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AUV Adaptive Sampling Methods: a Review
applied sciences Review AUV Adaptive Sampling Methods: A Review Jimin Hwang 1 , Neil Bose 2 and Shuangshuang Fan 3,* 1 Australian Maritime College, University of Tasmania, Launceston 7250, TAS, Australia; [email protected] 2 Department of Ocean and Naval Architectural Engineering, Memorial University of Newfoundland, St. John’s, NL A1C 5S7, Canada; [email protected] 3 School of Marine Sciences, Sun Yat-sen University, Zhuhai 519082, Guangdong, China * Correspondence: [email protected] Received: 16 July 2019; Accepted: 29 July 2019; Published: 2 August 2019 Abstract: Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed. Keywords: autonomous underwater vehicle(s); maritime robotics; adaptive sampling; underwater feature tracking; in-situ sensors; sensor fusion 1. Introduction Autonomous underwater vehicles (AUVs) are unmanned marine robots. Owing to their mobility and increased ability to accommodate sensors, they have been used for a broad range of oceanographic missions, such as surveying underwater plumes and other phenomena, collecting bathymetric data and tracking oceanographic dynamic features. -
RV Sites in the United States Location Map 110-Mile Park Map 35 Mile
RV sites in the United States This GPS POI file is available here: https://poidirectory.com/poifiles/united_states/accommodation/RV_MH-US.html Location Map 110-Mile Park Map 35 Mile Camp Map 370 Lakeside Park Map 5 Star RV Map 566 Piney Creek Horse Camp Map 7 Oaks RV Park Map 8th and Bridge RV Map A AAA RV Map A and A Mesa Verde RV Map A H Hogue Map A H Stephens Historic Park Map A J Jolly County Park Map A Mountain Top RV Map A-Bar-A RV/CG Map A. W. Jack Morgan County Par Map A.W. Marion State Park Map Abbeville RV Park Map Abbott Map Abbott Creek (Abbott Butte) Map Abilene State Park Map Abita Springs RV Resort (Oce Map Abram Rutt City Park Map Acadia National Parks Map Acadiana Park Map Ace RV Park Map Ackerman Map Ackley Creek Co Park Map Ackley Lake State Park Map Acorn East Map Acorn Valley Map Acorn West Map Ada Lake Map Adam County Fairgrounds Map Adams City CG Map Adams County Regional Park Map Adams Fork Map Page 1 Location Map Adams Grove Map Adelaide Map Adirondack Gateway Campgroun Map Admiralty RV and Resort Map Adolph Thomae Jr. County Par Map Adrian City CG Map Aerie Crag Map Aeroplane Mesa Map Afton Canyon Map Afton Landing Map Agate Beach Map Agnew Meadows Map Agricenter RV Park Map Agua Caliente County Park Map Agua Piedra Map Aguirre Spring Map Ahart Map Ahtanum State Forest Map Aiken State Park Map Aikens Creek West Map Ainsworth State Park Map Airplane Flat Map Airport Flat Map Airport Lake Park Map Airport Park Map Aitkin Co Campground Map Ajax Country Livin' I-49 RV Map Ajo Arena Map Ajo Community Golf Course Map -
Real-Time Monitoring for Toxicity Caused by Harmful Algal Blooms and Other Water Quality Perturbations EPA/600/R-01/103 November 2001
United States Office of Research and EPA/600/R-01/103 Environmental Protection Development November 2001 Agency Washington, DC 20460 Real-Time Monitoring for Toxicity Caused By Harmful Algal Blooms and Other Water Quality Perturbations EPA/600/R-01/103 November 2001 Real-Time Monitoring for Toxicity Caused By Harmful Algal Blooms and Other Water Quality Perturbations National Center for Environmental Assessment-Washington Office Office of Research and Development U.S. Environmental Protection Agency Washington, DC DISCLAIMER This document has been reviewed in accordance with U.S. Environmental Protection Agency policy and approved for publication. Mention of trade names or commercial products does not constitute endorsement or recommendation for use. ABSTRACT This project, sponsored by EPA’s Environmental Monitoring for Public Access and Community Tracking (EMPACT) program, evaluated the ability of an automated biological monitoring system that measures fish ventilatory responses (ventilatory rate, ventilatory depth, and cough rate) to detect developing toxic conditions in water. In laboratory tests, acutely toxic levels of both brevetoxin (PbTx-2) and toxic Pfiesteria piscicida cultures caused fish responses primarily through large increases in cough rate. In the field, the automated biomonitoring system operated continuously for 3 months on the Chicamacomico River, a tributary to the Chesapeake Bay that has had a history of intermittent toxic algal blooms. Data gathered through this effort complemented chemical monitoring data collected by the Maryland Department of Natural Resources (DNR) as part of their pfiesteria monitoring program. After evaluation by DNR personnel, the public could access the data at a DNR Internet website, (www.dnr.state.md.us/bay/pfiesteria/00results.html), or receive more detailed information at aquaticpath.umd.edu/empact. -
Public Water System Harmful Algal Bloom Response Strategy
May 2012 Public Water System Harmful Algal Bloom Response Strategy John R. Kasich, Governor Mary Taylor, Lt. Governor Scott J. Nally, Director — Ohio Environmental Protection Agency [Type text] ACKNOWLEDGEMENTS Sections of this document were excerpted from the 2011 State of Ohio Harmful Algal Bloom Response Strategy. That strategy was developed as a collaborative effort between Ohio EPA, the Ohio Department of Natural Resources and Ohio Department of Health. This document focuses on responding to harmful algal blooms on public water supply source waters. Revisions to the 2011 Strategy were contributed by: Holly Kaloz, Ohio Environmental Protection Agency, Division of Drinking and Ground Waters Heather Raymond, Ohio Environmental Protection Agency, Division of Drinking and Ground Waters Laura Webb, Ohio Environmental Protection Agency, Division of Drinking and Ground Waters 2 TABLE OF CONTENTS ACKNOWLEDGEMENTS .................................................................................................................................... 2 TABLE OF CONTENTS ........................................................................................................................................ 3 DEFINITIONS ........................................................................................................................................................ 5 1. INTRODUCTION .............................................................................................................................................. 6 1.1 Purpose, Focus -
United States Department of the Interior National Park Service Land
United States Department of the Interior National Park Service Land & Water Conservation Fund --- Detailed Listing of Grants Grouped by County --- Today's Date: 11/20/2008 Page: 1 Ohio - 39 Grant ID & Type Grant Element Title Grant Sponsor Amount Status Date Exp. Date Cong. Element Approved District ADAMS 242 - XXX D ELLISON MEMORIAL PARK VILLAGE OF PEEBLES $74,000.00 C 3/7/1973 12/31/1975 2 ADAMS County Total: $74,000.00 County Count: 1 ALLEN 580 - XXX A STRAYER WOODS ACQUISITION JOHNNY APPLESEED METRO PARK DIST. $111,500.00 C 12/6/1977 12/31/1979 4 819 - XXX D OTTAWA RIVER DEVELOPMENT CITY OF LIMA $45,045.00 C 3/21/1980 12/31/1984 4 913 - XXX D VILLAGE PARK VILLAGE OF SPENCERVILLE $11,265.00 C 7/28/1981 12/31/1986 4 ALLEN County Total: $167,810.00 County Count: 3 ASHLAND 93 - XXX D MOHICAN STATE PARK SWIMMING POOL DEPT. OF NATURAL RESOURCES $102,831.30 C 4/23/1971 6/30/1972 16 463 - XXX D MUNICIPAL GOLF COURSE CITY OF ASHLAND $144,615.70 C 4/7/1976 12/31/1978 16 573 - XXX A BROOKSIDE PARK EXPANSION CITY OF ASHLAND $45,325.00 C 11/10/1977 12/31/1979 16 742 - XXX D LEWIS MEMORIAL TENNIS COURTS VILLAGE OF JEROMESVILLE $4,715.00 C 5/2/1979 12/31/1983 16 807 - XXX D BROOKSIDE PARK CITY OF ASHLAND $200,300.00 C 7/14/1980 12/31/1985 16 953 - XXX D BROOKSIDE PARK III CITY OF ASHLAND $269,669.98 C 6/14/1983 12/31/1988 16 1159 - XXX D BROOKSIDE WEST CITY OF ASHLAND $154,500.00 C 7/11/1990 12/31/1995 16 ASHLAND County Total: $921,956.98 County Count: 7 United States Department of the Interior National Park Service Land & Water Conservation Fund --- Detailed Listing of Grants Grouped by County --- Today's Date: 11/20/2008 Page: 2 Ohio - 39 Grant ID & Type Grant Element Title Grant Sponsor Amount Status Date Exp. -
Resisting Flow – Laboratory Study of Rheotaxis of the Estuarine Copepod Pseudodiaptomus Annandalei Xu Shanga,B, Guizhong Wanga* and Shaojing Lia
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Xiamen University Institutional Repository Marine and Freshwater Behaviour and Physiology Vol. 41, No. 2, June 2008, 109–124 Resisting flow – laboratory study of rheotaxis of the estuarine copepod Pseudodiaptomus annandalei Xu Shanga,b, Guizhong Wanga* and Shaojing Lia aDepartment of Oceanography, State Key Laboratory of Marine Environmental Science, Xiamen University, Xiamen, PR China; bSchool of Environmental and Public Health, Wenzhou Medical College, Wenzhou, PR China (Received 1 May 2007; final version received 7 January 2008) Rheotaxis is a ubiquitous phenomenon among aquatic animals and thought to be an adaptation to maintain populations in flowing waters. While many estuarine copepods can retain their populations in estuaries with net seaward flow, rheotaxis of individual copepods has not been reported before. In this study, the behavior of a calanoid copepod Pseudodiaptomus annandalei in flow was examined in a recirculating laboratory flume. This estuarine copepod displayed different responses to ambient flow fields while swimming in the water column or attaching to the flume bed (walls). Copepods in the water column showed vigorous countercurrent swimming by occasional bounding when flow velocity was increased up to 2.1 cm sÀ1, but none of the individuals in the water column were retained in the flume when flow speeds were higher than 4 cm sÀ1. This indicates P. annandalei profits little from rheotaxis to withstand flow when they were swimming in the water column. Instead, more individuals attempted sinking downwards to the slow flow region near the flume bed (walls) and showed active substrate attachment to avoid being flushed out by the high-velocity channel flow. -
Ontogeny of Orientation During the Early Life History of the Pelagic Teleost Mahi-Mahi, Coryphaena Hippurus Linnaeus, 1758
Article Ontogeny of Orientation during the Early Life History of the Pelagic Teleost Mahi-Mahi, Coryphaena hippurus Linnaeus, 1758 Robin Faillettaz 1,2,* , Eve Johnson 1, Patrick Dahlmann 1, Alexandra Syunkova 1, John Stieglitz 3, Daniel Benetti 3, Martin Grosell 1 and Claire B. Paris 1,* 1 Department of Marine Biology and Ecology, University of Miami, Rosenstiel School of Marine and Atmospheric Science, 4600 Rickenbacker Causeway, Miami, FL 33149, USA; [email protected] (E.J.); [email protected] (P.D.); [email protected] (A.S.); [email protected] (M.G.) 2 Ifremer, STH, Station de Lorient, 8 rue François Toullec, F-56100 Lorient, France 3 Department of Marine Ecosystems and Society, University of Miami, Rosenstiel School of Marine and Atmospheric Science, 4600 Rickenbacker Causeway, Miami, FL 33149, USA; [email protected] (J.S.); [email protected] (D.B.) * Correspondence: [email protected] (R.F.); [email protected] (C.B.P.) Received: 6 July 2020; Accepted: 29 September 2020; Published: 8 October 2020 Abstract: Understanding the orientation behavior and capabilities in early life history (ELH) of fishes is critical for studying their dispersal but has, surprisingly, never been tested in any pelagic species. We here investigate the ontogeny of orientation and swimming abilities of the pelagic Coryphaena hippurus Linnaeus, 1758 larvae, hereafter mahi-mahi, through their ELH stages using the Drifting In Situ Chamber (DISC) in a laboratory setup. The DISC was deployed in a large (3 m3) circular aquarium in order to control the stimulus perceived by the fish and to identify behavioral response at the individual, developmental stage, and population levels. -
Rheotaxis of Guppies Above Waterfalls
G C A T T A C G G C A T genes Article Asymmetric Isolation and the Evolution of Behaviors Influencing Dispersal: Rheotaxis of Guppies above Waterfalls Léa Blondel 1,* , Sandra Klemet-N’Guessan 2, Marilyn E. Scott 3 and Andrew P. Hendry 1 1 Redpath Museum and Department of Biology, McGill University, 859 Sherbrooke St. W., Montréal, QC H3A 0C4, Canada; [email protected] 2 Department of Biology, Trent University, 2140 East Bank Drive, Peterborough, ON K9L 1Z8, Canada; [email protected] 3 Institute of Parasitology, McGill University (Macdonald Campus), 21,111 Lakeshore Drive, Ste. Anne-de-Bellevue, QC H9X 3V9, Canada; [email protected] * Correspondence: [email protected] Received: 15 January 2020; Accepted: 5 February 2020; Published: 9 February 2020 Abstract: Populations that are asymmetrically isolated, such as above waterfalls, can sometimes export emigrants in a direction from which they do not receive immigrants, and thus provide an excellent opportunity to study the evolution of dispersal traits. We investigated the rheotaxis of guppies above barrier waterfalls in the Aripo and Turure rivers in Trinidad—the later having been introduced in 1957 from a below-waterfall population in another drainage. We predicted that, as a result of strong selection against downstream emigration, both of these above-waterfall populations should show strong positive rheotaxis. Matching these expectations, both populations expressed high levels of positive rheotaxis, possibly reflecting contemporary (rapid) evolution in the introduced Turure population. However, the two populations used different behaviors to achieve the same performance of strong positive rheotaxis, as has been predicted in the case of multiple potential evolutionary solutions to the same functional challenge (i.e., “many-to-one mapping”). -
Modeling Rheotaxis Based on Preference to Predict Fish Migration Behavior in a River
VOLUME 22, NO. 1, JULI 2016 Modeling Rheotaxis based on Preference to Predict Fish Migration Behavior in A River Rina Febrina Division of Civil Engineering, Malahayati University Jl. Pramuka No.27 Kemiling, Bandar Lampung 35153, Indonesia E-mail: [email protected] Abstract In this research, we attempt to determine preference of rheotaxis and estimated weight values in laboratory experiments using adult and juvenile ayu (Plecoglossus altivelis altivelis). We conducted paired comparisons of ayu distribution between the upper and lower sections of a test watercourse using several velocity conditions (10, 30, and 40 cm/s for juveniles; 20, 30, 50, 70, and 90 cm/s for adults). In upper watercourse sections, juvenile ayu preferred velocities of 30 cm/s and 40 cm/s, and adults preferred a velocity of 50 cm/s. Even when a highly preferred illumination condition of 4000 lux was present in the lower section, fish maintained a higher distribution in the upper section. We design a procedure to calculate rheotaxis preference and built it into our fish behavior simulation model on geographic information system (GIS) software. The model successfully predicted natural migration behavior of fish. Keywords: Rheotaxis, Fish preference model, Fish migration simulation in rivers, Illumination, Ayu. Abstrak Penelitian ini mencoba untuk menentukan preference dan weight value dari rheotaxis melalui percobaan di laboratorium dengan menggunakan ikan dewasa dan anak ikan ayu (Plecoglossus altivelis altivelis). Penelitian ini membandingkan penyebaran ikan ayu dibagian atas dan bagian bawah dari daerah percobaan dengan menggunakan beberapa kondisi kecepatan aliran (10, 30, dan 40 cm/s untuk anak ikan; 20, 30, 50, 70, dan 90 cm/s untuk ikan dewasa). -
Bacterial Rheotaxis
Bacterial rheotaxis Marcosa,b, Henry C. Fuc,d, Thomas R. Powersd, and Roman Stockere,1 aSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore; bDepartment of Mechanical Engineering, and eDepartment of Civil and Environmental Engineering, Ralph M. Parsons Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139; cDepartment of Mechanical Engineering, University of Nevada, Reno, NV 89557; and dSchool of Engineering and Department of Physics, Brown University, Providence, RI 02912 Edited by T. C. Lubensky, University of Pennsylvania, Philadelphia, PA, and approved February 17, 2012 (received for review December 21, 2011) The motility of organisms is often directed in response to environ- passive hydrodynamic effect, whereby the combination of a mental stimuli. Rheotaxis is the directed movement resulting from gravitational torque and a shear-induced torque orients the fluid velocity gradients, long studied in fish, aquatic invertebrates, swimming direction preferentially upstream (14–16). Responses and spermatozoa. Using carefully controlled microfluidic flows, we to shear are also observed in copepods and dinoflagellates, which show that rheotaxis also occurs in bacteria. Excellent quantitative rely on shear detection to attack prey or escape predators (5, 17– agreement between experiments with Bacillus subtilis and a math- 19), orient in flow (20), and retain a preferential depth (21). ematical model reveals that bacterial rheotaxis is a purely physical Evidence of shear-driven motility in prokaryotes is limited to the phenomenon, in contrast to fish rheotaxis but in the same way as upstream motion of mycoplasma (22), E. coli (23), and Xylella sperm rheotaxis. This previously unrecognized bacterial taxis results fastidiosa (24), all of which require the presence of a solid sur- from a subtle interplay between velocity gradients and the helical face. -
Phytoplankton Orientation in a Turbulent Ocean: a Microscale Perspective
fmars-07-00185 March 24, 2020 Time: 15:44 # 1 MINI REVIEW published: 25 March 2020 doi: 10.3389/fmars.2020.00185 Phytoplankton Orientation in a Turbulent Ocean: A Microscale Perspective G. Basterretxea1*, J. S. Font-Muñoz2,3* and I. Tuval1,4* 1 Department of Marine Ecology, Mediterranean Institute for Advanced Studies, University of the Balearic Islands and Spanish National Research Council, Esporles, Spain, 2 Université de Brest – Université de Bretagne Occidentale/Centre National de la Recherche Scientifique/French Research Institute for Exploitation of the Sea/Institut de Recherche pour le Développement, Brest, France, 3 French Research Institute for Exploitation of the Sea, French Institute for Sea Research, Dynamiques des Ecosystèmes Côtiers Laboratoire d’Ecologie Pélagique, Plouzané, France, 4 Department of Physics, University of the Balearic Islands, Palma, Spain Phytoplankton are by definition autotrophic microorganisms that passively drift with fluid motion. Accordingly, the traditional view of a turbulence-homogenized phytoplankton distribution in the ocean, where cells randomly organize and interact, is deeply rooted in biological oceanography studies. However, increasing understanding of microscopic processes in the ocean is revealing a world of microscale patterns resulting from Edited by: cell behaviors and fluid-cell interactions that challenges this vision. Autotrophic cells Aditya R. Nayak, have developed active (i.e., flagella) and passive (i.e., morphological structures and Florida Atlantic University, United States vesicles) motility mechanisms that allow them different degrees of spatial control. Their Reviewed by: complex interaction with the ocean physicochemical landscape commonly results in Jun Sun, small-scale spatial heterogeneities and non-isotropic orientations that can strongly Tianjin University of Science and Technology, China influence ecosystem level processes. -
Scouting in Ohio
Scouting Ohio! Sipp-O Lodge’s Where to Go Camping Guide Written and Published by Sipp-O Lodge #377 Buckeye Council, Inc. B.S.A. 2009 Introduction This book is provided as a reference source. The information herein should not be taken as the Gospel truth. Call ahead and obtain up-to-date information from the place you want to visit. Things change, nothing is guaranteed. All information and prices in this book were current as of the time of publication. If you find anything wrong with this book or want something added, tell us! Sipp-O Lodge Contact Information Mail: Sipp-O Lodge #377 c/o Buckeye Council, Inc. B.S.A. 2301 13th Street, NW Canton, Ohio 44708 Phone: 330.580.4272 800.589.9812 Fax: 330.580.4283 E-Mail: [email protected] [email protected] Homepage: http://www.buckeyecouncil.org/Order%20of%20the%20Arrow.htm Table of Contents Scout Camps Buckeye Council BSA Camps ............................................................ 1 Seven Ranges Scout Reservation ................................................ 1 Camp McKinley .......................................................................... 5 Camp Rodman ........................................................................... 9 Other Councils in Ohio .................................................................... 11 High Adventure Camps .................................................................... 14 Other Area Camps Buckeye .......................................................................................... 15 Pee-Wee .........................................................................................