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This paper presents a novel, fast algorithm for accurate detection of the shape of targets around a mobile robot using a single rotating sonar element. The rotating sonar yields an image built up by the reflections of an ultrasonic beam directed at different scan angles. The image is then interpreted with an image-understanding approach based on texture analysis. Several important tasks are performed in this way, such as noise removal, echo correction and restoration. All these processes are obtained by estimating and restoring the degree of texture continuity. Texture analysis, in fact, allows us to look at the image on a large scale thus giving the possibility to infer the overall behavior of the reflection process. The algorithm has been integrated in a mobile robot. However, the algorithm is not suitable for working during the mobile robot movement, rather it can be used during the period when the robot stays in a fixed position.

Highly dispersive surface waves resulting from the combination of strong lateral seafloor heterogeneities, shallow water depths and hard sea bottom severely degrade seismic reflection data quality. Considering that seismic signals are nonstationary and surface waves have various spectra over time, we proposed S-transform-based time frequency wavenumber analysis technique which allows the dynamic analysis of spectrum over time. The data is first transformed from the time-space domain to the time-wavenumber domain through one-dimensional Fourier transform over the spatial variable, then the variable-factor S-transform is applied over time. Nonstationary filtering is then designed to identify and separate surface waves in complex wavefields, based on its low frequency and low velocity properties, in the time-frequency-wavenumber (TFK) domain. Application to field data illustrates that with this technique, not only is the surface wave effectively suppressed, but also the reflective signals are enhanced, which confirm the validity of the method.