WORLD OCEANS WEEK BIOGRAPHIES 5-9 JUNE, 2017 Prince Albert II, HSH of Monaco
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Towards Autonomous Localization of an Underwater Drone
TOWARDS AUTONOMOUS LOCALIZATION OF AN UNDERWATER DRONE A Thesis presented to the Faculty of California Polytechnic State University, San Luis Obispo In Partial Fulfillment of the Requirements for the Degree Master of Science in Computer Science by Nathan Sfard June 2018 c 2018 Nathan Sfard ALL RIGHTS RESERVED ii COMMITTEE MEMBERSHIP TITLE: Towards Autonomous Localization of an Underwater Drone AUTHOR: Nathan Sfard DATE SUBMITTED: June 2018 COMMITTEE CHAIR: Lynne Slivovsky, Ph.D. Professor of Computer Engineering COMMITTEE MEMBER: John Seng, Ph.D. Professor of Computer Science COMMITTEE MEMBER: Xiao-Hua Yu, Ph.D. Professor of Electrical Engineering iii ABSTRACT Towards Autonomous Localization of an Underwater Drone Nathan Sfard Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their envi- ronments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acous- tic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Fil- ter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this Kalman Filter by analyzing the effect each parameter has on accuracy, then choosing the best combination of parameter values to assess the overall accuracy of the Kalman Filter. We find that the two parameters with the greatest effects on the system are the con- stant acceleration and the measurement uncertainty of the system. -
Modeling and Simulation of Motion of an Underwater Robot
2016 International Symposium on Nonlinear Theory and Its Applications, NOLTA2016, Yugawara, Japan, November 27th-30th, 2016 Modeling and Simulation of Motion of an Underwater Robot Ryo Inoharay, Kaito Isogaiy, Hideo Nakanoz, and Hideaki Okazakiy yGraduate School of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan zFaculty of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan Email: [email protected], [email protected], [email protected], [email protected] Abstract—This paper presents how system dynamics ics [1] of an underwater robot based on [2], [4]. The time and system control equations for an underwater robot were parameter t for all the stated variables, such as r(t), or Ω(t), derived using an Arnold-type operator to control the Open- etc., is omitted for convenience. We use the following no- ROV. Typical behavior of the OpenROV on MATLAB nu- tation as [2] (Fig 2): merical simulations is illustrated. ei 2 w (i = 1; 2; 3) are the base vectors of a right-handed Cartesian stationary coordinate system at the origin O; 2 = ; ; 1. Introduction Ei W (i 1 2 3) are the base vectors of a right moving coordinate system connected to the body at the center of Although there are several designs, control system equa- the mass Oc. tions, and dynamic equations for underwater robots, such as [1], unified methods to describe the dynamic equations Definition 1 Let w and W be oriented euclidean spaces for the rigid body kinetics of an underwater robot have yet (i.e. -
Deep Machine Learning Techniques for the Detection and Classification
www.nature.com/scientificreports Corrected: Publisher Correction OPEN Deep Machine Learning Techniques for the Detection and Classifcation of Sperm Whale Bioacoustics Received: 15 April 2019 Peter C. Bermant1, Michael M. Bronstein1,2,7, Robert J. Wood 3,4, Shane Gero 5 & Accepted: 15 August 2019 David F. Gruber 1,6 Published online: 29 August 2019 We implemented Machine Learning (ML) techniques to advance the study of sperm whale (Physeter macrocephalus) bioacoustics. This entailed employing Convolutional Neural Networks (CNNs) to construct an echolocation click detector designed to classify spectrograms generated from sperm whale acoustic data according to the presence or absence of a click. The click detector achieved 99.5% accuracy in classifying 650 spectrograms. The successful application of CNNs to clicks reveals the potential of future studies to train CNN-based architectures to extract fner-scale details from cetacean spectrograms. Long short-term memory and gated recurrent unit recurrent neural networks were trained to perform classifcation tasks, including (1) “coda type classifcation” where we obtained 97.5% accuracy in categorizing 23 coda types from a Dominica dataset containing 8,719 codas and 93.6% accuracy in categorizing 43 coda types from an Eastern Tropical Pacifc (ETP) dataset with 16,995 codas; (2) “vocal clan classifcation” where we obtained 95.3% accuracy for two clan classes from Dominica and 93.1% for four ETP clan types; and (3) “individual whale identifcation” where we obtained 99.4% accuracy using two Dominica sperm whales. These results demonstrate the feasibility of applying ML to sperm whale bioacoustics and establish the validity of constructing neural networks to learn meaningful representations of whale vocalizations. -
Development of an Underwater Robot
School of Science & Engineering Capstone Design Development of an Underwater Robot Oumaima Lamaakel Supervised by Dr. Kevin Scott Smith Submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in General Engineering Spring 2018 2 DEVELOPMENT OF AN UNDERWATER ROBOT FOR MUD SAMPLES PICK UP Capstone Report Student Statement: The work submitted is solely prepared by Oumaima Lamaakel and it is original. Excerpts from other’s work have been clearly identified, acknowledged and listed in the list of references. The engineering drawings, computer programs, prototype development, and testing protocols reported in this document are also original and adhere to the engineering design ethics and safety measures. ______________________ Oumaima Lamaakel Approved by the supervisor: ______________________ Dr. Kevin Scott Smith 3 Acknowledgment I am highly indebted to my supervisors prof. Kevin Smith and prof. Lorraine Casazza for their guidance, constant supervision and support throughouts the whole year. I would like to express my gratitude to prof Veronique Van Lierde for helping understand the kinematics behind manipulators, prof. Asmae Khaldoun for her feedback regarding materials selection, prof. Yassine Salih Alj for his support and coordination work, the lab technician Mr Abderahim Boulakrouch, and Al Akhawayn University and the School of Science & Engineering for giving me the opportunity to pursue this project. My gratitude extends to the members of the ROV team, who helped me assemble the prototypes, especially Jade El Haimer for his invaluable help. I would also like to thank my dear family, friends for their support throughout my undergraduate education. 4 List of Tables and Figures Table 2 Comparison of Thrusters ........................................................................................... -
Dynamic Reconfiguration of Mission Parameters in Underwater Human
Dynamic Reconfiguration of Mission Parameters in Underwater Human-Robot Collaboration Md Jahidul Islam1, Marc Ho2, and Junaed Sattar3 Abstract— This paper presents a real-time programming and in the underwater domain, what would otherwise be straight- parameter reconfiguration method for autonomous underwater forward deployments in terrestrial settings often become ex- robots in human-robot collaborative tasks. Using a set of tremely complex undertakings for underwater robots, which intuitive and meaningful hand gestures, we develop a syntacti- cally simple framework that is computationally more efficient require close human supervision. Since Wi-Fi or radio (i.e., than a complex, grammar-based approach. In the proposed electromagnetic) communication is not available or severely framework, a convolutional neural network is trained to provide degraded underwater [7], such methods cannot be used accurate hand gesture recognition; subsequently, a finite-state to instruct an AUV to dynamically reconfigure command machine-based deterministic model performs efficient gesture- parameters. The current task thus needs to be interrupted, to-instruction mapping and further improves robustness of the interaction scheme. The key aspect of this framework is and the robot needs to be brought to the surface in order that it can be easily adopted by divers for communicating to reconfigure its parameters. This is inconvenient and often simple instructions to underwater robots without using artificial expensive in terms of time and physical resources. Therefore, tags such as fiducial markers or requiring memorization of a triggering parameter changes based on human input while the potentially complex set of language rules. Extensive experiments robot is underwater, without requiring a trip to the surface, are performed both on field-trial data and through simulation, which demonstrate the robustness, efficiency, and portability of is a simpler and more efficient alternative approach. -
American Museum Novitates
AMERICAN MUSEUM NOVITATES Number 3900, 14 pp. May 9, 2018 In situ Observations of the Meso-Bathypelagic Scyphozoan, Deepstaria enigmatica (Semaeostomeae: Ulmaridae) DAVID F. GRUBER,1, 2, 3 BRENNAN T. PHILLIPS,4 LEIGH MARSH,5 AND JOHN S. SPARKS2, 6 ABSTRACT Deepstaria enigmatica (Semaeostomeae: Ulmaridae) is one of the largest and most mysteri- ous invertebrate predators of the deep sea. Humans have encountered this jellyfish on only a few occasions and many questions related to its biology, distribution, diet, environmental toler- ances, and behavior remain unanswered. In the 45 years since its formal description, there have been few recorded observations of D. enigmatica, due to the challenging nature of encountering these delicate soft-bodied organisms. Members ofDeepstaria , which comprises two described species, D. enigmatica and D. reticulum, reside in the meso-bathypelagic region of the world’s oceans, at depths ranging from ~600 to 1750 m. Here we report observations of a large D. enigmatica (68.3 cm length × 55.7 cm diameter) using a custom color high-definition low-light imaging system mounted on a scientific remotely operated vehicle (ROV). Observations were made of a specimen capturing or “bagging” prey, and we report on the kinetics of the closing motion of its membranelike umbrella. In the same area, we also noted a Deepstaria “jelly-fall” carcass with a high density of crustaceans feeding on its tissue and surrounding the carcass. These observations provide direct evidence of singular Deepstaria carcasses acting as jelly falls, which only recently have been reported to be a significant food source in the deep sea. -
Researchers Unveil Rich World of Fish Biofluorescence
Media Inquiries: Kendra Snyder, Department of Communications 212-496-3419; [email protected] www.amnh.org _____________________________________________________________________________________ Wednesday, January 8, 2014 RESEARCHERS UNVEIL RICH WORLD OF FISH BIOFLUORESCENCE TECHNOLOGY-DRIVEN STUDY FINDS ABOUT 180 GLOWING SPECIES, HIGHLIGHTS NEW POTENTIAL SOURCE FOR BIOMEDICAL FLUORESCENT PROTEINS A team of researchers led by scientists from the American Museum of Natural History has released the first report of widespread biofluorescence in the tree of life of fishes, identifying more than 180 species that glow in a wide range of colors and patterns. Published today in PLOS ONE, the research shows that biofluorescence—a phenomenon by which organisms absorb light, transform it, and eject it as a different color—is common and variable among marine fish species, indicating its potential use in communication and mating. The report opens the door for the discovery of new fluorescent proteins that could be used in biomedical research. “We’ve long known about biofluorescence underwater in organisms like corals, jellyfish, and even in land animals like butterflies and parrots, but fish biofluorescence has been reported in only a few research publications,” said co-lead author John Sparks, a curator in the Museum’s Department of Ichthyology. “This paper is the first to look at the wide distribution of biofluorescence across fishes, and it opens up a number of new research areas.” Unlike the full-color environment that humans and other terrestrial animals inhabit, fishes live in a world that is predominantly blue because, with depth, water quickly absorbs the majority of the visible light spectrum. In recent years, the research team has discovered that many fishes absorb the remaining blue light and re-emit it in neon greens, reds, and oranges. -
Bioluminescent Flashes Drive Nighttime Schooling Behavior and Synchronized Swimming Dynamics in Flashlight Fish
University of Rhode Island DigitalCommons@URI Ocean Engineering Faculty Publications Ocean Engineering 8-14-2019 Bioluminescent flashes drive nighttime schooling behavior and synchronized swimming dynamics in flashlight fish David F. Gruber Brennan Phillips Rory O'Brien Vivek Boominathan Ashok Veeraraghavan See next page for additional authors Follow this and additional works at: https://digitalcommons.uri.edu/oce_facpubs Authors David F. Gruber, Brennan Phillips, Rory O'Brien, Vivek Boominathan, Ashok Veeraraghavan, Ganesh Vasan, Peter O'Brien, Vincent A. Pieribone, and John S. Sparks RESEARCH ARTICLE Bioluminescent flashes drive nighttime schooling behavior and synchronized swimming dynamics in flashlight fish 1,2,3 4 5 6 David F. GruberID *, Brennan T. PhillipsID , Rory O'Brien , Vivek BoominathanID , Ashok Veeraraghavan6, Ganesh Vasan5, Peter O'Brien5, Vincent A. Pieribone5, John S. Sparks3,7 1 Department of Natural Sciences, City University of New York, Baruch College, New York, New York, United States of America, 2 PhD Program in Biology, The Graduate Center, City University of New York, New York, a1111111111 New York, United States of America, 3 Sackler Institute for Comparative Genomics, American Museum of a1111111111 Natural History, New York, New York, United States of America, 4 Department of Ocean Engineering, a1111111111 University of Rhode Island, Narragansett, Rhode Island, United States of America, 5 Department of Cellular a1111111111 and Molecular Physiology, The John B. Pierce Laboratory, Yale University School of Medicine, New Haven, a1111111111 Connecticut, United States of America, 6 Rice University, Department of Electrical and Computer Engineering, Houston, Texas, United States of America, 7 Department of Ichthyology, Division of Vertebrate Zoology, American Museum of Natural History, New York, New York, United States of America * [email protected] OPEN ACCESS Citation: Gruber DF, Phillips BT, O'Brien R, Abstract Boominathan V, Veeraraghavan A, Vasan G, et al. -
Preview of Award 1312333
8/9/2018 RPPR - Preview Report My Desktop Prepare & Submit Proposals Prepare Proposals in FastLane New! Prepare Proposals (Limited proposal types) Proposal Status Awards & Reporting Notifications & Requests Project Reports Submit Images/Videos Award Functions Manage Financials Program Income Reporting Grantee Cash Management Section Contacts Administration User Management Research Administration Lookup NSF ID Preview of Award 1312333 - Annual Project Report Cover | Accomplishments | Products | Participants/Organizations | Impacts | Changes/Problems | Special Requirements Cover Federal Agency and Organization Element to Which Report is Submitted: 4900 Federal Grant or Other Identifying Number Assigned by Agency: 1312333 Project Title: Scaling Up Success: Using MATE's ROV Competitions to Build a Collaborative Learning Community that Fuels the Ocean STEM Workforce Pipeline PD/PI Name: Jill M Zande, Principal Investigator Candiya Mann, Co-Principal Investigator Deidre Sullivan, Co-Principal Investigator Recipient Organization: Monterey Peninsula College Project/Grant Period: 09/15/2013 - 08/31/2019 Reporting Period: 09/01/2017 - 08/31/2018 Submitting Official (if other than PD\PI): N/A Submission Date: N/A Signature of Submitting Official (signature shall be submitted in accordance with N/A agency specific instructions) Accomplishments * What are the major goals of the project? The information included within this report covers the period from May 16, 2017 through June 30, 2018. Our ITEST Scale-Up project, Scaling up Success: Using MATE’s ROV Competitions to Build a Collaborative Learning Community that Fuels the Ocean STEM Workforce Pipeline, expands the best practices that we identified, based on evaluation data and regional reporting, as most effective in reaching, engaging, and supporting student and teacher participation in STEM. -
Telepresence-Enabled Exploration of The
! ! ! ! 2014 WORKSHOP TELEPRESENCE-ENABLED EXPLORATION OF THE !EASTERN PACIFIC OCEAN WHITE PAPER SUBMISSIONS ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! TABLE OF CONTENTS ! ! NORTHERN PACIFIC! Deep Hawaiian Slopes 7 Amy Baco-Taylor (Florida State University) USS Stickleback (SS-415) 9 Alexis Catsambis (Naval History and Heritage Command's Underwater Archaeology Branch) Sunken Battlefield of Midway 10 Alexis Catsambis (Naval History and Heritage Command's Underwater Archaeology Branch) Systematic Mapping of the California Continental Borderland from the Northern Channel Islands to Ensenada, Mexico 11 Jason Chaytor (USGS) Southern California Borderland 16 Marie-Helene Cormier (University of Rhode Island) Expanded Exploration of Approaches to Pearl Harbor and Seabed Impacts Off Oahu, Hawaii 20 James Delgado (NOAA ONMS Maritime Heritage Program) Gulf of the Farallones NMS Shipwrecks and Submerged Prehistoric Landscape 22 James Delgado (NOAA ONMS Maritime Heritage Program) USS Independence 24 James Delgado (NOAA ONMS Maritime Heritage Program) Battle of Midway Survey and Characterization of USS Yorktown 26 James Delgado (NOAA ONMS Maritime Heritage Program) Deep Oases: Seamounts and Food-Falls (Monterey Bay National Marine Sanctuary) 28 Andrew DeVogelaere (Monterey Bay National Marine Sanctuary) Lost Shipping Containers in the Deep: Trash, Time Capsules, Artificial Reefs, or Stepping Stones for Invasive Species? 31 Andrew DeVogelaere (Monterey Bay National Marine Sanctuary) Channel Islands Early Sites and Unmapped Wrecks 33 Lynn Dodd (University of Southern -
Design of an Open Source-Based Control Platform for an Underwater Remotely Operated Vehicle Diseño De Una Plataforma De Control
Design of an open source-based control platform for an underwater remotely operated vehicle Luis M. Aristizábal a, Santiago Rúa b, Carlos E. Gaviria c, Sandra P. Osorio d, Carlos A. Zuluaga e, Norha L. Posada f & Rafael E. Vásquez g Escuela de Ingenierías, Universidad Pontificia Bolivariana, Medellín Colombia. a [email protected], b [email protected], c [email protected], d [email protected], e [email protected], f [email protected], g [email protected] Received: March 25th, de 2015. Received in revised form: August 31th, 2015. Accepted: September 9th, 2015 Abstract This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and software platforms are used for the development of the new system’s architecture, with support from the literature and the extensive experience acquired with the development of robotic exploration systems. This modular approach results in several frameworks that facilitate the functional expansion of the whole solution, the simplification of fault diagnosis and repair processes, and the reduction of development time, to mention a few. Keywords: open-source hardware; ROV control platforms; underwater exploration. Diseño de una plataforma de control basada en fuente abierta para un vehículo subacuático operado remotamente Resumen Este artículo presenta el diseño de una plataforma de control basada en fuente abierta para el vehículo subacuático operado remotamente (ROV) Visor3. -
Phillips, B.T., D.F. Gruber, G. Vasan, V.A. Pieribone, J.S
OceTHE OFFICIALa MAGAZINEn ogOF THE OCEANOGRAPHYra SOCIETYphy CITATION Phillips, B.T., D.F. Gruber, G. Vasan, V.A. Pieribone, J.S. Sparks, and C.N. Roman. 2016. First evidence of bioluminescence on a “black smoker” hydrothermal chimney. Oceanography 29(2):10–11, http://dx.doi.org/10.5670/oceanog.2016.27. DOI http://dx.doi.org/10.5670/oceanog.2016.27 COPYRIGHT This article has been published in Oceanography, Volume 29, Number 2, a quarterly journal of The Oceanography Society. Copyright 2016 by The Oceanography Society. All rights reserved. USAGE Permission is granted to copy this article for use in teaching and research. Republication, systematic reproduction, or collective redistribution of any portion of this article by photocopy machine, reposting, or other means is permitted only with the approval of The Oceanography Society. Send all correspondence to: [email protected] or The Oceanography Society, PO Box 1931, Rockville, MD 20849-1931, USA. DOWNLOADED FROM HTTP://TOS.ORG/OCEANOGRAPHY RIP CURRENT — NEWS IN OCEANOGRAPHY First Evidence of Bioluminescence on a “Black Smoker” Hydrothermal Chimney By Brennan T. Phillips, David F. Gruber, Ganesh Vasan, Vincent A. Pieribone, John S. Sparks, and Christopher N. Roman ioluminescence in the deep sea in 2006 (Haymon et al., 2008). Outfitted moving quickly in one recording, indi- is omnipresent, yet imagery with the low-light camera and two high- cating a mobile organism. Review of of the phenomenon is scarce. power strobes oriented vertically toward footage obtained five minutes prior to the BWhile this dearth in observations can be the seafloor, the ROV was positioned low-light recordings revealed a relatively largely explained by sampling effort, the almost directly over the vent orifice of one low abundance of macrobiology on and camera technology available for in situ, of the larger active chimneys at 1,643 m around the chimney, with a few scattered low-light imagery is also a limiting fac- water depth (~1 m altitude, chimney Bythograeid crabs, squat lobsters, and tor.