Light scattering from suspended particles and attenuation over the water column are constant phenomena that reduce underwater image quality due to low contrast and color distortion. Common image restoration techniques such as the image formation model, assumes a constant attenuation coefficient across color channels. This results in a restoration solution with limited application. We propose a method of image restoration that considers the wavelength-dependent attenuation of underwater images by providing concurrent measurements of the coefficient of attenuation for each color channel. In this paper, a description of the design of a turbidity meter is made. It used to extract absorbance of light in the RGB channel. We conduct experiments to validate the operation of the turbidity meter based on Beer-Lamberts law.
Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV "KYUBIC" for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.