In some electromagnetic iterative methods, the convergence to the solution is slow and the stable solution is not always found. The present paper describes three methods used to improve the speed and the stability of the convergence process for the Wave Concept Iterative Procedure (WCIP). Two of these methods are not directly related to the electromagnetic fields computation and can be used in other iterative computing procedures as well.

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The field of underwater robotics has reached an impressive technological momentum over the past decades by merging areas such as electrical, mechanical and systems engineering. A particular interest is presented by autonomous underwater vehicles (AUV), given the progress in the implementation of revolutionary technologies to overcome the challenges associated with autonomous operation in the underwater environment. The purpose of this paper is to present a synthesis of what has been achieved so far with regard to AUVs, from the factors and conditions that underlie their operation on issues related to different models and implemented technologies, up to current development trends.