\index{MIT Simulation Environment}
\begin{table}[htp]
\renewcommand{\arraystretch}{1.5}
\begin{minipage}[c]{0.8\textwidth}
  \centering
  \mbox{
  \footnotesize
\begin{tabular}{|r|c|p{0.68\textwidth}|p{0.12\textwidth}|p{0.08\textwidth}|}
\hline
\# & Module Name & Module Description & Author & Size \\ \hline \hline
 
1 &{\bf uSimTargets} &
Dynamically simulates an arbitrary number of targets for the
multi-source acoustic simulators.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt &  \\ \hline

2 &{\bf uSimTargetBearings} & Low-fidelity, target bearing estimator
replacing an onboard acoustic array processing module such as {\bf
pBearingTrack}. Highly efficient and useful for multi-auv
collaborative mission simulations, and for onboard bearing simulation
in case of a malfunctioning hydrophone array.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
&  Eickstedt, Schmidt &  \\ \hline

3 &{\bf uSimTowedArray} &
Towed array simulator used together with uMVSBluefin for coupled dynamics simulation.\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt & 4,803 \\ \hline

4 &{\bf uSimPassiveSonar} & Medium- or High-fidelity acoustic simulator
generating timeseries received on array simulated by {\bf uSimTowedArray},
incorporating ambient noise and signals from targets simulated by
{\bf uSimTargets}. In the high-fidelity mode it uses the embedded {\bf Bellhop} raytracing code for incorporating multipaths and boundary interactions. In the medium-frequency mode target signals
are simulated as cylindrical waves, incorporating
bottom loss.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt &  \\ \hline

5 &{\bf uSimGPS} & Simulates received GPS information when vehicle is surfaced.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt &  \\ \hline

6 & {\bf uSimCTD} & Simulates CTD data by interpolating in
HOPS-generated virtual ocean or real ocean database. 
Can be used in the field in the case of a malfunctioning CTD unit.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
&  Lum &  \\ \hline

7 & {\bf uSimBathy} & Simulates bathymetry data by interpolating in bathymetry table. Used for simulating altimeter data.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
&  Lum &  \\ \hline

8 & {\bf uMVSBluefin} &
Dynamic simulator for Bluefin21 AUV with or without a towed array & 
Battle &  \\ \hline

9 & {\bf iModemSim} &
Simules a modem network. Communicates with iModemSim in all MOOS communities on local network. Handles propagation latency and transmission loss, and collisions.
\newline 
{\em Libraries: anrp\_util, MOOS, MOOSGen, MOOSUtility}
& Patrikalakis & 1,474 {\bf 24,655} \\ \hline

\multicolumn{4}{|c|}{Total unique lines of code} &  \\ 
\multicolumn{4}{|c|}{Total aggregate lines of code} &  \\ \hline


% logutils 684
% MBUtil 2527 geometry 8348 marineview 5545
% MOOSLIB + MOOSGenLib 13024
% MOOSUtilityLib  3045
% all three 16069

  \end{tabular}
  \normalsize}
\end{minipage}
\caption{MIT AUV simulation environment. C++ simulation Modules.}
\label{t_simtools_cpp}
\end{table}

\begin{table}[htp]
\renewcommand{\arraystretch}{1.5}
\begin{minipage}[c]{0.8\textwidth}
  \centering
  \mbox{
  \footnotesize
\begin{tabular}{|r|c|p{0.68\textwidth}|p{0.12\textwidth}|p{0.08\textwidth}|}
\hline
\# & Module Name & Module Description & Author & Size \\ \hline \hline
 
1 &{\bf ArraySim.m} & Matlab version of array dynamics simulator {\bf uSimTowedArray}
& Dumortier &  \\ \hline

2 &{\bf SealabMultiSim.m} & High--fidelity acoustic simulator
generating timeseries received on array simulated by {\bf uSimTowedArray},
incorporating ambient noise and signals from targets simulated by
{\bf uSimTargets}. Uses SEALAB synthetic sonar environment for
environmental acoustic modeling.
\newline 
{\em Libraries: } & Schmidt & \\ \hline 

2 & {\bf small\_uVis.m} &Graphical display of AUV mission, including
array dynamics, and processed acoustic data. Applied on each simulated
platform. May also be used in conjunction with {\bf uPlayback} for
replay of actual at-sea missions.
\newline 
{\em Libraries: }
&  Schmidt &  \\ \hline



\multicolumn{4}{|c|}{Total unique lines of code} &  \\ 
\multicolumn{4}{|c|}{Total aggregate lines of code} &  \\ \hline


% logutils 684
% MBUtil 2527 geometry 8348 marineview 5545
% MOOSLIB + MOOSGenLib 13024
% MOOSUtilityLib  3045
% all three 16069

  \end{tabular}
  \normalsize}
\end{minipage}
\caption{MIT AUV simulation environment - MATLAB modules.}
\label{t_simtools_matlab}
\end{table}





