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This thesis assessed object-based image analysis techniques using multi-source remote sensing data in order to automatically delineate canopy gaps and individual tree crowns (ITCs). Image segmentation is much more complex when conducted on data covering deciduous, un-even aged forests like those in Central Ontario. To delineate canopy gaps high spatial resolution multispectral ADS40 aerial imagery and a LiDAR CHM were assessed both separately and jointly. To delineate ITCs two commonly used segmentation approaches were assessed – region growing and watershed segmentation. Ground based measurements and manually delineated data were used as reference to evaluate results. Using multi-source data to delineate canopy gaps produced an average overall accuracy of 99.35%, whereas using the imagery and CHM individually resulted in average overall accuracies of 81.41% and 82.45%, respectively. For the delineation of ITCs, the watershed and region growing segmentations resulted in average overall accuracies of 67.5% and 65.5%, respectively.

CIVINS / Approved for public release; distribution is unlimited / The utility of present Autonomous Underwater Vehicles (AUVs) is limited by their on-board energy storage capability. Research indicates that rechargeable batteries will continue to be the AUV power source of choice for at least the near future. Thus, a need exists in both military and commercial markets for a universal, industry-standard underwater AUV recharge system. A novel solution using a linear coaxial wound transformer (LCWT) inductive coupling mounted on the AUV and a vertical docking cable is investigated. The docking cable may be deployed from either a fixed docking station or a mobile "tanker AUV". A numerical simulation of the simplified system hydrodynamics was created in MATLAB and used to evaluate the mechanical feasibility of the proposed system. The simulation tool calculated cable tension and AUV oscillation subsequent to the docking interaction. A prototype LCWT coupling was built and tested in saltwater to evaluate the power transfer efficiency of the system. The testing indicated that the surrounding medium has little effect on system performance. Finally, an economic analysis was conducted to determine the impact of the proposed system on the present military and commercial AUV markets. The recharge system creates substantial cost-savings, mainly by reducing support ship requirements. An effective AUV recharge system will be an important element of the Navy's net-centric warfare concept, as well as a valuable tool for commercial marine industries. / Lieutenant Commander, United States Navy

In the interest of enhancing the capabilities of autonomous underwater vehicles US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation. Use of a contour tracking control algorithm in lieu of preprogrammed waypoint navigation offers distinct advantages within new challenges. The difficult nature of this problem lies in the non-trivial connection between the necessary corrective action and the feedback error used in traditional control methods. Stated simply, modern vehicle control algorithms separate horizontal and vertical plane navigation. The autonomous vehicle senses heading error and applies rudder to steer the vehicle to a desired heading. Simultaneously, the vehicle might sense altitude and apply stern plane angles to maintain a safe height above ground. This thesis research examines the new problem of sensing depth and altitude in the vertical plane while steering the vehicle horizontally to find a specified bathymetry contour. While more remains to understand, this research proves the existence of a solution and suggests similar approaches may facilitate tying vehicle navigation to other indirect sensors. This thesis presents two contour tracking control algorithms and examines the performance of each by simulating the response of the REMUS underwater vehicle to ideal and real-world bathymetry models.