A5081025587- Underwater Vehicles and Communication Systems
- Indoor and Outdoor Localization Technologies
- Underwater Acoustics Research
- Maritime Navigation and Safety
- Opportunistic and Delay-Tolerant Networks
- Robotics and Sensor-Based Localization
- Mobile Agent-Based Network Management
- Water Quality Monitoring Technologies
- Distributed Control Multi-Agent Systems
- Space Satellite Systems and Control
- UAV Applications and Optimization
- Robotics and Automated Systems
- Oil Spill Detection and Mitigation
- Scientific Computing and Data Management
- Target Tracking and Data Fusion in Sensor Networks
- Spacecraft and Cryogenic Technologies
- Distributed and Parallel Computing Systems
- Image and Signal Denoising Methods
- Spacecraft Design and Technology
- Advanced Vision and Imaging
- Modular Robots and Swarm Intelligence
- Energy Efficient Wireless Sensor Networks
- Robotic Path Planning Algorithms
- Advanced Image Processing Techniques
North Atlantic Treaty Organization
2012-2025
Chongqing Electromechanical Holdings (China)
2024
California Maritime Academy
2022
Florida Atlantic University
2009
The detection of objects on the seafloor is a complex task. domain and classification naval mines additionally complicated by high risk nature Autonomous underwater vehicles (AUVs) have been used in mine countermeasures (MCM) operations to search large areas using sensors such as sidescan or synthetic aperture sonars. These generally coverage rate, while sacrificing spatial resolution. Conversely, with higher resolution but lower (such forward-looking sonars electro–optical cameras) are...
Improved hardware and processing techniques such as synthetic aperture sonar have led to imaging with centimeter resolution. However, practical limitations old systems limit the resolution in modern legacy datasets. This study proposes using single image super based on a conditioned diffusion model map between images at different resolutions. approach focuses upscaling legacy, low-resolution datasets enable backward compatibility newer, high-resolution datasets, thus creating unified dataset...
This paper covers the first steps in creating a Software Defined Open Architecture Modem (SDOAM). Potentially useful operating environments, platforms and approaches are reviewed as well relevant work on underwater digital communications at CMRE, including JANUS. A high-level architectural structure, based generalisation of classic OSI stack, is proposed, identifying modules that will make up system taking care to include all features major stakeholders want see while minimising investment...
This paper presents an overview of the functionalities Cognitive Communications Architecture (CCA) that is currently under development at NATO Science and Technology Organisation (STO) Centre for Maritime Research Experimentation (CMRE). The CCA designed to enable deployment advanced autonomous underwater solutions making use smart, adaptive secure networking strategies. implemented network modules have been extensively tested, validated improved during various at-sea campaigns conducted in...
In the past 8 years, Centre for Maritime Research and Experimentation (CMRE) has developed, tested promoted JANUS - a robust simple modulation coding scheme to be used as first standard support interoperability in digital underwater communications. This document aims at reporting current status of look possible routes evolution this soon-to-be standard.
Abstract The MORPH project (FP 7, 2012‐2016) is aimed at developing efficient methods and tools to map the underwater environment in situations that are not easily addressed by current technology. Namely, missions of interest those involve surveying marine habitat mapping rugged terrain structures with full 3D complexity, including vertical cliffs. Potential applications include study cold water coral reef communities, ecosystems from canyons, pipeline harbor monitoring, or inspection wind...
The basic theory of operation Distributed Long BaseLine (DLBL), a method for measuring range between underwater assets, is presented. DLBL conceived to work on top existing communications infrastructures, explicitly aiming an algorithmic, as opposed hardware, solution node localisation. theoretical performance, with regards latency, measurement update rate, error influences and induced acoustic overhead are discussed compared more standard LBL approaches. development design in the context...
Capturing high-quality sonar survey data from autonomous underwater vehicles (AUVs) in complex environments, with little to no a priori knowledge, requires built-in adaptations. In particular, order locate objects that sit proud on the sea-floor areas of sand ripples, special trajectory adaptation is required mitigate natural shadow zones. Adaptive orientation and track spacing are key capabilities, enabling effective search strategies sea bottom. We present two methods for adaptive AUV...
This paper outlines the development and initial testing of Nereus autonomous surface vehicle. Conceived specifically as a system for riverine coastal observation, ASV is capable transmitting real-time audio visual surveillance to shoreside base station. In addition, designed transmit situational awareness data including, but not limited to, vehicle speed, position, heading, well water depth basic bathymetry. The consists catamaran platform with brushless DC motors housed in each hull....
This work describes how the localisation of autonomous underwater vehicles can be supported through networked acoustic communication. The approach includes timing information within messages to create an interrogation scheme similar that long-baseline methods, but realised at application level network. In this way, network itself is able provide vehicle information, reducing needs for additional on-board sensors or dedicated deployed platforms/transponders. aim report sea results as obtained...
This paper examines range-based localization techniques for single and multiple high-frequency underwater acoustic sources, such as those used in communication systems. The emphasis is on developing flexible methods that accept range data from different origins assimilate them into desired position estimates using compact optimization-based formulations can scale to large problem sizes require little or no prior information the geometries of links. discusses how multipath be single-source...
This work addresses the problem of determining positions a set nodes (underwater vehicles, in present context) through two-way time-of-flight measurements (equivalently, ranges) and interpacket delays range differences). The approach is based on reconstruction factorization Euclidean Distance Matrices (EDM), which provides solid framework to deal with noisy partial loss data, while retaining compact mathematical formulation. paper discusses techniques for gathering difference data...
We have designed and implemented a framework for the development deployment of multi-agent task allocation solutions, with particular awareness operational constraints encountered by Unmanned Maritime Systems (UMS). This framework, which we call Distributed/Decoupled Collaborative Autonomy Framework (D <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> CAF), is set software modules that allow researchers to develop underlying algorithms...
This paper presents a high-level overview of NEMO, an implementation communications research software workspace with special focus on application scenarios involving underwater (e.g. acoustic), and other maritime methods. The NEMO is organic result marine autonomy experimentation, basically being composed reconfigurable modules services that interact each via IPC (MOOS). nominal configuration includes drivers for hardware devices, simple MAC scheme, encoding, bundling, queuing utilities, as...
This paper presents an implementation of a communications stack for underwater and relative localisation. The application scenario, under the auspices EC MORPH project, is described. high-level architecture described, with relevant hardware software details. A summary localisation methods, based on previous works, given, followed by discussion encoding mechanism.
A key to developing autonomous maritime systems for NATO is communication among data gathering platforms below and above the water. However, unlike mature technologies that are used terrestrial networks, underwater communications still in an early stage. This paper provides overview of CMRE's activities field where emphasis has been put addressing specific issues may help accelerating development state-of-the art. For its importance NATO, interoperability a focus area CMRE. Additionally,...
Currently, communications during submarine rescue operations are performed solely with the analogue underwater telephone and usage of phonetic codes (Alpha to Zulu), requiring presence human operators. This work explores innovative concepts that make use a cooperative network Maritime Unmanned Systems (MUS) digital to: 1) support search localization in distress (DISSUB); 2) promptly exchange relevant information among unmanned systems, DISSUB teams, special attention employment standardized...
In response to a charge address "Autonomy in Limited-Communication Environments," the NATO SCI-288 Research Task Group determined that aspect of this topic most relevant context is communications for multivehicle operations between assets from different nations using autonomy mission software. order facilitate such operations, task group developed conceptual shared message set management, allowing tasks be among autonomous and teams by integration with rather than requiring separate...
In September 2022, CMRE participated to the REP(MUS)22 and DYMS22 exercises in Atlantic Ocean off coast of Portugal.The ANMCM programme joined with deployment two MCM autonomous underwater assets: MUSCLE equipped high resolution SAS for large area survey BIONDo AUV a FLS target identification.The team aimed demonstrate full chain from survey, automatic detection classification, identification reporting using vehicles.A strong emphasis was put on collaborative aspect mission particular data...
This paper describes an effort to capture micro-bathymetry data for the end purpose of 3D object reconstruction, using AUV-borne multibeam echo sounder. Due combination relatively narrow across-track coverage and navigation error vehicle, there is little guarantee that a single-pass scan will target fully. A mission planning approach be presented, with goal balancing duration coverage. method was demonstrated during sea campaign in 2016 where multiple views targets laying on floor were...
This paper describes the continued efforts on development of and experiments conducted with CATL (Collaborative Autonomy Tasking Layer). aims to enable collaborative autonomy between heterogeneous nodes in communications-limited environments. An example application would be collaboration autonomous underwater vehicles (AUVs). To demonstrate feasibility, was used multiple simulated real-life experiments, enabling a large number multinational parties share information cooperate using their...