Abstract-Underwater operations present unique challenges and opportunities for robotic applications. These can be attributed in part to limited sensing capabilities, and to locomotion behaviours requiring control schemes adapted to specific tasks or changes in the environment. From enhancing teleoperation procedures, to providing high-level instruction, all the way to fully autonomous operations, enabling autonomous capabilities is fundamental for the successful deployment of underwater robots. This paper presents an overview of the approaches used during underwater sea trials in the coral reefs of Barbados, for two amphibious mobile robots and a set of underwater sensor nodes. We present control mechanisms used for maintaining a preset trajectory during enhanced teleoperations and discuss their experimental results. This is followed by a discussion on amphibious data gathering experiments conducted on the beach. We then present a tetherless underwater communication approach based on pure vision for high-level control of an underwater vehicle. Finally the construction details together with preliminary results from a set of distributed underwater sensor nodes are outlined.

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An optical sensor integrated into a polymer microfluidic chip is proposed as a low cost solution to highly parallel biochemical analysis. The sensor consists of a single high-finesse optical resonator for direct analytes detection. High quality silica microspheres (diameter approximately 300 microm) are easily produced and low-loss whispering gallery modes were excited through evanescent coupling at wavelengths near 1550 nm and 544 nm. The quality factor (Q) and ring down time of these modes is sensitive to minute changes in the microresonator environment thus making it an excellent candidate for a sensor. Instead of the traditional time domain studies, we determine quality factors and ring down times as long as 53.8 +/- 0.6 ns (Q approximately 10(6)) from phase shift measurements using optical sources with sinusoidal intensity modulations of 300 kHz and below.