OBJECT PERCEPTION IN UNDERWATER ENVIRONMENTS: A SURVEY ON SENSORS AND SENSING METHODOLOGIES

Underwater robots play a critical role in the marine industry. Object perception is the foundation for the automatic operations of submerged vehicles in dynamic aquatic environments. However, underwater perception encounters multiple environmental challenges, including rapid light attenuation, light refraction, or backscattering effect. These problems reduce the sensing devices’ signal-to-noise ratio (SNR), making underwater perception a complicated research topic. This paper describes the state-of-the-art sensing technologies and object perception techniques for underwater robots in different environmental conditions. Due to the current sensing modalities’ various constraints and characteristics, we divide the perception ranges into close-range, medium-range, and long-range. We survey and describe recent advances for each perception range and suggest some potential future research directions worthy of investigating in this field

Multisensor acoustic tracking of fish and seabird behavior around tidal turbine structures in Scotland

Despite rapid development of marine renewable energy, relatively little is known of the immediate and future impacts on the surrounding ecosystems. Quantifying the behavior and distribution of animals around marine renewable energy devices is crucial for understanding, predicting, and potentially mitigating any threats posed by these installations. The Flow and Benthic Ecology 4D (FLOWBEC) autonomous seabed platform integrated an Imagenex multibeam echosounder and a Simrad EK60 multi-frequency echosounder to monitor marine life in a 120◦ sector over ranges up to 50 m, seven to eight times per second. Established target detection algorithms fail within MRE sites, due to high levels of backscatter generated by the turbulent physical dynamics, limiting and biasing analysis to only periods of low current speed. This study presents novel algorithms to extract diving seabirds, fish, and fish schools from the intense backscatter caused by turbulent dynamics in flows of 4ms−1. Filtering, detection, and tracking using a modified nearest neighbor algorithm provide robust tracking of animal behavior using the multibeam echosounder. Independent multifrequency target detection is demonstrated using the EK60 with optimally calculated thresholds, scale-sensitive filters, morphological exclusion, and frequency-response characteristics. This provides sensitive and reliable detection throughout the entire water column and at all flow speeds. Dive profiles, depth preferences, predator–prey interactions, and fish schooling behavior can be analyzed, in conjunction with the hydrodynamic impacts of marine renewable energy devices. Coregistration of targets between the acoustic instruments increases the information available, providing quantitative measures including frequency response from the EK60, and target morphology and behavioral interactions from the multibeam echosounder. The analyses draw on deployments at a tidal energy site in Scotland to compare the presence and absence of renewable energy structures across a range of physical and trophic levels over complete spring-neap tidal cycles. These results can be used to inform how animals forage in these sites and whether individuals face collision risks. This quantitative information can de-risk the licensing process and, with a greater mechanistic understanding at demonstration scales, its predictive power could reduce the monitoring required at future arrays

Reports to the President

A compilation of annual reports for the 1986-1987 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans