A Method to Mitigate the Influence of Rain on Wind Direction Estimation From X-band Marine Radar Images

Xinwei Chen, Memorial University of Newfoundland
Weimin Huang, Memorial University of Newfoundland

Keywords: X-band marine radar; rain mitigation; wind direction

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A comparison of Biogeochemical Argo sensors, remote sensing systems, and shipborne field fluorometers to measure Chlorophyll-A concentrations in the Pacific Ocean off the northern coast of New Zealand

Amy Phung, Olin College of Engineering

Keywords: Chlorophyll-A measurement; remote sensing; Biogeochemical Argo; field fluorometers; VIIRS-SNPP; sensor comparison

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A novel particle sensor for the detection of pollution intrusion in harbors

Basil Hable, University of Wisconsin-Milwaukee
Andrew Thompson, University of Wisconsin-Milwaukee
Marcia Silva, University of Wisconsin-Milwaukee
Tom Hansen, University of Wisconsin-Milwaukee

Keywords: Milwaukee; Sensor; Kinnickinnic River; DIHM; smart cities

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Allowing untrained scientists to safely pilot ROVs : Early collision detection and avoidance using omnidirectional vision

Eduardo Ochoa Melendez, University of Girona

Keywords: Visual SLAM, omnidirectional multi-camera systems, collision risk assessment, risk map, ROVs

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Autonomous Plankton Classification from Reconstructed Holographic Imagery by L1-PCA-assisted Convolutional Neural Networks

Kavita Varma, Florida Atlantic University
Lisa Nyman, Florida Atlantic University
Konstantinos Tountas, Florida Atlantic University
George Sklivanitis, Florida Atlantic University
Aditya Nayak, Florida Atlantic University
Dimitris Pados, Florida Atlantic University

Keywords: pattern recognition; image classification; neural networks; robust tensor principal component analysis; holography; oceanography

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Catabot: Autonomous Surface Vehicle with an Optimized Design for Environmental Monitoring

Mingi Jeong, Dartmouth College
Monika Roznere, Dartmouth College
Samuel Lensgraf, Dartmouth College
Amy Sniffen, Dartmouth College
Devin Balkcom, Dartmouth College
Alberto Quattrini Li, Dartmouth College

Keywords: Autonomous Surface Vehicle; Computational Fluid Dynamics; Design Optimization; Environmental Monitoring; In-water Sensor Interference

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Coverage Path Planning for Mapping of Underwater Structures

Nare Karapetyan, University of South Carolina
James Johnson, University of South Carolina
Ioannis Rekleitis, University of South Carolina

Keywords: This paper addresses the problem of the coverage path planning in a 3D environment for surveying underwater structures. We propose to use the navigation strategy that a human diver will execute when circumnavigating around a region of interest, in particular when collecting data from a shipwreck.In contrast to the previous methods in the literature, we are aiming to perform coverage in completely unknown environment with some initial prior information. Our proposed method uses convolutional neural networks to learn the control commands based on the visual input. Preliminary results and a detailed overview of the proposed method are discussed.

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Detecting Docking-based Structures for Persistent ASVs using a Volumetric Neural Network

Maria Pereira, INESC TEC
Pedro Leite, INESC TEC
Andry Pinto, INESC TEC

Keywords: ASV; Docking; LiDAR; Deep Learning; Object Detection

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Development of a Monocular Vision Deep Learning-based AUV Diver-Following Control System

Hui-Min Chou, National Sun Yat-sen University
Yu-Cheng Chou, National Sun Yat-sen University
Hsin-Hung Chen, National Sun Yat-sen University

Keywords: Autonomous underwater vehicle; Deep learning; Follower AUV; Object detection; Diver following control.

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Dynamic parameters identification for a longitudinal model of an AUV exploiting experimental data

Matteo Bresciani, Dipartimento di Ingegneria dell'Informazione - Università di Pisa
Riccardo Costanzi, Dipartimento di Ingegneria dell'Informazione and Centro di Ricerca di Ricerca "E. Piaggio" - Università di Pisa and ISME
Vincenzo Manzari, Naval Support and Experimentation Centre of Italian Navy (CSSN)
Giovanni Peralta, Dipartimento di Ingegneria dell'Informazione - Università di Pisa
Daniele Terracciano, Naval Support and Experimentation Centre of Italian Navy (CSSN)
Andrea Caiti, Dipartimento di Ingegneria dell'Informazione and Centro di Ricerca di Ricerca "E. Piaggio" - Università di Pisa and ISME

Keywords: Autonomous Underwater Vehicle; AUV; Dynamic Parameter; Identification; Surge model; USBL; Acoustic Modem; Bearing-only tracking; Kalman Filter;

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Extended State Observer Based Iteration Learning Fault-tolerant Control Scheme for AUV

XiaoGang Li, Ocean University of China
Jiameng Wang, Chongqing College of Humanities, Science & Technology
Qiaoyi Xu, National University Of Singapore
Hongdu Wang, Ocean University of China
Kaixian Yang, Ocean University of China
DongWei Mao, Ocean University of China

Keywords: Autonomous underwater vehicle，Extended State Observer，Iteration Learning，Fault-tolerant Control

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Geo-referenced visual data for Posidonia Oceanica coverage using audio for data synchronization

Francesco Ruscio, University of Pisa
Riccardo Costanzi, University of Pisa
Lorenzo Pollini, University of Pisa
Vincenzo Manzari, CSSN
Cinzia Barbieri, ARPAL
Federico Gaino, ARPAL

Keywords: underwater vision; acoustic localization; data geo-referencing

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Imaging Sonar based AUV Localization and 3D Mapping using Image Sequences

Byeongjin Kim, Pohang University of Science and Technology (POSTECH)
Minsung Sung, Pohang University of Science and Technology (POSTECH)
Meungsuk Lee, Pohang University of Science and Technology (POSTECH)
Hyeonwoo Cho, Pohang University of Science and Technology (POSTECH)
Son-Cheol Yu, Pohang University of Science and Technology (POSTECH)

Keywords: Drift error reduction; forward scan sonar; sonar image registration; 3D point cloud; 3D mapping

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Impact on the Wave Parameters Estimation of a Kinetic Energy Harvester Embedded into a Drifter

Matias Carandell, Universitat Politecnica de Catalunya
Daniel Toma, Universitat Politecnica de Catalunya
J.P. Pinto, Instituto Hidrográfico
Manel Gasulla, Universitat Politecnica de Catalunya
Joaquin del Rio, Universitat Politecnica de Catalunya

Keywords: Lagrangian Drifter, Kinetic Energy Harvester (KEH), Inertial Measurement Units (IMU), Significant Wave Height, Significant Wave Period, Natural Frequency and Resonance

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Informative Path Planning for Acoustic Source Localization With Environmental Uncertainties

Kexin Li, National University of Singapore
Mandar Chitre, National University of Singapore

Keywords: Source localization; Informative path planning

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Investigating the Role of Spatiotemporal Optical Beam Profiles in Mixed Layer Oceanic Communication Channels

Lumi Schildkraut, University of Rochester
Victor Bucklew, L3Harris Technologies Inc
Fraser Dalgleish, L3Harris Technologies Inc

Keywords: Underwater optical communications, laser propagation, Bessel-Gauss beams, pycnoclines.

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Leveraging Similarity Metrics to In-Situ Discover Planktonic Interspecies Variations or Mutations

Andreas Teigen, NTNU
Aya Saad, NTNU
Annette Stahl, NTNU

Keywords: one-shot; few-shot; Siamese Network; plankton-taxa classification; in-situ planktonic; image analysis

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Reducing Annotation Times: Semantic Segmentation of Coral Reef Survey Images

Jordan Pierce, CCOM.JHC
Yuri Rzhanov, CCOM/JHC
Kim Lowell, CCOM.JHC
Jennifer Dijkstra, CCOM/JHC

Keywords: Coral Reefs; Deep Learning; Semantic Segmentation; Computer Vision;

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Robust methods of unsupervised clustering to discover new planktonic species in-situ

Eivind Salvesen, NTNU
Aya Saad, NTNU
Annette Stahl, NTNU

Keywords: plankton-taxa classification, in-situ planktonic image analysis, Unsupervised learning for classification, Convolutional AutoEncoder, Deep embedded clustering

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The Modular Approach for Underwater Vehicle Design

Anton Tolstonogov, Far Eastern Federal University
Ivan Chemezov, Far Eastern Federal University
Alexander Kolomeitsev, Far Eastern Federal University
Vitaliy Storozhenko, Institute of Marine Technology Problems FEB RAS

Keywords: AUV design; modular design; wireless communication, wireless power transfer

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The PRM-A* Path Planning Algorithm For UUVs: An Application To Navy Mission Planning

Mohammad Imran Chowdhury, Florida State University
Daniel Schwartz, Florida State University

Keywords: Path Planning, A-Star (A*); Probabilistic Roadmap (PRM); Unmanned Underwater Vehicle (UUV); Navy Mission Planning

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Underwater Caging and Capture for Autonomous Underwater Vehicles

Özer Özkahraman, KTH Royal Institude of Technology
Petter Ögren, KTH Royal Institude of Technology

Keywords: Caging; Multi-agent systems; Autonomous Underwater Vehicles; Pursuit-evasion

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Unlimited Resolution Image Generation with R2D2-GANs

Marija Jegorova, The University of Edinburgh
Antti Karjalainen, Seebyte Ltd
Jose Vazquez, Seebyte Ltd
Timothy Hospedales, The University of Edinburgh

Keywords: GANs; high-resolution image generation; visual simulation

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Vertical Accuracies of Mass-Market GNSS Receivers and Antennas in Ellipsoid Reference Survey Strategy for Marine Applications

Johnson Oguntuase, University of Southern Mississippi
David Wells, University of Southern Mississippi
Sunil Bisnath, York University

Keywords: Low-cost, GNSS receiver, GNSS antenna, RTK, vertical accuracies

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