Short Course in Robot Systems Programming at the Woods hole Oceanographic Institution

Louis Whitcomb is leading a short course in Robot Systems Programming with the Robot Operating System (ROS) at the Woods Hole Oceanographic Institution on Nov 29, 2017 – Dec 1, 2017.  More information is available here.  JHU ME PhD student Andrew Spielvogel is assisting with the course.

This course will employ  EduMIP mobile robots as a teaching platform for programming ROS in Lunux.

Recent DSCL Student Publications

In September Jonathan Bohren presented at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) in Vancouver : Jonathan Bohren and Louis L. Whitcomb, “A Preliminary Study of an Intent-Recognition-based Traded Control Architecture for High Latency Telemanipulation”, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver.

In May Andrew Spielvogel presented at the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017) in Singapore: A. R. Spielvogel and L. L. Whitcomb, “A stable adaptive attitude estimator on SO(3) for true-North seeking gyrocompass systems: Theory and preliminary simulation evaluation,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 3231-3236. doi: 10.1109/ICRA.2017.7989367,  URL:

StephenMartin published a paper on nonlinear model based control in IEEE Transactions on Control Systems Technology in May 2017: S. C. Martin and L. L. Whitcomb, “Nonlinear Model-Based Tracking Control of Underwater Vehicles With Three Degree-of-Freedom Fully Coupled Dynamical Plant Models: Theory and Experimental Evaluation,” in IEEE Transactions on Control Systems Technology, vol. PP, no. 99, pp. 1-11. doi: 10.1109/TCST.2017.2665974, URL:

Ph.D. Student Jonathan Bohren’s Thesis Defense

Ph.D. Student Jonathan Bohren defended his thesis entitled ‘Intent-Recognition-Based Traded Control for Telerobotic Assembly Over High-Latency Telemetry’ on November 17, 2016! Congratulations Dr. Jon! In Jan 2016 Jon will begin as a Senior Robotics Engineer at Honeybee Robotics.

Nereid Under-Ice (NUI) expedition the Karasik Seamount at 87°N 61°E in the Arctic Ocean

On October 23, 2016 a team of engineers and scientists completed a 45 day expedition to deploy the Nereid-UI (NUI) hybrid underwater robotic vehicle under moving sea ice to explore the Karasik Seamount at 87°N 61°E in the Arctic Ocean, from aboard the F/S Polarstern of the Alfred Wegener Institute, Bremerhaven, Germany. The Woods Hole Oceanographic Institution and collaborators from the Johns Hopkins University and the University of New Hampshire developed NUI for the Polar Science Community. NUI is a remotely-controlled underwater robotic vehicle capable of being teleoperated under ice under remote real-time human supervision. The goal of the NUI system is to provide scientific access to under-ice and ice-margin environments that is presently impractical or infeasible. Here are some web sites with more information:

Nereid Under-Ice (NUI) expedition the 83°N 6°W in the Arctic Ocean

Louis Whitcomb and Christopher McFarland and collaborators from the Woods Hole Oceanographic Institution conducted the first under-ice sea trials of their newly developed ‘Nereid Under-Ice’ (NUI) Underwater Robotic Vehicle on the month-long F/V Polarstern Expedition PS86 in July, 2-14. See weekly cruise reportsAGU Engineering AbstractAGU Science Abstract. The team completed four NUI dives at 86°N 6°W, about 200 km North East of Greenland in the Arctic Ocean.