Thesis (M.S. in Electrical Engineering and M.S. in Applied Physics)--Naval Postgraduate School, June 2005. / Thesis Advisor(s): Joseph Rice, Roberto Cristi. Includes bibliographical references (p. 117-119). Also available online.

This thesis discusses a new approach to tracking the REMUS 100 AUV using a modified version of the Florida Atlantic University (FAU) ultrashort baseline (USBL) acoustic positioning system (APS). The REMUS 100 is designed to utilize a long baseline (LBL) acoustic positioning system to obtain positioning data in mid-mission. If the placement of one of the transponders of the LBL field is known, then tracking the position of the REMUS 100 AUV using a passive USBL array is possible. As part of the research for this thesis, the FAU USBL system was used to find a relative range between the REMUS 100 ranger and a LBL transponder. This relative range was then combined with direction of arrival information and LBL field component position information to determine an absolute position of the REMUS 100 ranger. The outcome was the demonstration of a passive USBL based tracking system. / by Kyle L. Seaton. / Thesis (M.S.C.S.)--Florida Atlantic University, 2013. / Includes bibliography. / Mode of access: World Wide Web. / System requirements: Adobe Reader.

Thesis (M.S.)--University of Delaware, 2006. / Principal faculty advisor: Robert P. Gilbert, Dept. of Mathematical Sciences. Includes bibliographical references.

Underwater sensor networks find applications in oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation, tactical surveillance, and mine reconnaissance. The enabling technology for these applications is acoustic wireless networking. UnderWater Acoustic Sensor Networks (UW-ASNs) consist of sensors and Autonomous Underwater Vehicles (AUVs) deployed to perform collaborative monitoring tasks. The objective of this research is to explore fundamental key aspects of underwater acoustic communications, propose communication architectures for UW-ASNs, and develop efficient sensor communication protocols tailored for the underwater environment. Specifically, different deployment strategies for UW-ASNs are studied, and statistical deployment analysis for different architectures is provided. Moreover, a model characterizing the underwater acoustic channel utilization efficiency is introduced. The model allows setting the optimal packet size for underwater communications. Two distributed routing algorithms are proposed for delay-insensitive and delay-sensitive applications. The proposed routing solutions allow each node to select its next hop, with the objective of minimizing the energy consumption taking the different application requirements into account. In addition, a resilient routing solution to guarantee survivability of the network to node and link failures in long-term monitoring missions is developed. Moreover, a distributed Medium Access Control (MAC) protocol for UW-ASNs is proposed. It is a transmitter-based code division multiple access scheme that incorporates a novel closed-loop distributed algorithm to set the optimal transmit power and code length. It aims at achieving high network throughput, low channel access delay, and low energy consumption. Finally, an efficient cross-layer communication solution tailored for multimedia traffic (i.e., video and audio streams, still images, and scalar sensor data) is introduced.

Thesis (M.S.)--University of Hawaii at Manoa, 2007. / Includes bibliographical references (leaves 117-134). / x, 134 leaves, bound 29 cm

Bonefish (Albula spp.) support valuable recreational and artisanal fisheries worldwide. Declining stocks have been reported at multiple localities, potentially jeopardising numerous multimillion-dollar industries. In particular, tourism generated through bonefish fly fishing contributes considerably to the economies of many isolated tropical islands and atolls. However, despite their economic value, little is known about bonefish in the Indian Ocean. This study aimed to contribute to the understanding of bonefish ecology in the Indian Ocean by (1) reviewing the bonefish literature to identify knowledge gaps; (2) evaluating the postrelease survival of acoustically tagged bonefish and; (3) quantifying the spatial and temporal movements of bonefish at a near-pristine and predator rich atoll in the Seychelles. A review of published literature on bonefish indicated that despite considerable biological and ecological research in the Pacific and Atlantic oceans, virtually no research has been conducted in the Indian Ocean. To help address this research gap, an acoustic telemetry study was initiated at the remote St. Joseph Atoll, within an existing array of 88 automated datalogging acoustic receivers. Thirty Albula glossodonta were surgically implanted with Vemco V13 acoustic transmitters in May 2015 and tracked for a period of one year. Only 10% of the tagged bonefish were detected for more than two weeks. A comparison of the final 100 hours of movement data from fish that were detected for less than two weeks to fish detected for longer periods revealed distinct differences. These included differences in area use patterns and significant differences in the average daily distance moved, speed of movement and residency index. This suggested that mortality in the form of post-release predation was high (90%) with tagged fish detected for less than two weeks being preyed upon by sharks. The three surviving bonefish were tracked for 210 to 367 days. These individuals remained in the atoll and showed high use of the marginal habitats between the shallow sand flats and the deeper lagoon. Water temperature, diel cycle and tide were significant predictors of bonefish presence in the lagoon. The high post-release predation of bonefish has implications for the management of this and other Albula species. Despite these fisheries being catch-and-release, bonefish fishing may be unsustainable due to the high post-release mortality, particularly in areas that are rich in predators. Therefore, protected areas or limitations on fishing effort need to be considered.

Approved for public release, distribution is unlimited / A recent improvement to the Seaweb underwater wireless network was the implementation of a Selective Automatic Repeat Request (SRQ) mechanism. SRQ is a protocol implemented in the Seaweb link layer as a measure for mitigating unreliability inherent in the telesonar physical layer. In January 2004, an experiment was performed in St. Andrew's Bay, Panama City, Florida. The goal was to transmit large data files through the network, in accordance with a Naval Special Warfare need for imagery file telemetry. For three point-to-point test geometries, SRQ was tested with a noisy and variable physical layer. Through the incorporation of SRQ, the unreliability was overcome. A link-budget model calibrated with the sound channel data collected from the experiment establishes the benefit of a "SRQ gain." / Ensign, United States Navy

The underwater channel poses numerous challenges for acoustic communication. Acoustic waves suffer long propagation delay, multipath, fading, and potentially high spatial and temporal variability. In addition, there is no typical underwater acoustic channel; every body of water exhibits quantifiably different properties. Underwater acoustic modems are traditionally operated at low frequencies. However, the use of broadband, high frequency communication is a good alternative because of the lower background noise compared to low-frequencies, considerably larger bandwidth and better source transducer efficiency. One of the biggest problems in the underwater acoustic communications at high frequencies is time-selective fading, resulting in the Doppler spread. While many Doppler detection, estimation and compensation techniques can be found in literature, the applications are limited to systems operating at low frequencies contained within frequencies ranging from a few hundred Hertz to around 30 kHz. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2015. / FAU Electronic Theses and Dissertations Collection

Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection

There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection