%% This BibTeX bibliography file was created using BibDesk. %% http://bibdesk.sourceforge.net/ %% Created for Eric Martin at 2016-07-22 10:57:37 -0700 %% Saved with string encoding Unicode (UTF-8) @article{Oskarsson:aa, Abstract = {Abstract Objectives/Scope: The paper presents results from developing a specialized Survey-ROV (Remotely Operated Vehicle) aimed at higher speed and unsurpassed resolution. Multi beam, laser and photogrammetry data will be presented. Methods, Procedures, Process: The Surveyor Interceptor is a newly developed specialized Survey ROV. It has a hydro dynamically favorable hull, thin tether, and powerful propulsion to allow high resolution surveys, close to the seafloor, at speeds up to 10 knots. The ROV was built during 2014 and has been tested during Quarter 1 2015. This paper presents results from tests and the first commercial tasks for the new SROV. The ROV has been used for pipelines, route surveys and environmental surveys in the North Atlantic at water depths between 50 -1200m. Acquired data will be presented. Performance as well as resolution and accuracies obtained are above the initial specifications and new technologies are developed. The combination of high resolution equipment in a stable hull, renders accurate data for enhanced risk mitigation of offshore installations Results, Observations, Conclusions: The SROV has surveyed with average speed of above 4 knots at several hundred meters water depth while collecting data from Multibeam echo sunders, laser bathymetry, still photos, photogrammetry, Side Scan Sonar's and Sub Bottom Profilers. The Underwater Navigation results are greatly improved by the use of inverted USBL, DVLs and INS systems. The vehicle is very stable at speed, thus rendering clean data with very little outliers. All in all the total concept can reduce the cost of pipeline and route surveys with improved data quality. Integrity Management decisions based on data from the SROV will greatly reduce risk of offshore pipelines and installations. Novel/Additive Information: Specialized Survey ROV's will lower the cost for Pipeline Inspection and Environmental Impact Surveys while rendering 3D models and resolution of hitherto unseen density and accuracy.}, Author = {Oskarsson, Ola}, C1 = {OTC}, Da = {2016/5/2/}, Date-Added = {2016-07-22 17:55:29 +0000}, Date-Modified = {2016-07-22 17:55:29 +0000}, Doi = {10.4043/27155-MS}, Isbn = {978-1-61399-437-5}, J2 = {OTC-27155-MS}, Publisher = {Offshore Technology Conference}, Title = {Rov Based Survey: A New, More Effective Approach}, Ty = {CPAPER}, Bdsk-Url-1 = {http://dx.doi.org/10.4043/27155-MS}} @article {ROB:ROB20191, author = {Kirkwood, W. J.}, title = {Development of the DORADO mapping vehicle for multibeam, subbottom, and sidescan science missions}, journal = {Journal of Field Robotics}, volume = {24}, number = {6}, publisher = {Wiley Subscription Services, Inc., A Wiley Company}, issn = {1556-4967}, url = {http://dx.doi.org/10.1002/rob.20191}, doi = {10.1002/rob.20191}, pages = {487--495}, year = {2007}, abstract = {Oceanographic science is frequently hindered by a lack of spatial and temporal resolution for most parameters oceanographic science desires to measure. This paper discusses our effort to advance the current state of bathymetric mapping as part of the Monterey Bay Aquarium Research Institute (MBARI) charter. MBARI scientists and engineers, in consultation with the external community, have produced a new multibeam mapping autonomous underwater vehicle (AUV) system. The system is intended to reduce some of the impediments encountered by science trying to resolve specific portions of the oceans bottom. Starting with the established and in-house developed Dorado AUV technology, MBARI engineering refined the AUV into a full ocean depth capable and now operational multibeam mapping system (MBAUV). The MBAUV system conducts regular multibeam bathymetry, subbottom, and sidescan surveys for oceanographic science. MBAUV is a torpedo-shaped, 6000 m rated vehicle operating the aforementioned sonars simultaneously. The endurance of the MBAUV is approximately 8 h at 3 kn and is designed to support 16 h operations at 3 kn by adding an additional battery section. This paper describes the basics of the MBAUV and our design trades and modifications to the Dorado AUV in support of multibeam mapping missions. The paper also reviews a sampling of the results from a series of missions that demonstrate the performance of various subsystems and the science quality data available from the MBAUV. © 2007 Wiley Periodicals, Inc.}, } @incollection{Caress2008, doi = {10.4027/mhmta.2008.04}, url = {http://dx.doi.org/10.4027/mhmta.2008.04}, year = {2008}, publisher = {Alaska Sea Grant}, pages = {47--70}, author = {David W. Caress and Hans Thomas and William J. Kirkwood and Robert McEwen and Richard Henthorn and David A. Clague and Charles K. Paull and Jennifer Paduan and KL Maier}, title = {High-Resolution Multibeam, Sidescan, and Subbottom Surveys Using the {MBARI} {AUV} {D}. {A}llan {B}}, booktitle = {Marine Habitat Mapping Technology for Alaska} } @article{caressAxial, Author = {Caress, D.W. and D.A. Clague and J.B. Paduan and J.F. Martin}, Journal = {Nature Geoscience}, Pages = {483-488}, Title = {Repeat {B}athymetric {S}urveys at 1-{M}etre {R}esolution of {L}ava {F}lows {E}rupted at {A}xial {S}eamount in {A}pril 2011}, Volume = 5, Year = 2012} @article{singh07, Author = {H. Singh and C. Roman and O. Pizarro and R. Eustice and A. Can}, Journal = {The International Journal of Robotics Research}, Month = January, Number = 1, Pages = {55-74}, Title = {Towards {H}igh-resolution {I}maging from {U}nderwater {V}ehicles}, Volume = 26, Year = 2007} @conference{caressAlarcon, Author = {D.W. Caress and D.A. Clague and J.B. Paduan and J.F Martin and H. Thomas and D.R. Thompson and C. Nieves-Cardoso and M. Santa Rosa-del Rio}, Booktitle = {{AGU} {F}all {M}eeting}, Title = {Morphology of the {A}larcon {R}ise spreading axis from 1-m resolution {AUV} bathymetry surveys}, Year = {2012}} @conference{thompsonGOC, Author = {D.R. Thompson and C. Paull and D.W. Caress and H. Thomas and D. Conlin}, Booktitle = {Oceans Conference, MTS/IEEE}, Title = {{MBARI} {M}apping {AUV} {O}perations in the {G}ulf of {C}alifornia}, Year = {2012}} @misc{mbsystem, Author = {Caress, D.W. and Chayes, D.N.}, URL = {http://www.mbari.org/data/mbsystem/}, Title = {{MB-S}ystem: {M}apping the {S}eafloor {O}pen source software distributed from the {MBARI} and {L-DEO}}, Year = {2011}} @misc{CCEwebsite, Author = {Charles K. Paull}, URL = {http://www.mbari.org/science/seafloor-processes/geological-changes/coordinated-canyon-experiment/}, Title = {{MBARI}: {C}oordinated {C}anyon {E}xperiment }, Year = {2015}} @misc{UMichiganPeRL, Author = {Ryan Eustice}, URL = {http://robots.engin.umich.edu}, Title = {{PeRL}: {T}he {P}erceptual {R}obotics {L}aboratory at the {U}niversity of {M}ichigan}, Year = {2008-2015}} @misc{ROVDRspecs, Author = {{D}epartment of {M}arine {O}perations}, URL = {http://www.mbari.org/at-sea/vehicles/remotely-operated-vehicles/rov-docricketts-specifications-2/}, Title = {{ROV} {D}oc {R}icketts Core Vehicle Specifications}, Year = {2015}} @misc{ROVVNspecs, Author = {{D}epartment of {M}arine {O}perations}, URL = {http://www.mbari.org/at-sea/vehicles/remotely-operated-vehicles/rov-ventana-specifications/}, Title = {{ROV} {V}entana Core Vehicle Specifications}, Year = {2015}} @techreport{Kinsey03preliminaryfield, Author = {James C. Kinsey and Louis L. Whitcomb}, Institution = {In: Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03}, Title = {Preliminary Field Experience with the DVLNAV Integrated Navigation System for Manned and Unmanned Submersibles}, Year = {2003}} @inproceedings{Whitcomb99advancesin, Author = {Louis Whitcomb and Dana Yoerger and Hanumant Singh and Jonathan Howland}, Booktitle = {Navigation, Control and Survery Operations,'' in The Ninth International Symposium on Robotics Research}, Pages = {346--353}, Publisher = {SpringerVerlag}, Title = {Advances in Underwater Robot Vehicles for Deep Ocean Exploration: Navigation, Control, and Survey Operations}, Year = {1999}, Bdsk-File-1 = {YnBsaXN0MDDUAQIDBAUGJCVYJHZlcnNpb25YJG9iamVjdHNZJGFyY2hpdmVyVCR0b3ASAAGGoKgHCBMUFRYaIVUkbnVsbNMJCgsMDxJXTlMua2V5c1pOUy5vYmplY3RzViRjbGFzc6INDoACgAOiEBGABIAFgAdccmVsYXRpdmVQYXRoWWFsaWFzRGF0YV8QOy4uLy4uLy4uLy4uLy4uLy4uLy4uL1VzZXJzL2VyaWNqbWFydGluL0Rvd25sb2Fkcy9leHBvcnQucmlz0hcLGBlXTlMuZGF0YU8RAXgAAAAAAXgAAgAADE1hY2ludG9zaCBIRAAAAAAAAAAAAAAAAAAAANFO879IKwAAAAmKDwpleHBvcnQucmlzAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABArbi07erNQAAAAAAAAAA/////wAACSAAAAAAAAAAAAAAAAAAAAAJRG93bmxvYWRzAAAQAAgAANFPVi8AAAARAAgAANO4DaUAAAABAAwACYoPAAmKDAACmDUAAgA2TWFjaW50b3NoIEhEOlVzZXJzOgBlcmljam1hcnRpbjoARG93bmxvYWRzOgBleHBvcnQucmlzAA4AFgAKAGUAeABwAG8AcgB0AC4AcgBpAHMADwAaAAwATQBhAGMAaQBuAHQAbwBzAGgAIABIAEQAEgAmVXNlcnMvZXJpY2ptYXJ0aW4vRG93bmxvYWRzL2V4cG9ydC5yaXMAEwABLwAAFQACABL//wAAgAbSGxwdHlokY2xhc3NuYW1lWCRjbGFzc2VzXU5TTXV0YWJsZURhdGGjHR8gVk5TRGF0YVhOU09iamVjdNIbHCIjXE5TRGljdGlvbmFyeaIiIF8QD05TS2V5ZWRBcmNoaXZlctEmJ1Ryb290gAEACAARABoAIwAtADIANwBAAEYATQBVAGAAZwBqAGwAbgBxAHMAdQB3AIQAjgDMANEA2QJVAlcCXAJnAnACfgKCAokCkgKXAqQCpwK5ArwCwQAAAAAAAAIBAAAAAAAAACgAAAAAAAAAAAAAAAAAAALD}} @inproceedings{Whitcomb98towardsprecision, Author = {Louis Whitcomb and Dana Yoerger and Hanumant Singh and David Mindell and David Mindell Zx}, Booktitle = {Robotics Research - The Eighth International Symposium}, Pages = {45--54}, Publisher = {Springer-Verlag}, Title = {Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments}, Year = {1998}} @inproceedings{Martin2013UUST, Author = {Eric Martin and David W. Caress and Hans Thomas and Brett Hobson}, Booktitle = {The Eighteenth International Symposium on Unmanned Untethered Submersible Technology}, Pages = {269-275}, Title = {Seafloor Mapping and Imaging Efforts Using Autonomous Underwater Vehicles}, Year = {2013}} @article{Foster2009BackscatterLidar, Author = {Greg Foster and Brian K. Walker and Bernhard M. Riegl}, Doi = {10.2112/SI53-003.1}, Eprint = {http://dx.doi.org/10.2112/SI53-003.1}, Journal = {Journal of Coastal Research}, Pages = {16-26}, Title = {Interpretation of Single-Beam Acoustic Backscatter Using Lidar-Derived Topographic Complexity and Benthic Habitat Classifications in a Coral Reef Environment}, Url = {http://dx.doi.org/10.2112/SI53-003.1}, Year = {2009}, Bdsk-Url-1 = {http://dx.doi.org/10.2112/SI53-003.1}} @inproceedings{6741175, Author = {D. McLeod and J. Jacobson and M. Hardy and C. Embry}, Booktitle = {2013 OCEANS - San Diego}, Issn = {0197-7385}, Keywords = {autonomous underwater vehicles;image resolution;inspection;maintenance engineering;optical radar;radar imaging;reliability;risk analysis;safety;3 dimensional light detection and ranging;3D LiDAR sensor;Atlantic ocean waters offshore palm beach;DP2 3D LiDAR;Florida;Lockheed Martin MST;Marlin autonomous underwater vehicle;Research Partnership to Secure Energy for America;anchors;autonomous inspection;field inspection;flowlines;high resolution 3D LiDAR;high resolution 3D models;high resolution 3D sonar;high resolution georegistered images;innovative company 3D;integrity management inspections;marine risers;moorings;offshore trials;reference model;reliability;risks reduction;safety;scanning laser;structural localization;subsea facilities;subsea facility inspection repair;subsea pipelines;supporting subsea infrastructure;three dimensional georegistered models;umbilicals;underwater 3D LiDAR;visual inspection;Image resolution;Inspection;Laser beams;Laser radar;Lasers;Solid modeling;Three-dimensional displays;3D;3D Mode;AUV;Autonomous;IMR;IRM;Imaging;Inspection;Laser;Lidar;Subsea;Subsea Field;Underwater}, Month = {Sept}, Pages = {1-8}, Title = {Autonomous inspection using an underwater 3D LiDAR}, Year = {2013}} @inproceedings{1192140, Author = {M. F. van Norden and S. Ebrite and D. J. Cronin and D. Ventura}, Booktitle = {OCEANS '02 MTS/IEEE}, Doi = {10.1109/OCEANS.2002.1192140}, Keywords = {bathymetry;data acquisition;data visualisation;geographic information systems;oceanographic techniques;special libraries;Digital Nautical Chart;Fleet Survey Team;Guam;National Imagery and Mapping Agency;National Ocean Service;National Oceanic and Atmospheric Administration;Naval Oceanographic Office;Saipan;Scanning Hydrographic Operational Airborne Lidar Survey;US Pacific territories;chart production software;computer-based electronic charting;hydrographic data;multiplatform hydrographic surveys;survey platforms;Data processing;Data visualization;Instruments;Laser radar;Marine vehicles;Military computing;Navigation;Oceans;Production systems;Sonar}, Month = {Oct}, Pages = {1223-1230 vol.2}, Title = {Lessons learned in multi-platform hydrographic surveys}, Volume = {2}, Year = {2002}, Bdsk-Url-1 = {http://dx.doi.org/10.1109/OCEANS.2002.1192140}} @inproceedings{4530980, Author = {J. C. Wilson}, Booktitle = {OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean}, Doi = {10.1109/OCEANSKOBE.2008.4530980}, Keywords = {airborne radar;bathymetry;cartography;data assimilation;geophysical signal processing;oceanographic techniques;optical radar;remote sensing;CSUMB Seafloor Mapping Lab;California Ocean Protection Council;California State Coastal Conservancy;California State University Monterey Bay;California water mapping;FGDC compliant metadata files;Fugro Pelagos Inc;GIS data layers;Monterey Bay Sanctuary Foundation;Moss Landing Marine Lab Center for Habitat Studies;NOAA National Marine Sanctuary Program;US Geological Survey;USGS Coastal and Marine Geology Program;airborne LiDAR bathymetry;airborne hydrographic LiDAR;beach topography;bluff topography;data acquisition program;data analysis;data integration;data processing;deep water acoustic data;digital aerial imagery;essential fish habitat interpretation map;geological quad map;ground truth data;ground truth system;integrated mapping program;multibeam echosounding;nearshore bathymetry;nearshore seabed laser reflectance imagery;seafloor mapping program;Contracts;Data acquisition;Geology;Government;Laser radar;Marine technology;Oceanographic techniques;Sea floor;Sea measurements;Water conservation}, Month = {April}, Pages = {1-8}, Title = {Using Airborne Hydrographic LiDAR To Support Mapping of California's Waters}, Year = {2008}, Bdsk-Url-1 = {http://dx.doi.org/10.1109/OCEANSKOBE.2008.4530980}} @inproceedings{4098900, Author = {R. Henthorn and D. W. Caress and H. Thomas and R. McEwen and W. J. Kirkwood and C. K. Paull and R. Keaten}, Booktitle = {OCEANS 2006}, Doi = {10.1109/OCEANS.2006.307104}, Issn = {0197-7385}, Keywords = {Doppler measurement;bathymetry;geochemistry;seafloor phenomena;sediments;sonar imaging;underwater vehicles;110 kHz;2 to 16 kHz;20 m;200 kHz;410 kHz;50 to 100 m;6000 m;Axial seamounts;Barclay submarine canyon;DVL sonar;Davidson seamounts;Doppler velocity log sonar;Dorado class autonomous underwater vehicle;INS;MBARI Mapping AUV;Monterey Bay Aquarium Research Institute;Monterey Canyon and Smooth Ridge;ROV-mounted configuration;Santa Monica Basin;attitude data;autonomous seafloor mapping;bathymetric surveys;channel deposits;deep ocean seafloor;deep-ocean seafloor;deep-sea fan channels;gas seeps;high-resolution bathymetry;high-resolution multibeam survey;hull-mounted sonars;laser-ring-gyro-based inertial navigation system;multibeam sonar;navigation data;near-bottom surveys;shallow subsurface structure;sidescan sonars;soft sediments;subbottom profile data;subbottom profiler;submarine canyons;Image resolution;Inertial navigation;Oceanographic techniques;Oceans;Remotely operated vehicles;Sea floor;Sediments;Sonar navigation;Terrain mapping;Underwater vehicles}, Month = {Sept}, Pages = {1-6}, Title = {High-Resolution Multibeam and Subbottom Surveys of Submarine Canyons, Deep-Sea Fan Channels, and Gas Seeps Using the MBARI Mapping AUV}, Year = {2006}, Bdsk-Url-1 = {http://dx.doi.org/10.1109/OCEANS.2006.307104}} @article{doi:10.1080/11035897.2015.1055513, Author = {Sarah L. Greenwood and Caroline C. Clason and Henrik Mikko and Johan Nyberg and Gustaf Peterson and Colby A. Smith}, Doi = {10.1080/11035897.2015.1055513}, Eprint = {http://dx.doi.org/10.1080/11035897.2015.1055513}, Journal = {GFF}, Number = {4}, Pages = {284-292}, Title = {Integrated use of LiDAR and multibeam bathymetry reveals onset of ice streaming in the northern Bothnian Sea}, Url = {http://dx.doi.org/10.1080/11035897.2015.1055513}, Volume = {137}, Year = {2015}, Bdsk-Url-1 = {http://dx.doi.org/10.1080/11035897.2015.1055513}} @article{moorejaffe2000Lbath, author = { Karl D. Moore and Jules S. Jaffe and Benjamin L. Ochoa }, title = {Development of a New Underwater Bathymetric Laser Imaging System: L-Bath}, journal = {Journal of Atmospheric and Oceanic Technology}, volume = {17}, number = {8}, pages = {1106-1117}, year = {2000}, doi = {10.1175/1520-0426(2000)017<1106:DOANUB>2.0.CO;2}, URL = { http://dx.doi.org/10.1175/1520-0426(2000)017<1106:DOANUB>2.0.CO;2 }, eprint = { http://dx.doi.org/10.1175/1520-0426(2000)017<1106:DOANUB>2.0.CO;2 } , abstract = { Abstract The design, construction, and performance of a new high-resolution underwater bathymetric prototype system (L-Bath) with extended imaging capability is presented. The design offers simultaneous reflectance and depth information on a pixel-by-pixel basis so that high-resolution reflectance and bathymetric maps of underwater targets can be provided with exact registration. The design supports operation in shallow coastal waters under daylight conditions where high turbidity and the influence of ambient backscatter are particularly limiting for underwater imaging systems. Its configuration is similar to existing laser line scanning systems but uses a pulsed laser for the source and a fixed field-of-view high-resolution linear charge-coupled device (CCD) as receiver. The pulsed laser allows short camera integration times, thereby reducing the influence of the ambient daylight signal, and the fixed field of view of the detector provides a precision nonmoving multielement receiver with imaging capability. As the laser sweeps across the field of view of the CCD, the position and signal strength of each laser target spot is imaged, permitting a measure of bathymetry and reflectance. Using the CCD, a high-resolution slice through the reflected target spot radiance distribution is imaged so that system resolution can exceed the target spot size. The image of the target spot radiance distribution, modified by in-water scattering and target reflectance, provides new opportunities for image manipulation compared to typical underwater laser line scanning based systems. The simultaneous acquisition of reflectance and bathymetric maps permits discrimination capability between real objects of relief from scene reflectance variations. } } @article{ massot-campos2015opticalsensors, Author = {Massot-Campos, Miquel and Oliver-Codina, Gabriel}, Title = {{Optical Sensors and Methods for Underwater 3D Reconstruction}}, Journal = {{SENSORS}}, Year = {{2015}}, Volume = {{15}}, Number = {{12}}, Pages = {{31525-31557}}, Month = {{DEC}}, Abstract = {{This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered.}}, DOI = {{10.3390/s151229864}}, ISSN = {{1424-8220}}, Unique-ID = {{ISI:000367539100103}}, } @INPROCEEDINGS{caimi2008imagingnoptics, author={F. M. Caimi and D. M. Kocak and F. Dalgleish and J. Watson}, booktitle={OCEANS 2008}, title={Underwater imaging and optics: Recent advances}, year={2008}, pages={1-9}, abstract={Obtaining satisfactory visibility of undersea objects has been historically difficult due to the absorptive and scattering properties of seawater. Mitigating these effects has been a long term research focus, but recent advancements in hardware, software, and algorithmic methods have led to noticeable improvement in system operational range. This paper is intended to provide a summary of recently reported research in the area of Underwater Optics and Vision and briefly covers advances in the following areas: (1) Image formation and image processing methods; (2) Extended range imaging techniques; (3) Imaging using spatial coherency (e.g. holography); and (4) Multiple-dimensional image acquisition and image processing.}, keywords={data acquisition;geophysical signal processing;geophysics computing;holography;image processing;imaging;remote sensing;seawater;underwater optics;hardware;holography;image formation;image processing method;imaging technique;multiple-dimensional image acquisition;seawater scattering property;software;undersea object;underwater imaging;underwater optics;underwater vision;Cameras;Charge-coupled image sensors;Discrete cosine transforms;Holography;Image processing;Optical imaging;Optical scattering;Optical sensors;Pixel;Transform coding}, doi={10.1109/OCEANS.2008.5152118}, ISSN={0197-7385}, month={Sept},} @article{doi:10.2112/SI53-001.1, author = { John C. Brock and Samuel J. Purkis }, title = {The Emerging Role of Lidar Remote Sensing in Coastal Research and Resource Management}, journal = {Journal of Coastal Research}, volume = {}, number = {}, pages = {1-5}, year = {2009}, doi = {10.2112/SI53-001.1}, URL = { http://dx.doi.org/10.2112/SI53-001.1 }, eprint = { http://dx.doi.org/10.2112/SI53-001.1 } } @INPROCEEDINGS{1406358, author={W. J. Kirkwood and D. W. Caress and H. Thomas and M. Sibenac and R. McEwen and F. Shane and R. Henthorn and P. McGill}, booktitle={OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04}, title={Mapping payload development for {MBARI}'s Dorado-class {AUV}s}, year={2004}, volume={3}, pages={1580-1585 Vol.3}, abstract={The Monterey Bay Aquarium Research Institute (MBARI) is developing an autonomous seafloor mapping capability for deep ocean science applications. The MBARI Mapping AUV is a 0.53 m (21 in) diameter, 5.1 m (16.7 ft) long, Dorado-class vehicle designed to carry four mapping sonars. The primary sensor is a 200 kHz multibeam sonar producing swath bathymetry and sidescan. In addition, the vehicle carries 100 kHz and 410 kHz chirp sidescan sonars, and a 2-16 kHz sweep chirp subbottom profiler. Navigation and attitude data are obtained from an inertial navigation system (INS) incorporating a ring laser gyro and a 300 kHz Doppler velocity log (DVL). The vehicle also includes acoustic modem, ultra-short baseline navigation, and long-baseline navigation systems. A single cylindrical pressure housing contains all of the mapping sonar electronics, and the main vehicle control and acoustic communications electronics are housed in a separate glass ball. The Mapping AUV is powered by three 2 kWhr Li-polymer batteries, providing an expected mission duration of 12 hours at a typical speed of 1.5 m/s. The assembled package is rated to 6000 m depth, allowing MBARI to conduct high-resolution mapping of the deep-ocean seafloor. Initial at-sea testing commenced in May 2004 using the subbottom profiler and 100 kHz sidescan. The sonar package will also be mountable on ROV Ventana, allowing surveys at altitudes < 10 m at topographically challenging sites. The MBARI Seafloor Mapping team is now working towards integration of the multibeam sonar and towards achieving regular operations during 2005.}, keywords={bathymetry;navigation;oceanographic equipment;remotely operated vehicles;sonar imaging;underwater acoustic propagation;underwater vehicles;0.53 m;1.5 m/s;100 kHz;12 hours;2 to 16 kHz;200 kHz;300 kHz;410 kHz;5.1 m;6000 m;Doppler velocity log;Dorado-class AUV;MBARI Mapping AUV;Monterey Bay Aquarium Research Institute;ROV Ventana;acoustic communication electronics;acoustic modem;attitude data;autonomous seafloor mapping;autonomous underwater vehicle;chirp sidescan sonar;cylindrical pressure housing;deep ocean science;deep ocean seafloor mapping;inertial navigation system;long-baseline navigation system;mapping sonar;multibeam sonar;navigation data;payload development mapping;remotely operated vehicle;ring laser gyro;swath bathymetry;sweep chirp subbottom profiler;ultra-short baseline navigation;vehicle control;Chirp;Inertial navigation;Laser modes;Oceanographic techniques;Oceans;Packaging;Payloads;Remotely operated vehicles;Sea floor;Sonar navigation}, doi={10.1109/OCEANS.2004.1406358}, month={Nov},}