Design Considerations for Strategic Autonomous Underwater Swarm Robotic Systems

2020 ◽  
Vol 54 (2) ◽  
pp. 25-34
Author(s):  
Narayanaswamy Vedachalam ◽  
Raju Ramesh ◽  
Vandavasi Bala Naga Jyothi ◽  
Vittal Doss Prakash ◽  
Gidugu Ananda Ramadass ◽  
...  
Keyword(s):  
Marine Pollution ◽  
Autonomous Underwater Vehicles ◽  
Pollution Monitoring ◽  
Robotic Systems ◽  
Communication Intervention ◽  
Vehicle Communication ◽  
Swarm Algorithms ◽  
Technological Developments ◽  
Design Requirements ◽  
Spatio Temporal

AbstractAutonomous underwater swarm robotic systems (AU-SRS) are vital for exploration of the vast marine resources, spatio-temporal monitoring of the oceans for understanding the changing climate patterns, marine pollution monitoring, defense, and identification of assets lost in the oceans. The paper summarizes the technological developments in the autonomous underwater vehicles hitherto and discusses the design requirements for next-generation intelligent AU-SRS including intra-vehicle intelligence, inter-vehicle communication, intervention capability, swarm algorithms, and bio-inspired designs. The importance of quality-centered system engineering is also detailed.

Electronic Nose and AUV: A Novel Perspective in Marine Pollution Monitoring

2015 ◽  
Vol 49 (5) ◽  
pp. 18-24 ◽  
Author(s):  
Alessandro Tonacci ◽  
Giovanni Lacava ◽  
Marco Andrea Lippa ◽  
Lisa Lupi ◽  
Michele Cocco ◽  
...  
Keyword(s):  
Electronic Nose ◽  
Marine Pollution ◽  
Autonomous Underwater Vehicles ◽  
Marine Ecosystem ◽  
Sea Surface ◽  
Pollution Monitoring ◽  
Monitoring Tool ◽  
Good Reliability ◽  
Marine Monitoring ◽  
Volatile Organic

AbstractHydrocarbon pollution represents one of the most serious issues for the health of the extremely fragile marine ecosystem, and strategies for its monitoring have been growing in number and complexity in the last decades. Therefore, the realization of systems able to detect the presence of pollutants in the marine environment has become extremely complex, involving different figures and integrated technologies. This paper presents an innovative model for the real-time assessment of pollutants on the sea surface based on a network of autonomous underwater vehicles (AUVs), which are able to sail the sea surface, equipped with sensors capable of detecting volatile organic compounds produced by hydrocarbons. In particular, within this context, an AUV equipped with an electronic nose-like system is proposed, with the sensors employed that were characterized both on the laboratory bench and at sea. The results obtained confirmed the feasibility of the approach proposed as well as good reliability of the data acquired, confirming the likely employment of this system within an integrated marine monitoring tool.

Analytical Quality Control (AQC) For Monitoring Trace Metals in the Coastal and Estuarine Environment

1986 ◽  
Vol 18 (4-5) ◽  
pp. 35-41 ◽  
Author(s):  
M. J. Gardner ◽  
D T. E. Hunt ◽  
G. Topping
Keyword(s):  
Quality Control ◽  
Trace Metals ◽  
Marine Pollution ◽  
Pollution Monitoring ◽  
Research Centre ◽  
Analytical Quality Control ◽  
Analytical Quality ◽  
Management Group ◽  
Analytical Results ◽  
Saline Waters

It is widely recognised that, unless special steps are taken, analytical results from a group of laboratories engaged in a monitoring programme are likely to be of poor comparability. This in turn can prejudice the conclusions drawn from the results of monitoring. On the basis of previous studies, the problem is known to be particularly acute for measurements of trace metals in saline waters. Recognising the difficulty, the Marine Pollution Monitoring Management Group (MPMMG) and the Water Research centre (WRc) have organised a programme of Analytical Quality Control (AQC). This has the objective of ensuring that analytical results for filterable cadmium and mercury in saline waters, obtained by water industry and other relevant laboratories, are of adequate accuracy and comparability for their intended uses. WRc is to coordinate a series of tests, some involving distributions of standards and samples, which the participating laboratories undertake; this series of tests, the background to the approach and some of the results obtained to date are described here.

A Strategy for Design of Marine Pollution Monitoring Studies

1986 ◽  
Vol 18 (4-5) ◽  
pp. 15-26 ◽  
Author(s):  
D. A. Segar ◽  
E. Stamman
Keyword(s):  
Information Needs ◽  
Marine Pollution ◽  
Monitoring Program ◽  
Pollution Monitoring ◽  
Systematic Evaluation ◽  
Management Information ◽  
Different Types ◽  
Management Context ◽  
Definition Of ◽  
Scientific Testing

Most historical marine pollution monitoring has proven useless in a management context. A strategy for development of effective marine pollution monitoring programs is outlined. This strategy is based on the following steps: 1) systematic evaluation of the management information needs, 2) identification of the hypothetical impacts associated with those management concerns, and 3) investigation of the feasibility of monitoring those effects such that the existence, or absence, of a specified level of effects can be established in a statistically-valid manner. There are two fundamentally different types of monitoring program: site-specific and regional. These two types of program differ markedly in scope and approach when designed through application of this strategy. The strategy requires development of null hypotheses which address management concerns and which are amenable to scientific testing. In order for the program to be successful, the null hypotheses selected for inclusion in a marine pollution monitoring program must address levels of effect which are predefined to be environmentally significant. The definition of environmentally significant effect levels is a difficult process which must be primarily the responsibility of the managerial community.

scholarly journals Toward Large-Scale Autonomous Marine Pollution Monitoring

2021 ◽  
Vol 4 (1) ◽  
pp. 40-45
Author(s):  
Huber Flores ◽  
Naser Hossein Motlagh ◽  
Agustin Zuniga ◽  
Mohan Liyanage ◽  
Monica Passananti ◽  
...  
Keyword(s):  
Large Scale ◽  
Marine Pollution ◽  
Pollution Monitoring

scholarly journals Spatio-temporal Inversion using the Selection Kalman Model

2020 ◽  
Author(s):  
Maxime Conjard ◽  
Henning Omre
Keyword(s):  
Gaussian Distribution ◽  
Extreme Event ◽  
Recursive Algorithm ◽  
Initial Distribution ◽  
Pollution Source ◽  
Pollution Monitoring ◽  
Initial State ◽  
Linear Dynamic ◽  
Spatio Temporal ◽  
Spatial Histogram

<p>The challenge in data assimilation for models representing spatio-temporal phenomena is made harder when the spatial histogram of the variable of interest appears with multiple modes. Pollution source identification constitutes one example where the pollution release represents an extreme event in a fairly homogeneous background. Consequently, our prior belief is that the spatial histogram is bimodal. The traditional Kalman model is based on a Gaussian initial distribution and Gauss-linear dynamic and observation models. This model is contained in the class of Gaussian distribution and is therefore analytically tractable. These properties that make its strenght also render it unsuitable for representing multimodality. To address the issue, we define the selection Kalman model. It is based on a selection-Gaussian initial distribution and Gauss-linear dynamic and observation models. The selection-Gaussian distribution may represent multimodality, skewness and peakedness. It can be seen as a generalization of the Gaussian distribution. The proposed selection Kalman model is contained in the class of selection-Gaussian distributions and therefore analytically tractable. The recursive algorithm used for assessing the selection Kalman model is specified. We present a synthetic case study of spatio-temporal inversion of an initial state containing an extreme event. The study is inspired by pollution monitoring. The results suggest that the use of the selection Kalman model offers significant improvements compared to the traditional Kalman model when reconstructing discontinuous initial states. </p>

Swarm Of Autonomous Underwater Vehicles – Preliminary Results Of The Control System

2021 ◽  
Vol 93 (6s) ◽  
pp. 141-148
Author(s):  
Tomasz Praczyk ◽  
◽  
Tadeusz Bodnar ◽  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Vehicle Control ◽  
Vehicle Communication ◽  
Vehicle Systems ◽  
Sea Current ◽  
First Results ◽  
Single Vehicle ◽  
Tight Formation

A swarm of autonomous underwater vehicles can be a valuable alternative for fully equipped and very expensive super-vehicles. A distributed system of tightly cooperating vehicles can be cheaper, simpler in maintenance, more reliable, more flexible and universal than traditional single-vehicle systems. However, keeping a tight formation of underwater vehicles in the condition of the sea current, unclear environment, and rare inter-vehicle communication is a very challenging problem, which requires an effective vehicle control system. The paper proposes a solution to the above-mentioned problem, which is based on neuro-evolution. Moreover, the paper also presents the first results of the proposed system.

COMPARISON OF HYDROCARBONS IN BENTHIC FISH FROM COAL OIL POINT AND TANNER BANK, CALIFORNIA

1979 ◽  
Vol 1979 (1) ◽  
pp. 573-577
Author(s):  
Steven S. Rossi ◽  
George W. Rommel ◽  
Andrew A. Benson
Keyword(s):  
Marine Pollution ◽  
Complex Mixture ◽  
Dry Weight ◽  
Pollution Monitoring ◽  
Glass Capillary ◽  
Synthetic Chemicals ◽  
Wide Range ◽  
Fish Samples ◽  
Biogenic Components ◽  
Gravid Females

ABSTRACT Hydrocarbons of rockfish (Sebastes sp.), sanddab (Citharichthys sp.), and sole (Lyopsetta sp.) were analyzed by high resolution glass-capillary gas chromatography, following saponification in methanolic-KOH, extraction by n-hexane, and separation via liquid chromatography. The fish contained a wide range of hydrocarbons, with total concentrations varying from less than 10 µg/g dry weight to values exceeding 100 µg/g DW. Some differences between species were noted: levels of biogenic constituents decreased in the order—sanddab>rockfish>slender sole. Fish collected during the summer exhibited hydrocarbon profiles similar to those taken during winter. Gravid females were characterized by somewhat higher levels of hydrocarbons. Subtle differences were observed between fish collected near Coal Oil Point, a region of intense natural petroleum influx, and Tanner Bank, an area some 140 km offshore. Mean concentrations of hydrocarbons were elevated in COP fish (53.2 ± 38 µg/g), and many samples demonstrated characteristics of petroleum contamination. These characteristics were not accentuated in gravid females. Animals from Tanner Bank contained lesser amounts of hydrocarbons (x = 27.2 ± 15), with biogenic components often predominating over those of petroleum origin. Most fishes from both areas exhibited unresolved complex mixture (UCM) hydrocarbons. These data, in combination with the absence of petrogenic characteristics among resolvable hydrocarbons, suggest that samples were contaminated by low levels of weathered petroleum. The most abundant hydrocarbon was squalene, which was present in every sample. Synthetic chemicals such as p′, p′-DDE, poly chlorinated biphenyls, and plasticizers were present in nearly all fish samples, indicating the ubiquity of these compounds throughout the continental shelf biosphere. The relevance of these findings to marine pollution monitoring strategies is briefly discussed.

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