LITERATURE REVIEW: UNDERSTANDING THE CURRENT STATE OF AUTONOMOUS TECHNOLOGIES TO IMPROVE/EXPAND OBSERVATION AND DETECTION OF MARINE SPECIES Title: Autonomous Technology DATE: July 2016 REPORT CODE: SMRUC-OGP-2015-015 THIS REPORT IS TO BE CITED AS: VERFUSS U. K., ANICETO, A. S., BIUW, M., FIELDING, S. GILLESPIE, D., HARRIS, D., JIMENEZ, G., JOHNSTON, P., PLUNKETT, R., SIVERTSEN, A., SOLBØ, A., STORVOLD, R. AND WYATT, R. 2016. LITERATURE REVIEW: UNDERSTANDING THE CURRENT STATE OF AUTONOMOUS TECHNOLOGIES TO IMPROVE/EXPAND OBSERVATION AND DETECTION OF MARINE SPECIES. REPORT NUMBER SMRUC-OGP2015- 015 PROVIDED TO IOGP, July 2016. Cover photo: AutoNaut completing a PAM mission. © Peter Bromley. For its part, the Buyer acknowledges that Reports supplied by the Seller as part of the Services may be misleading if not read in their entirety, and can misrepresent the position if presented in selectively edited form. Accordingly, the Buyer undertakes that it will make use of Reports only in unedited form, and will use reasonable endeavours to procure that its client under the Main Contract does likewise. As a minimum, a full copy of our Report must be appended to the broader Report to the client. Title: Autonomous Technology DATE: July 2016 REPORT CODE: SMRUC-OGP-2015-015 1 Contents 1 Contents ........................................................................................................................................................ 3 2 Figures ........................................................................................................................................................... 7 3 Tables ............................................................................................................................................................ 8 4 Executive Summary ..................................................................................................................................... 11 4.1 Objectives ........................................................................................................................................... 11 4.2 Approach ............................................................................................................................................ 12 4.3 Outcome ............................................................................................................................................. 13 4.3.1 UAS ................................................................................................................................................. 13 4.3.2 AUV and ASV .................................................................................................................................. 14 4.3.3 Future work .................................................................................................................................... 16 5 Quick guide for prospective users ............................................................................................................... 18 6 Project framework and approach ................................................................................................................ 22 7 Introduction ................................................................................................................................................. 24 7.1 Monitoring types ................................................................................................................................ 25 7.1.1 Mitigation monitoring .................................................................................................................... 25 7.1.2 Animal population surveys ............................................................................................................. 26 7.1.3 Focal-follows ................................................................................................................................... 27 7.2 Autonomous platform types ............................................................................................................... 27 7.2.1 Powered aircraft (UAS) ................................................................................................................... 27 7.2.2 Motorized gliders (UAS) ................................................................................................................. 28 7.2.3 Kites (UAS) ...................................................................................................................................... 28 7.2.4 Lighter-than-air aircraft systems (UAS) .......................................................................................... 29 7.2.5 Propeller driven underwater craft (AUV) ....................................................................................... 30 7.2.6 Buoyancy gliders (AUV) .................................................................................................................. 31 7.2.7 Powered surface crafts (ASV) ......................................................................................................... 33 7.2.8 Self-powered surface vehicles (ASV) .............................................................................................. 35 3 Title: Autonomous Technology DATE: July 2016 REPORT CODE: SMRUC-OGP-2015-015 7.2.9 Drifter (ASV and AUV) ..................................................................................................................... 36 7.3 Sensor types ........................................................................................................................................ 37 7.3.1 Electro-optical imaging sensors ...................................................................................................... 37 7.3.2 PAM systems .................................................................................................................................. 39 7.3.3 AAM sensors ................................................................................................................................... 42 7.3.4 Animal-borne tags .......................................................................................................................... 44 8 Evaluation of autonomous systems ............................................................................................................. 44 8.1 Criteria and metrics ............................................................................................................................ 44 8.1.1 Collection of survey data ................................................................................................................ 45 8.1.2 Mitigation monitoring .................................................................................................................... 46 8.1.3 Operational aspects ........................................................................................................................ 47 8.1.4 Data relay ....................................................................................................................................... 48 8.1.5 Further information gathered ........................................................................................................ 49 8.2 Evaluation results ............................................................................................................................... 50 8.2.1 UAS platforms ................................................................................................................................. 50 8.2.2 UAS-sensors .................................................................................................................................... 55 8.2.3 AUV / ASV platforms ...................................................................................................................... 57 8.2.4 AUV / ASV-sensors .......................................................................................................................... 61 8.3 Discussion ........................................................................................................................................... 65 8.3.1 How to use the evaluation results to find the appropriate autonomous platform / sensor combination ................................................................................................................................................ 65 8.3.2 Strength and weaknesses of autonomous vehicle types ............................................................... 71 8.3.3 Platform types for mitigation monitoring ...................................................................................... 73 8.3.4 Platform types for population monitoring and focal-follows ......................................................... 75 8.3.5 Technologies that might be used in future field trials .................................................................... 77 8.3.6 Data gaps and recommendations ................................................................................................... 79 9 Further information ..................................................................................................................................... 86 9.1 Requirements of autonomous vehicles for marine animal monitoring .............................................. 86 4 Title: Autonomous Technology DATE: July 2016 REPORT CODE: SMRUC-OGP-2015-015 9.1.1 Mitigation monitoring ...................................................................................................................