An entropic framework for AUV sensor modelling
MetadataShow full item record
This thesis examines the general task of active sensing by defining a measure of efficiency for sensing in a particular environment. We focus on fine-scale acoustic mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of the acoustic sensing modality- are considered in defining an entropic measure of sensor efficiency. 675-kHz pencil-beam sonar data acquired using the JASON remotely operated vehicle in a challenging shallow water environment and 200-kHz echo-sounder data acquired using the ABE AUV are used to demonstrate the utility of the en tropic framework. We show the utility of an entropic framework for the following: (i) Optimizing the speed of the AUV for maximizing the information gathered with a particular sensor. (ii) the rate of convergence and the stability of our mapping efforts in the face of typical uncertainties in navigation and attitude; (iii) as a methodology for actual sensor deployment and use on a real vehicle; and (iv) in tasks such as post-mission analysis for applications such as change detection and path planning for subsequent missions.
Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Woods Hole Oceanographic Institution and the Massachusetts Institute of Technology May 1995
Suggested CitationThesis: Singh, Hanumant, "An entropic framework for AUV sensor modelling", 1995-05-25, DOI:10.1575/1912/5630, https://hdl.handle.net/1912/5630
Showing items related by title, author, creator and subject.
Munson, Kathleen M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2014-02)Methylation of mercury (Hg) in the marine water column has been hypothesized to serve as the primary source of the bioaccumulating chemical species monomethylmercury (MMHg) to marine food webs. Despite decades of research ...
Geiger, Sam R. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2000-09)A finite difference computer model is developed to simulate the exposure statistics of a radio frequency buoyant antenna as it is towed in a three-dimensional random seaway. The model allows the user to prescribe antenna ...
Approaches for assessing the presence and impact of thyroid hormone disrupting chemicals in delphinid cetaceans Montie, Eric W. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2006-09)Cetacean blubber is a primary site for lipid storage, which the animal utilizes during periods of energetic stress. It is important to understand how the blubber responds to factors such as ontogeny, water temperature, ...