A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea environment, where spatio-temporal variability of the operating field is taken into account. To this end, a high level reactive mission planner and a low level motion planning system are constructed. The high level system is responsible for task priority assignment and guiding the vehicle toward a target of interest considering on-time termination of the mission. The lower layer is in charge of generating optimal trajectories based on sequence of tasks and dynamicity of operating terrain. The mission planner is able to reactively re-arrange the tasks based on mission/terrain updates while the low level planner is capable of coping unexpected changes of the terrain by correcting the old path and re-generating a new trajectory. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The computational engine of the mentioned framework is based on the biogeography based optimization (BBO) algorithm that is capable of providing efficient solutions. To evaluate the performance of the proposed framework, firstly, a realistic model of undersea environment is provided based on realistic map data, and then several scenarios, treated as real experiments, are designed through the simulation study. Additionally, to show the robustness and reliability of the framework, Monte-Carlo simulation is carried out and statistical analysis is performed. The results of simulations indicate the significant potential of the two-level hierarchical mission planning system in mission success and its applicability for real-time implementation

Models for an Ecosystem Approach to Fisheries

This document is one outcome from a workshop held in Gizo in October 2010 attended by 82 representatives from government, NGO's private sector, and communities. The target audience for the document is primarily organizations planning to work with coastal communities of Solomon Islands to implement Community-Based Resource Management (CBRM). It is however also envisaged that the document will serve as a reference for communities to better understand what to expect from their partners and also for donors, to be informed about agreed approaches amongst Solomon Islands stakeholders. This document does not attempt to summarize all the outcomes of the workshop; rather it focuses on the Solomon Islands Coral Triangle Initiative (CTI) National Plan of Action (NPoA): Theme 1: Support and implementation of CBRM and specifically, the scaling up of CBRM in Solomon Islands. Most of the principles given in this document are derived from experiences in coastal communities and ecosystems as, until relatively recently, these have received most attention in Solomon Islands resource management. It is recognized however that the majority of these principles will be applicable to both coastal and terrestrial initiatives. This document synthesizes information provided by stakeholders at the October 2010 workshop and covers some basic principles of engagement and implementation that have been learned over more than twenty years of activities by the stakeholder partners in Solomon Islands. The document updates and expands on a summary of guiding principles for CBRM which was originally prepared by the Solomon Islands Locally Managed Marine Area Network (SILMMA) in 2007

A hybrid stabilization technique for simulating water wave - Structure interaction by incompressible Smoothed Particle Hydrodynamics (ISPH) method

The Smoothed Particle Hydrodynamics (SPH) method is emerging as a potential tool for studying water wave related problems, especially for violent free surface flow and large deformation problems. The incompressible SPH (ISPH) computations have been found not to be able to maintain the stability in certain situations and there exist some spurious oscillations in the pressure time history, which is similar to the weakly compressible SPH (WCSPH). One main cause of this problem is related to the non-uniform and clustered distribution of the moving particles. In order to improve the model performance, the paper proposed an efficient hybrid numerical technique aiming to correct the ill particle distributions. The correction approach is realized through the combination of particle shifting and pressure gradient improvement. The advantages of the proposed hybrid technique in improving ISPH calculations are demonstrated through several applications that include solitary wave impact on a slope or overtopping a seawall, and regular wave slamming on the subface of open-piled structure

Lattice dynamical wavelet neural networks implemented using particle swarm optimisation for spatio-temporal system identification

Starting from the basic concept of coupled map lattices, a new family of adaptive wavelet neural networks, called lattice dynamical wavelet neural networks (LDWNN), is introduced for spatiotemporal system identification, by combining an efficient wavelet representation with a coupled map lattice model. A new orthogonal projection pursuit (OPP) method, coupled with a particle swarm optimisation (PSO) algorithm, is proposed for augmenting the proposed network. A novel two-stage hybrid training scheme is developed for constructing a parsimonious network model. In the first stage, by applying the orthogonal projection pursuit algorithm, significant wavelet-neurons are adaptively and successively recruited into the network, where adjustable parameters of the associated waveletneurons are optimised using a particle swarm optimiser. The resultant network model, obtained in the first stage, may however be redundant. In the second stage, an orthogonal least squares (OLS) algorithm is then applied to refine and improve the initially trained network by removing redundant wavelet-neurons from the network. The proposed two-stage hybrid training procedure can generally produce a parsimonious network model, where a ranked list of wavelet-neurons, according to the capability of each neuron to represent the total variance in the system output signal is produced. Two spatio-temporal system identification examples are presented to demonstrate the performance of the proposed new modelling framework

The Hierarchic treatment of marine ecological information from spatial networks of benthic platforms

Measuring biodiversity simultaneously in different locations, at different temporal scales, and over wide spatial scales is of strategic importance for the improvement of our understanding of the functioning of marine ecosystems and for the conservation of their biodiversity. Monitoring networks of cabled observatories, along with other docked autonomous systems (e.g., Remotely Operated Vehicles [ROVs], Autonomous Underwater Vehicles [AUVs], and crawlers), are being conceived and established at a spatial scale capable of tracking energy fluxes across benthic and pelagic compartments, as well as across geographic ecotones. At the same time, optoacoustic imaging is sustaining an unprecedented expansion in marine ecological monitoring, enabling the acquisition of new biological and environmental data at an appropriate spatiotemporal scale. At this stage, one of the main problems for an effective application of these technologies is the processing, storage, and treatment of the acquired complex ecological information. Here, we provide a conceptual overview on the technological developments in the multiparametric generation, storage, and automated hierarchic treatment of biological and environmental information required to capture the spatiotemporal complexity of a marine ecosystem. In doing so, we present a pipeline of ecological data acquisition and processing in different steps and prone to automation. We also give an example of population biomass, community richness and biodiversity data computation (as indicators for ecosystem functionality) with an Internet Operated Vehicle (a mobile crawler). Finally, we discuss the software requirements for that automated data processing at the level of cyber-infrastructures with sensor calibration and control, data banking, and ingestion into large data portals.Peer ReviewedPostprint (published version