Caretta2: A Software Platform for Magnetoreception and Navigation Research

Many organisms have been shown to use the Earth’s magnetic field for orientation and navigation. Understanding the mechanisms of this behavior is an active area of research, with possible applications for engineered systems through the development of bioinspired navigation strategies. Conducting such research requires the real-time control of a variety of actuators and sensors in order to generate artificial magnetic fields in a laboratory environment and to track the response of organisms over time. Software systems previously developed for these tasks were typically narrow in scope and were generally not designed to support multiple experimental setups. This thesis presents the Caretta2 software platform which aims to address these issues, enabling further exploration of organismal magnetoreception. The platform also enables laboratory testing of bioinspired navigation strategies using physical sensors and motion platforms, which introduce realistic measurement and platform noise. Two practical applications of the platform to active fields of research are explored, one in the area of sea turtle magnetoreception and another related to the development of bioinspired geomagnetic navigation strategies.Bachelor of Scienc

Efficiency of island homing by sea turtles under multimodal navigating strategies

A dot in the vastness of the Atlantic, Ascension Island remains a lifelong goal for the green sea turtles that hatched there, returning as adults every three or four years to nest. This navigating puzzle was brought to the scientific community's attention by Charles Darwin and remains a topic of considerable speculation. Various cues have been suggested, with orientation to geomagnetic field elements and following odour plumes to their island source among the most compelling. Via a comprehensive in silico investigation we test the hypothesis that multimodal cue following, in which turtles utilise multiple guidance cues, is the most effective strategy. Specifically, we combine agent-based and continuous-level modelling to simulate displaced virtual turtles as they attempt to return to the island. Our analysis shows how population homing efficiency improves as the number of utilised cues is increased, even under “extreme” scenarios where the overall strength of navigating information decreases. Beyond the paradigm case of green turtles returning to Ascension Island, we believe this could commonly apply throughout animal navigation

Underwater robotics in the future of arctic oil and gas operations

Master's thesis in Petroleum engineeringArctic regions have lately been in the centre of increasing attention due to high vulnerability to climate change and the retreat in sea ice cover. Commercial actors are exploring the Arctic for new shipping routes and natural resources while scientific activity is being intensified to provide better understanding of the ecosystems. Marine surveys in the Arctic have traditionally been conducted from research vessels, requiring considerable resources and involving high risks where sea ice is present. Thus, development of low-cost methods for collecting data in extreme areas is of interest for both industrial purposes and environmental management. The main objective of this thesis is to investigate the use of underwater vehicles as sensor platforms for oil and gas industry applications with focus on seabed mapping and monitoring. Theoretical background and a review of relevant previous studies are provided prior to presentation of the fieldwork, which took place in January 2017 in Kongsfjorden (Svalbard). The fieldwork was a part of the Underwater Robotics and Polar Night Biology course offered at the University Centre in Svalbard. Applied unmanned platforms included remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs) and an autonomous surface vehicle (ASV). They were equipped with such sensors as side-scan sonar, multi-beam echo sounder, camera and others. The acquired data was processed and used to provide information about the study area. The carried out analysis of the vehicle performance gives an insight into challenges specific to marine surveys in the Arctic regions, especially during the period of polar night. The discussion is focused on the benefits of underwater robotics and integrated platform surveying in remote and harsh environment. Recommendations for further research and suggestions for application of similar vehicles and sensors are also given in the thesis

Advances towards behaviour-based indoor robotic exploration

215 p.The main contributions of this research work remain in object recognition by computer vision, by one side, and in robot localisation and mapping by the other. The first contribution area of the research address object recognition in mobile robots. In this area, door handle recognition is of great importance, as it help the robot to identify doors in places where the camera is not able to view the whole door. In this research, a new two step algorithm is presented based on feature extraction that aimed at improving the extracted features to reduce the superfluous keypoints to be compared at the same time that it increased its efficiency by improving accuracy and reducing the computational time. Opposite to segmentation based paradigms, the feature extraction based two-step method can easily be generalized to other types of handles or even more, to other type of objects such as road signals. Experiments have shown very good accuracy when tested in real environments with different kind of door handles. With respect to the second contribution, a new technique to construct a topological map during the exploration phase a robot would perform on an unseen office-like environment is presented. Firstly a preliminary approach proposed to merge the Markovian localisation in a distributed system, which requires low storage and computational resources and is adequate to be applied in dynamic environments. In the same area, a second contribution to terrain inspection level behaviour based navigation concerned to the development of an automatic mapping method for acquiring the procedural topological map. The new approach is based on a typicality test called INCA to perform the so called loop-closing action. The method was integrated in a behaviour-based control architecture and tested in both, simulated and real robot/environment system. The developed system proved to be useful also for localisation purpose

UAVs for the Environmental Sciences

This book gives an overview of the usage of UAVs in environmental sciences covering technical basics, data acquisition with different sensors, data processing schemes and illustrating various examples of application

Sensors and Systems for Indoor Positioning

This reprint is a reprint of the articles that appeared in Sensors' (MDPI) Special Issue on “Sensors and Systems for Indoor Positioning". The published original contributions focused on systems and technologies to enable indoor applications

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp