Underwater & out of sight: towards ubiquity in underwater robotics

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 2019.The Earth's oceans holds a wealth of information currently hidden from us. Effective measurement of its properties could provide a better understanding of our changing climate and insights into the creatures that inhabit its waters. Autonomous underwater vehicles (AUVs) hold the promise of penetrating the ocean environment and uncovering its mysteries; and progress in underwater robotics research over the past three decades has resulted in vehicles that can navigate reliably and operate consistently, providing oceanographers with an additional tool for studying the ocean. Unfortunately, the high cost of these vehicles has stifled the democratization of this technology. We believe that this is a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size. Secondly, deployment of these vehicles is expensive and unwieldy due to their complexity, size and cost, resulting in the need for specialized personnel for vehicle operation and maintenance. The recent development of simpler, low-cost, miniature underwater robots provides a solution that mitigates both these factors; however, removing the expensive DVL-aided INS means that they perform poorly in terms of navigation accuracy. We address this by introducing a novel acoustic system that enables AUV self-localization without requiring a DVL-aided INS or on-board active acoustic transmitters. We term this approach Passive Inverted Ultra-Short Baseline (piUSBL) positioning. The system uses a single acoustic beacon and a time-synchronized, vehicle-mounted, passive receiver array to localize the vehicle relative to this beacon. Our approach has two unique advantages: first, a single beacon lowers cost and enables easy deployment; second, a passive receiver allows the vehicle to be low-power, low-cost and small, and enables multi-vehicle scalability. Providing this new generation of small and inexpensive vehicles with accurate navigation can potentially lower the cost of entry into underwater robotics research and further its widespread use for ocean science. We hope that these contributions in low-cost underwater navigation will enable the ubiquitous and coordinated use of robots to explore and understand the underwater domain.This research was funded and supported by a number of sponsors; we gratefully acknowledge them below. Defense Advanced Research Projects Agency (DARPA) and SSC Pacific via Applied Physical Sciences Corp. (APS) under contract number N66001-11-C-4115. SSC Pacific via Applied Physical Sciences Corp. (APS) under award number N66001-14-C-4031. Air Force via Lincoln Laboratory under award number FA8721-05-C-0002. Office of Naval Research (ONR) via University of California-San Diego under award number N00014-13-1-0632. Defense Advanced Research Projects Agency (DARPA) via Applied Physical Sciences Corp. (APS) under award number HR0011-18-C-0008. Office of Naval Research (ONR) under award number N00014-17-1-2474

Investigating the build-up of precedence effect using reflection masking

The auditory processing level involved in the build‐up of precedence [Freyman et al., J. Acoust. Soc. Am. 90, 874–884 (1991)] has been investigated here by employing reflection masked threshold (RMT) techniques. Given that RMT techniques are generally assumed to address lower levels of the auditory signal processing, such an approach represents a bottom‐up approach to the buildup of precedence. Three conditioner configurations measuring a possible buildup of reflection suppression were compared to the baseline RMT for four reflection delays ranging from 2.5–15 ms. No buildup of reflection suppression was observed for any of the conditioner configurations. Buildup of template (decrease in RMT for two of the conditioners), on the other hand, was found to be delay dependent. For five of six listeners, with reflection delay=2.5 and 15 ms, RMT decreased relative to the baseline. For 5‐ and 10‐ms delay, no change in threshold was observed. It is concluded that the low‐level auditory processing involved in RMT is not sufficient to realize a buildup of reflection suppression. This confirms suggestions that higher level processing is involved in PE buildup. The observed enhancement of reflection detection (RMT) may contribute to active suppression at higher processing levels

Non-Intrusive Subscriber Authentication for Next Generation Mobile Communication Systems

Merged with duplicate record 10026.1/753 on 14.03.2017 by CS (TIS)The last decade has witnessed massive growth in both the technological development, and the consumer adoption of mobile devices such as mobile handsets and PDAs. The recent introduction of wideband mobile networks has enabled the deployment of new services with access to traditionally well protected personal data, such as banking details or medical records. Secure user access to this data has however remained a function of the mobile device's authentication system, which is only protected from masquerade abuse by the traditional PIN, originally designed to protect against telephony abuse. This thesis presents novel research in relation to advanced subscriber authentication for mobile devices. The research began by assessing the threat of masquerade attacks on such devices by way of a survey of end users. This revealed that the current methods of mobile authentication remain extensively unused, leaving terminals highly vulnerable to masquerade attack. Further investigation revealed that, in the context of the more advanced wideband enabled services, users are receptive to many advanced authentication techniques and principles, including the discipline of biometrics which naturally lends itself to the area of advanced subscriber based authentication. To address the requirement for a more personal authentication capable of being applied in a continuous context, a novel non-intrusive biometric authentication technique was conceived, drawn from the discrete disciplines of biometrics and Auditory Evoked Responses. The technique forms a hybrid multi-modal biometric where variations in the behavioural stimulus of the human voice (due to the propagation effects of acoustic waves within the human head), are used to verify the identity o f a user. The resulting approach is known as the Head Authentication Technique (HAT). Evaluation of the HAT authentication process is realised in two stages. Firstly, the generic authentication procedures of registration and verification are automated within a prototype implementation. Secondly, a HAT demonstrator is used to evaluate the authentication process through a series of experimental trials involving a representative user community. The results from the trials confirm that multiple HAT samples from the same user exhibit a high degree of correlation, yet samples between users exhibit a high degree of discrepancy. Statistical analysis of the prototypes performance realised early system error rates of; FNMR = 6% and FMR = 0.025%. The results clearly demonstrate the authentication capabilities of this novel biometric approach and the contribution this new work can make to the protection of subscriber data in next generation mobile networks.Orange Personal Communication Services Lt

Index to 1986 NASA Tech Briefs, volume 11, numbers 1-4

Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1986 Tech Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences