Cooperative localization for autonomous underwater vehicles

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 2009Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons. This thesis examines the scenario in which the members of a group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.This work was funded by Office of Naval Research grants N00014-97-1-0202, N00014-05-1-0255, N00014-02-C-0210, N00014-07-1-1102 and the ASAP MURI program led by Naomi Leonard of Princeton University

Atmospheric Instrument Systems and Technology in the Goddard Earth Sciences Division

Studies of the Earths atmosphere require a comprehensive set of observations that rely on instruments flown on spacecraft, aircraft, and balloons as well as those deployed on the surface. Within NASAs Goddard Space Flight Center (GSFC) Earth Sciences Division-Atmospheres, laboratories and offices maintain an active program of instrument system development and observational studies that provide: 1) information leading to a basic understanding of atmospheric processes and their relationships with the Earths climate system, 2) prototypes for future flight instruments, 3) instruments to serve as calibration references for satellite missions, and 4) instruments for future field validation campaigns that support ongoing space missions. Our scientists participate in all aspects of instrument activity, including component and system design, calibration techniques, retrieval algorithm development, and data processing systems. The Atmospheres Program has well-equipped labs and test equipment to support the development and testing of instrument systems, such as a radiometric calibration and development facility to support the calibration of ultraviolet and visible (UV/VIS), space-borne solar backscatter instruments. This document summarizes the features and characteristics of 46 instrument systems that currently exist or are under development. The report is organized according to active, passive, or in situ remote sensing across the electromagnetic spectrum. Most of the systems are considered operational in that they have demonstrated performance in the field and are capable of being deployed on relatively short notice. Other systems are under study or of low technical readiness level (TRL). The systems described herein are designed mainly for surface or airborne platforms. However, two Cubesat systems also have been developed through collaborative efforts. The Solar Disk Sextant (SDS) is the single balloon-borne instrument. The lidar systems described herein are designed to retrieve clouds, aerosols, methane, water vapor pressure, temperature, and winds. Most of the lasers operate at some wavelength combination of 355, 532, and 1064 nm. The various systems provide high sensitivity measurements based on returns from backscatter or Raman scattering including intensity and polarization. Measurements of the frequency (Doppler) shift of light scattered from various atmospheric constitutes can also be made. Microwave sensors consist of both active (radar) and passive (radiometer) systems. These systems are important for studying processes involving water in various forms. The dielectric properties of water affect microwave brightness temperatures, which are used to retrieve atmospheric parameters such as rainfall rate and other key elements of the hydrological cycle. Atmosphere radar systems operate in the range from 9.6 GHz to 94 GHz and have measurement accuracies from -5 to 1 dBZ; radiometers operate in the 50 GHz to 874 GHz range with accuracies from 0.5 to 1 degree K; conical and cross-track scan modes are used. Our passive optical sensors, consisting of radiometers and spectrometers, collectively operate from the UV into the infrared. These systems measure energy fluxes and atmospheric parameters such as trace gases, aerosols, cloud properties, or altitude profiles of various species. Imager spatial resolution varies from 37 m to 400 m depending on altitude; spectral resolution is as small as 0.5 nm. Many of the airborne systems have been developed to fly on multiple aircraft

Optical Wireless Data Center Networks

Bandwidth and computation-intensive Big Data applications in disciplines like social media, bio- and nano-informatics, Internet-of-Things (IoT), and real-time analytics, are pushing existing access and core (backbone) networks as well as Data Center Networks (DCNs) to their limits. Next generation DCNs must support continuously increasing network traffic while satisfying minimum performance requirements of latency, reliability, flexibility and scalability. Therefore, a larger number of cables (i.e., copper-cables and fiber optics) may be required in conventional wired DCNs. In addition to limiting the possible topologies, large number of cables may result into design and development problems related to wire ducting and maintenance, heat dissipation, and power consumption. To address the cabling complexity in wired DCNs, we propose OWCells, a class of optical wireless cellular data center network architectures in which fixed line of sight (LOS) optical wireless communication (OWC) links are used to connect the racks arranged in regular polygonal topologies. We present the OWCell DCN architecture, develop its theoretical underpinnings, and investigate routing protocols and OWC transceiver design. To realize a fully wireless DCN, servers in racks must also be connected using OWC links. There is, however, a difficulty of connecting multiple adjacent network components, such as servers in a rack, using point-to-point LOS links. To overcome this problem, we propose and validate the feasibility of an FSO-Bus to connect multiple adjacent network components using NLOS point-to-point OWC links. Finally, to complete the design of the OWC transceiver, we develop a new class of strictly and rearrangeably non-blocking multicast optical switches in which multicast is performed efficiently at the physical optical (lower) layer rather than upper layers (e.g., application layer). Advisors: Jitender S. Deogun and Dennis R. Alexande

Creation and deployment of the NEREUS autonomous underwater chemical analyzer and Kemonaut, an odyssey class submarine

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 2003.Includes bibliographical references (p. 175-181).NEREUS is a compact self-contained low-power submersible membrane-inlet mass spectrometer, designed to measure dissolved volatile gasses in the water column. It is capable of intelligent data collection, analysis and state-based mission control while operating as a stand-alone instrument or onboard the Kemonaut autonomous underwater vehicle (AUV). Kemonaut is an Odyssey class AUV with increased payload carrying capacity and dynamic stability, and is intended for freshwater and coastal marine applications to depths of 300 meters. The NEREUS-Kemonaut system characteristics allow for greatly improved dissolved gas data collection rates, accuracy and mapping resolution over presently available technologies. Applications particularly well suited for the NEREUS-Kemonaut system include identification and mapping of pollution sources such as chemical spills, investigation of enigmatic freshwater and marine ecosystems, assessment of subsurface natural resources and estimation of marine-related greenhouse gas cycling.by Richard Camilli.Ph.D

1-D broadside-radiating leaky-wave antenna based on a numerically synthesized impedance surface

A newly-developed deterministic numerical technique for the automated design of metasurface antennas is applied here for the first time to the design of a 1-D printed Leaky-Wave Antenna (LWA) for broadside radiation. The surface impedance synthesis process does not require any a priori knowledge on the impedance pattern, and starts from a mask constraint on the desired far-field and practical bounds on the unit cell impedance values. The designed reactance surface for broadside radiation exhibits a non conventional patterning; this highlights the merit of using an automated design process for a design well known to be challenging for analytical methods. The antenna is physically implemented with an array of metal strips with varying gap widths and simulation results show very good agreement with the predicted performance

Magneto-inductive wireless underground sensor networks: novel longevity model, communication concepts and workarounds to key theoretical issues using analogical thinking

This research has attempted to devise novel workarounds to key theoretical issues in magneto-inductive wireless underground sensor networks (WUSNs), founded on analogical thinking (Gassmann & Zeschky 2008). The problem statement for this research can be summarized as follows. There has been a substantial output of research publications in the past 5 years, devoted to theoretically analysing and resolving the issues pertaining to deployment of MI based WUSNs. However, no alternate solution approaches to such theoretical analyses have been considered. The goal of this research was to explore such alternate solution approaches. This research has used the principle of analogical thinking in devising such alternate solution approaches. This research has made several key contributions to the existing body of work. First, this research is the first of its kind to demonstrate by means of review of state-of-the-art research on MI based WUSNs, the largely theoretical genus of the research to the exclusion of alternate solution approaches to circumvent key theoretical issues. Second, this research is the first of its kind to introduce the notion of analogical thinking as a solution approach in finding viable workarounds to theoretical impediments in MI based WUSNs, and validate such solution approach by means of simulations. Third, this research is the first of its kind to explore novel communication concepts in the realm of MI based WUSNs, based on analogical thinking. Fourth, this research is the first of its kind to explore a novel longevity model in the realm of MI based WUSNs, based on analogical thinking. Fifth, this research is also the first to extend the notion of analogical thinking to futuristic directions in MI based WUSNs research, by means of providing possible indicators drawn from various other areas of contemporary research. In essence, the author believes that the findings of this research mark a paradigm shift in the research on MI based WUSNs

Beam scanning by liquid-crystal biasing in a modified SIW structure

A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

Diseño de una Red de Sensores Inalámbrica para un Sistema de Observación Costero (SOC)

Las Redes de Sensores Inalámbricas (Wireless Sensor Network, WSN) son un conjunto de dispositivos que permiten una comunicación sin cables, interconectados entre sí a través de una red inalámbrica y a su vez conectados a un sistema central en el que se recopilará la información recogida por cada uno de los sensores. En el presente Trabajo Fin de Máster se persigue realizar un estudio teórico sobre el diseño de una WSN para un Sistema de Observación Costero (SOC) cuyo objetivo es la monitorización de la laguna costera del Mar Menor (situada al sureste de la Península Ibérica, en la Región de Murcia) frente a las aguas próximas adyacentes del Mar Mediterráneo. Para ello se propone desplegar una serie de nodos sensores ubicados en situaciones estratégicas y estudiadas y éstos serán los encargados de tomar medidas de ciertos parámetros. La información recogida por los nodos sensores tiene que ser transmitida hasta una estación base en la que se almacenarán los datos y se realizarán los estudios necesarios de acuerdo con los modelos teóricos existentes. El resultado final de este trabajo plantea una posible solución para un SOC proponiendo el diseño tanto de los distintos tipos de nodos sensores como el diseño de una arquitectura de comunicaciones concreta utilizando las tecnologías inalámbricas adecuadasEscuela Técnica Superior de Ingeniería de Telecomunicació