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Hydrophone
INTRODUCTION
A Hydrophone is a device which will listen to, or pick up, the acoustic energy underwater. A hydrophone converts acoustic energy into electrical energy and is used in passive underwater systems to listen only. Hydrophones are usually used below their resonance frequency over a much wider frequency band where they provide uniform output levels.
Underwater echo detection systems were developed for the purpose of underwater navigation by submarines in World war I and in particular after the Titanic sank ....etc

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Abstract
One form of cooperative behavior for a group
of AUVs is to fly in formation while performing tasks.
A necessary component for formation-flying is that the
vehicles must sense their relative positions.
Assuming that each vehicle is capable of sensing its
inertial position using an acoustic long-baseline
ranging system, the relative vehicle position can be
determined by exchanging this data. The penalty for
this approach is that exchanging inertial position data
consumes communications bandwidth. Alternately,
relative ....etc

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