Magnetic Methods for Underwater Localization and Navigation
| dc.contributor.advisor | Becker, Aaron T. | |
| dc.contributor.committeeMember | Chen, Jiefu | |
| dc.contributor.committeeMember | Chen, Zheng | |
| dc.contributor.committeeMember | Leclerc, Julien | |
| dc.contributor.committeeMember | Pan, Miao | |
| dc.creator | Garcia, Javier | |
| dc.creator.orcid | 0009-0009-5398-7594 | |
| dc.date.accessioned | 2024-01-26T17:39:36Z | |
| dc.date.created | December 2023 | |
| dc.date.issued | 2023-12 | |
| dc.date.updated | 2024-01-26T17:39:36Z | |
| dc.description.abstract | Underwater robotics is a rapidly expanding field with many important applications. From exploration and maintenance of oil and gas installations, to search and rescue, to defense, robotic agents are desirable for efficiency and safety reasons. However, performing tasks with only one agent usually necessitates an increase in size and complexity, which in turn exacerbates the power requirements that can drastically reduce run times. Instead, this dissertation examines localization between a group of agents, so that they can cooperate and perform tasks. My work on this project focused on the practical implementation of underwater localization and navigation. For robotic agents to cooperate and efficiently work together, they must be able to efficiently locate each other and communicate. While many technologies have been employed for communication in underwater environments, they have drawbacks that we try to address through the use of magnetic induction (MI) communications. The first part of this dissertation focuses on implementing MI so different agents, with limited prior knowledge of the swarm, can find each other and communicate at short distances, where collision between agents is most probable. The theoretical basis and validation, as well as hardware design and implementation are covered. The use of magneto-statics to find ferrous objects underwater, such as pipes, is presented in the second part. This is important for inspection and maintenance tasks, as it can complement vision-based methods in finding objects in waters with low visibility or even partially covered by the ocean floor. Detection of ferrous structures is also a necessity to avoid collision when navigating around them. | |
| dc.description.department | Electrical and Computer Engineering, Department of | |
| dc.format.digitalOrigin | born digital | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | Portions of this document appear in: J. Garcia, S. Soto, A. Sultana, and A. T. Becker, “Localization using a particle filter and magnetic induction transmissions: Theory and experiments in air,” in 2020 IEEE Texas Symposium on Wireless and Microwave Circuits and Systems (WMCS), (Piscataway), pp. 1–6, IEEE, 2020; and in: J. Garcia, S. Soto, A. Sultana, J. Leclerc, M. Pan, and A. T. Becker, “Underwater robot localization using magnetic induction: Noise modeling and hardware validation,” in Global Oceans 2020: Singapore – U.S. Gulf Coast, pp. 1–5, IEEE, 2020; and in: F. Bernardini, J. Garcia, C. C. Taylor, J. Leclerc, and A. T. Becker, “Adapting unsigned signals between triaxial antennas for use in magnetic induction localization,” in 2023 IEEE Texas Symposium on Wireless and Microwave Circuits and Systems (WMCS), pp. 1–6, IEEE, 2023. | |
| dc.identifier.uri | https://hdl.handle.net/10657/16177 | |
| dc.language.iso | eng | |
| dc.rights | The author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s). | |
| dc.subject | Underwater robotics, magnetic induction, metal detection | |
| dc.title | Magnetic Methods for Underwater Localization and Navigation | |
| dc.type.dcmi | text | |
| dc.type.genre | Thesis | |
| dcterms.accessRights | The full text of this item is not available at this time because the student has placed this item under an embargo for a period of time. The Libraries are not authorized to provide a copy of this work during the embargo period. | |
| local.embargo.lift | 2025-12-01 | |
| local.embargo.terms | 2025-12-01 | |
| thesis.degree.college | Cullen College of Engineering | |
| thesis.degree.department | Electrical and Computer Engineering, Department of | |
| thesis.degree.discipline | Electrical Engineering | |
| thesis.degree.grantor | University of Houston | |
| thesis.degree.level | Doctoral | |
| thesis.degree.name | Doctor of Philosophy |