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The QARTOD methodology of a standard sequential string of tests on individual measurements has high applicability to constrained data systems. The QARTOD methodology has the benefit of a coherent and replicable test structure that enables relatively easy expansion into new measurements. However, as data streams become more complex the series of tests described becomes increasingly difficult to analyse...
An emerging environmental issue for the world's oceans is the accumulation of plastic debris on or near the ocean surface. A novel collaboration between The Ocean Cleanup foundation and Teledyne Optech — an aerial survey with the Optech CZMIL system, data processing and analysis — is expected to provide initial volume estimates for future debris collection by The Ocean Cleanup.
This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The paper proposes to use an external positioning system synchronized with the vehicle to obtain a dataset of images matched with the position and orientation of the vehicle. By using...
Ocean Networks Canada (ONC) is a not-for-profit society that operates and manages innovative cabled observatories which supply continuous power and Internet connectivity to scientific instruments located in coastal, deep-ocean, and Arctic environments. The data from the instruments are archived, quality-controlled, and made freely available to researchers, educators, and the public. The Oceans 2.0...
The Autonomous Surface / Sub-surface Survey System (ASSSS) research program combines long endurance autonomous surface vessels (ASVs) and long endurance autonomous underwater vehicles (AUVs) to create an integrated cooperative navigation system effectively transforming the capabilities and accuracy of AUV survey. ASV is leading the project, working alongside National Oceanography Centre, a world leading...
There is a possibility that vast amounts of undersea resources are buried beneath Japanese territorial sea. In order to find these undersea resources, a detailed topography including specific objects and events of seabed should be carefully surveyed. One of effective methods for this is to use seabed visualization technologies, which are applied to an autonomous underwater vehicle (AUV). Therefore,...
All commercial fishery species harvested globally either live on or near the seabed (also referred to as the benthos or benthic environment) or employ life history strategies or behaviors linked to benthic processes. The act of pursuing and catching benthic and demersal species requires operating fishing gear on or very near the seabed, resulting in direct gear-seabed contact. It is essential to further...
Traditionally unmanned undersea vehicles (UUVs) have been large, complex and expensive. Development of UUVs has been driven by defense and commercial requirements. This has allowed for extensive research and development budgets and long development cycles. This paper briefly discuses these historic drivers and how this situation has changed. It focuses on a new compact affordable UUV. In 2015, several...
This paper reports what to our best knowledge is the first commercially delivered under-ice survey carried out by an autonomous underwater vehicle (AUV). The campaign was completed as a collaboration between Kongsberg Maritime (KM) and Ballard Marine Construction in January 2017. The surveys took place beneath a frozen lake in North America using a rental KM MUNIN AUV, with launch and recovery through...
The development and the test of a palm size finless torpedo shaped micro autonomous underwater vehicle (AUV) named Lancelet are presented. The vehicle has a diameter of 60 mm and only weighs 570 g. It has no appendages such as rudders, elevators, external propellers or other unprotected moving surfaces, which might increase the drag of the vehicle and interfere with the underwater obstacles. A novel...
This paper introduces our new AUV HATTORI and scanning sonar based terrain tracking algorithm implemented in the vehicle. The AUV HATTORI (Highly Agile Terrain Tracker for Ocean Research and Investigation) is a lightweight and low-cost testbed designed for rapid and efficient imaging of rugged seafloor, such as coral reefs. Most of current AUVs suitable for seafloor imaging are heavy and expensive,...
Currently, atmospheric data is collected at the air-sea boundary layer by releasing radiosondes from surface ships or by mounting sensors to aircraft. Sea surface data is measured by either remote sensing or by attaching sensors to stationary surface buoys, onboard ships, and offshore platforms. Data collection processes can be time-consuming, challenging due to high sea states, and expensive due...
Autonomous Underwater Vehicles are remarkable machines that revolutionized the collection of data at sea. There are many examples of highly operational man-portable vehicles for shallow waters, but there was no similar solution for deep water operations. This paper describes the development of a portable, modular, hovering AUV for deep water operations. The vehicle has little over 50kg, 2.4m of length,...
A real sea survey result of sea floor at Middle Okinawa Trough by a hovering type AUV (Autonomous Underwater Vehicle) HOBALIN is reported. The depth of the survey target area is almost the intended limit of the AUV and it was the first time for the AUV to dive down to that depth since the AUV dived first time into the real sea almost one year ago. The operation of the survey with the AUV was done...
Cooperative navigation (CN) has been proved to be an efficient method in underwater navigation for multiple Autonomous Underwater Vehicles (multi-AUVs). A new CN algorithm based on optimal weight distribution method (OWDM) is proposed to enhance the performance of multi-AUVs navigation. With the structure of two leaders and one follower, each leader is equipped with high-accuracy navigation system...
This paper show how neural networks, configured for regression, can be used to learn the relationships between Inertial Motion Unit (IMU) data collected on a robotic platform and the robot's commanded system state. By learning how the IMU data relates to commanded robot state we can use the neural network to predict what commands have been issued to the robot. By comparing the prediction to the actual...
One of the most common ways of collecting ocean data is to deploy sensors from the surface, allowing to understand the variation of water properties with depth. Autonomous vertical profilers are robotic vehicles that replace human operators in this task. They form a particular class of autonomous underwater vehicles that move predominantly along the vertical axis, typically with reduced control on...
Underwater imaging is a crucial technology necessary for many ocean-related applications such as underwater navigation, surveying, mining and many others. Unfortunately, the optical attenuation produced by oceanic waters imposes severe limitations to traditional imaging devices. Thus, new technologies are needed to probe the underwater environment in a more efficient manner. Quantum imaging represents...
Monitoring the vast expanse of oceans presents a daunting challenge: how to take sufficient high-quality measurements with a relatively small group of specialized scientists and limited resources. Despite advances in remote sensing and autonomous technology, the oceans remain under-explored and under-sampled. One solution for addressing this challenge is to rely on citizen scientists, people outside...
This paper presents an autonomous approach of 3-D reconstruction of underwater terrain using multi-level coverage trees. An autonomous underwater vehicle (AUV) equipped with multi-beam sonar sensors, Doppler velocity log (DVL) and inertial measurement unit (IMU) sensors is used to achieve this goal. The underwater 3-D search space is represented by a multi-level coverage tree which is generated online...
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