Quantitative Monitoring of the Underwater Enviro

ThisvolumeconstitutestheresultsoftheInternationalConferenceonUnderwaterEnvironment，MOQESM’14，heldat“LeQuartz”ConferenceCenterinBrest，France，onOctober14-15，2014，withintheframeworkofthe9thSeaTechWeek，InternationalMarineScienceandTechnologyEvent.TheobjectiveofMOQESM'14wastobringtogetherresearchersfrombothacademiaandindustry，interestedinmarineroboticsandhydrographywithapplicationtothecoastalenvironmentmappingandunderwaterinfrastructuressurveys.Thecommonthreadoftheconferenceisthecombinationoftechnicalcontrol，perception，andlocalization，typicallyusedinrobotics，withthemethodsofmappingandbathymetry.Thepaperspresentedinthisbookfocusontwomaintopics.Firstly，coastalandinfrastructuremappingisaddressed，focusingnotonlyonhydrographicsystems，butalsoonpositioningsystems，bathymetry，andremotesensing.Theproposedmethodsrelyonacousticsensorssuchassidescansonars，multibeamechosounders，phase-measuringbathymetricsonars，aswellasopticalsystemssuchasunderwaterlaserscanners.Accurateunderwaterpositioningisalsoaddressedinthecaseoftheuseofasingleacousticbeacon，andthelatestadvancesinincreasingtheverticalprecisionofGlobalNavigationSatelliteSystem(GNSS)arealsopresented.Mostoftheabovementionedworksarecloselyrelatedtoautonomousmarinevehicles.Consequently，thesecondpartofthebookdescribessomeworksconcerningthemethodsassociatedwithsuchtypeofvehicles.Theselectedpapersfocusonautonomoussurfaceorunderwatervehicles，detailingnewapproachesforlocalization，modeling，control，mapping，obstacledetectionandavoidance，surfacing，andsoftwaredevelopment.Someoftheseworksimplyacousticssensingaswellasimageprocessing.Setmembershipmethodsarealsousedinsomepapers.Theapplicationsoftheworkpresentedinthisbookconcerninparticularoceanography，monitoringofoilandgasinfrastructures，andmilitaryfield.