerating propeller, the angle of attack at the blade is higher, resulting in higher lift force and greater thrust. Errors in the numerical code at low advance coefficients prevented direct comparison of numerical code results to experimental results.
    Keywords: Remote submersibles ; Hydrodynamics
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 9
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution May 1998
    Description: Planktonic protozoan grazers have the potential to significantly affect the chemistry of particle-associated trace metals. This is due both to the importance of protists as consumers of bacterial-sized particles, and to the unique low-pH, enzyme-rich microenvironment of the grazer food vacuole. This thesis examines the role of protozoan grazers in the marine geochemistry of strongly hydrolyzed, particle-reactive trace metals, in particular Th and Fe. A series of tracer experiments was carried out in model systems in order to determine the effect of grazer-mediated transformations on the chemical speciation and partitioning of radioisotopes C9Fe, 234Th, 51Cr) associated with prey cells. Results indicate that protozoan grazers are equally able to mobilize intracellular and extracellular trace metals. In some cases, protozoan regeneration of trace metals appears to lead to the formation of metal-organic complexes. Protozoan grazing may generate colloidal material that can scavenge trace metals and, via aggregation, lead to an increase in the metal/organic carbon ratio of aggregated particles. Model system experiments were also conducted in order to determine the effect of grazers on mineral phases, specifically colloidal iron oxide (ferrihydrite). Several independent techniques were employed, including size fractionation ors9Fe-labeled colloids, competitive ligand exchange, and iron-limited diatoms as "probes" for bioavailable Fe. Experimental evidence strongly suggests that protozoan grazing can affect the surface chemistry and increase the dissolution rate of iron oxide phases through phagotrophic ingestion. In further work on protozoan-mediated dissolution of colloidal Fe oxides, a novel tracer technique was developed based on the synthesis of colloidal ferrihydrite impregnated with 133Ba as an inert tracer. This technique was shown to be a sensitive, quantitative indicator for the extent of ferrihydrite dissolution/alteration by a variety of mechanisms, including photochemical reduction and ligand-mediated dissolution. In field experiments using this technique, grazing by naturally occuring protistan assemblages was shown to significantly enhance the dissolution rate of colloidal ferrihydrite over that in non-grazing controls. Laboratory and field results indicate that, when integrated temporally over the entire euphotic zone, protozoan grazing may equal or exceed photoreduction as a pathway for the dissolution of iron oxides.
    Description: This work was financially supported by a Department of Defense ONR-NDSEG Graduate Fellowship, Office ofNaval Research AASERT Award (N00014-94-1-0711), and the National Science Foundation EGB Program (OCE-9523910).
    Keywords: Protozoa ; Water chemistry ; Trace elements in water ; Marine zooplankton ; Chemistry
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 10
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and Woods Hole Oceanographic Institution May 1994
    Description: This thesis compares classical nonlinear control theoretic techniques with recently developed neural network control methods based on the simulation and experimental results on a simple electromechanical system. The system has a configuration-dependent inertia, which contributes a substantial nonlinearity. The controllers being studied include PID, sliding control, adaptive sliding control, and two different controllers based on neural networks: one uses feedback error learning approach while the other uses a Gaussian network control method. The Gaussian network controller is tested only in simulation due to lack of time. These controllers are evaluated based on the amount of a priori knowledge required, tracking performance, stability guarantees, and computational requirements. Suggestions for choosing appropriate control techniques to one's specific control applications are provided based on these partial comparison results.
    Keywords: Remote submersibles ; Submersibles ; Nonlinear control theory
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 11
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 1992
    Description: The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being developed for scientific study of the deep ocean sea:floor. ABE will be completely autonomous from the surface which means that the lifetime of the mission will depend largely on how the vehicle is controlled. An accurate system model is critical for the controller development and trajectory planning. A model of the ABE vehicle dynamics is formulated for surge, heave and pitch motions. These motions in the lon,gitudinal plane are particularly important for the basic ABE trajectories of forward flight, depth changes and maneuvers involving both. A scale model of the ABE vehicle was towed to determine the lift/drag relationships to nonzero angles of attack. The experimental results are used in conjunction with traditional analytical techniques to generate a model of the longitudinal dynamics. The ABE model was studied in simulation over anticipated vehicle trajectories. A proportional plus derivative controller and a sliding mode controller were developed for tracking control. The power consumptions for different controllers and trajectories are examined. The results of this study will be incorporated in the final ABE design.
    Description: The Office of Naval Research is gratefully acknowledged for its financial support of my graduate education. In addition, this work has been sponsored in part by the National Science Foundation, grant number OCE 8820227.
    Keywords: Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 12
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2013
    Description: Autonomous marine vehicles are increasingly used in clusters for an array of oceanographic tasks. The effectiveness of this collaboration is often limited by communications: throughput, latency, and ease of reconfiguration. This thesis argues that improved communication on intelligent marine robotic agents can be gained from acting on knowledge gained by improved awareness of the physical acoustic link and higher network layers by the AUV’s decision making software. This thesis presents a modular acoustic networking framework, realized through a C++ library called goby-acomms, to provide collaborating underwater vehicles with an efficient short-range single-hop network. goby-acomms is comprised of four components that provide: 1) losslessly compressed encoding of short messages; 2) a set of message queues that dynamically prioritize messages based both on overall importance and time sensitivity; 3) Time Division Multiple Access (TDMA) Medium Access Control (MAC) with automatic discovery; and 4) an abstract acoustic modem driver. Building on this networking framework, two approaches that use the vehicle’s “intelligence” to improve communications are presented. The first is a “non-disruptive” approach which is a novel technique for using state observers in conjunction with an entropy source encoder to enable highly compressed telemetry of autonomous underwater vehicle (AUV) position vectors. This system was analyzed on experimental data and implemented on a fielded vehicle. Using an adaptive probability distribution in combination with either of two state observer models, greater than 90% compression, relative to a 32-bit integer baseline, was achieved. The second approach is “disruptive,” as it changes the vehicle’s course to effect an improvement in the communications channel. A hybrid data- and model-based autonomous environmental adaptation framework is presented which allows autonomous underwater vehicles (AUVs) with acoustic sensors to follow a path which optimizes their ability to maintain connectivity with an acoustic contact for optimal sensing or communication.
    Description: I wish to acknowledge the sponsors of this research for their generous support of my tuition, stipend, and research: the WHOI/MIT Joint Program, the MIT Presidential Fellowship, the Office of Naval Research (ONR) # N00014-08-1-0011, # N00014-08-1-0013, and the ONR PlusNet Program Graduate Fellowship, the Defense Advanced Research Projects Agency (DARPA) (Deep Sea Operations: Applied Physical Sciences (APS) Award # APS 11-15 3352-006, APS 11-15-3352-215 ST 2.6 and 2.7)
    Keywords: Remote submersibles ; Computer networks
    Repository Name: Woods Hole Open Access Server
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  • 13
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2013
    Description: A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical missions can generate imagery at rates hundreds of times greater than highly compressed images can be transmitted acoustically, delaying that understanding until after the vehicle has been recovered and the data analyzed. While automated classification algorithms can lessen the burden on human annotators after a mission, most are too computationally expensive or lack the robustness to run in situ on a vehicle. Fast algorithms designed for mission-time performance could lessen the latency of understanding by producing low-bandwidth semantic maps of the survey area that can then be telemetered back to operators during a mission. This thesis presents a lightweight framework for processing imagery in real time aboard a robotic vehicle. We begin with a review of pre-processing techniques for correcting illumination and attenuation artifacts in underwater images, presenting our own approach based on multi-sensor fusion and a strong physical model. Next, we construct a novel image pyramid structure that can reduce the complexity necessary to compute features across multiple scales by an order of magnitude and recommend features which are fast to compute and invariant to underwater artifacts. Finally, we implement our framework on real underwater datasets and demonstrate how it can be used to select summary images for the purpose of creating low-bandwidth semantic maps capable of being transmitted acoustically.
    Keywords: Remote submersibles ; Image analysis
    Repository Name: Woods Hole Open Access Server
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  • 14
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1989
    Description: In order to provide an accurate and efficient method of docking, station keeping, and navigation for the JASON remotely operated vehicle, an optical tracking method is investigated. The method needs to be accurate enough for underwater control and fast enough to enable timely control. The method presented solves the camera location problem in a closed form and is accurate for accurate measurements of image plane coordinates. Target design criteria are discussed and a prepared, passive target is selected. Testing and error analysis reveal that the approach gives good results for camera lenses with focal lengths greater than 4.8mm. The effects of underwater use are discussed and a non-numerical method of compensating for the underwater effects is presented. The compensation method shifts the image plane coordinates toward the image plane center and gives results that are within acceptable error margins.
    Keywords: Remote submersibles
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 15
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    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Publication Date: 2022-05-26
    Description: Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1991
    Description: Undersea technology is on the verge of equipping remotely operated vehicle (ROV) pilots with a three-dimensional (3-D), real-time display incorporating data from a wide variety of sensors including sonar (sound navigation and ranging), cameras, and lasers. Effective collection, computation, and presentation of this data to the pilot in a single display presents hardware, software and human factors problems. This thesis focuses on human factors issues associated with the display of information which could enhance the pilot's efficiency of performance. Background information on human factors engineering, 3-D computer graphics displays, and application of the 3-D perspective display precede the details of the experiment. Five specific display enhancements tested include altering the displayed field of view, providing a screen grid, displaying the current range to the target of interest, using a vertical color scheme, and controlling the display update rate. Seven tests measure the effects of these display enhancements on the simulated piloting of an ROV. The effects of the ROV simulation and operator learning curves are removed to compare performance changes due to the various enhancements directly. Operator comments during and after testing as well as test monitor/author observations provide insight into the experiment Test result implications for system design trade-offs are discussed in detail. Recommendations for future research and the proposed construction of a fully equipped ROV simulator complete the work.
    Keywords: Sonar ; Remote submersibles ; Human engineering
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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