Brian Claus

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A terrain-aided navigation method for an underwater glider is proposed that is suitable for use in ice-covered regions or areas with heavy ship traffic where the glider may not be able to surface for GPS location updates. The algorithm is based on a jittered bootstrap algorithm, which is a type of particle filter that makes use of the vehicle’s(More)
The hybrid glider augments a Slocum electric glider with a propeller based propulsion device enabling new modes of operation. One of the new modes available is constant depth flight. The glider has two mechanisms which lend themselves to a control scheme for depth control, a ballast system and an internal mass shifting mechanism for pitch control. This(More)
This paper will cover the work performed in the Autonomous Ocean Systems Lab (AOSL) at Memorial University of Newfoundland in the design, construction and evaluation of a high performance under water propulsion system. A small 400W thruster was developed for testing and experimentation while a 3kW thruster was designed specifically for the Sea Dragon, an(More)
The transfer factor (TF) for Sr-90 was studied in 10 rye fields with podzolic soils near Bremen. Values between 0.10 and 0.30 were obtained with a mean of 0.18. The TF was correlated with various soil parameters (pH, organic matter, K, Ca and P content). Negative correlations were found between TF and pH-value, Ca and P content. However, the content of(More)
The use of hands-on learning experience to teach robotics design techniques is well established. In light of this, a small autonomous underwater vehicle (AUV) for use in the education of undergraduate students has been developed. The system builds on the LEGO NXT Mindstorms kit, maintaining interconnectivity between custom components and the NXT system, to(More)
The accuracy of magnetic measurements performed by autonomous vehicles is often limited by the presence of moving ferrous masses. This work presents a parameterized ellipsoid field calibration method for magnetic measurements in the sensor frame. In this manner, the ellipsoidal calibration coefficients are dependent on the locations of the moving masses.(More)
A terrain aided navigation method for an underwater glider is proposed using the vehicles ded-reckoned navigation solution, onboard altimeter and a local multibeam map. The algorithm is modified such to maintain the low power draw of the vehicle and is run offline using data collected from missions in 2010 and 2012 in Holyrood Arm, Newfoundland. The results(More)
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