Seabed classification using physics-based modeling and machine learning

In this work model-based methods are employed along with machine learning techniques to classify sediments in oceanic environments based on the geoacoustic properties of a two-layer seabed. Two different scenarios are investigated. First, a simple low-frequency case is set up, where the acoustic field is modeled with normal modes. Four different hypotheses are made for seafloor sediment possibilities and these are explored using both various machine learning techniques and a simple matched-field approach. For most noise levels, the latter has an inferior performance to the machine learning methods. Second, the high-frequency model of the scattering from a rough, two-layer seafloor is considered. Again, four different sediment possibilities are classified with machine learning. For higher accuracy, 1D Convolutional Neural Networks (CNNs) are employed. In both cases we see that the machine learning methods, both in simple and more complex formulations, lead to effective sediment characterization. Our results assess the robustness to noise and model misspecification of different classifiers

Seabed mapping in coastal shallow waters using high resolution multispectral and hyperspectral imagery

Coastal ecosystems experience multiple anthropogenic and climate change pressures. To monitor the variability of the benthic habitats in shallow waters, the implementation of effective strategies is required to support coastal planning. In this context, high-resolution remote sensing data can be of fundamental importance to generate precise seabed maps in coastal shallow water areas. In this work, satellite and airborne multispectral and hyperspectral imagery were used to map benthic habitats in a complex ecosystem. In it, submerged green aquatic vegetation meadows have low density, are located at depths up to 20 m, and the sea surface is regularly affected by persistent local winds. A robust mapping methodology has been identified after a comprehensive analysis of different corrections, feature extraction, and classification approaches. In particular, atmospheric, sunglint, and water column corrections were tested. In addition, to increase the mapping accuracy, we assessed the use of derived information from rotation transforms, texture parameters, and abundance maps produced by linear unmixing algorithms. Finally, maximum likelihood (ML), spectral angle mapper (SAM), and support vector machine (SVM) classification algorithms were considered at the pixel and object levels. In summary, a complete processing methodology was implemented, and results demonstrate the better performance of SVM but the higher robustness of ML to the nature of information and the number of bands considered. Hyperspectral data increases the overall accuracy with respect to the multispectral bands (4.7% for ML and 9.5% for SVM) but the inclusion of additional features, in general, did not significantly improve the seabed map quality.Peer ReviewedPostprint (published version

Event recognition in marine seismological data using Random Forest machine learning classifier

Automatic detection of seismic events in ocean bottom seismometer (OBS) data is difficult due to elevated levels of noise compared to the recordings from land. Popular deep-learning approaches that work well with earthquakes recorded on land perform poorly in a marine setting. Their adaptation to OBS data requires catalogues containing hundreds of thousands of labelled event examples that currently do not exist, especially for signals different than earthquakes. Therefore, the usual routine involves standard amplitude-based detection methods and manual processing to obtain events of interest. We present here the first attempt to utilize a Random Forest supervised machine learning classifier on marine seismological data to automate catalogue screening and event recognition among different signals [i.e. earthquakes, short duration events (SDE) and marine noise sources]. The detection approach uses the short-term average/long-term average method, enhanced by a kurtosis-based picker for a more precise recognition of the onset of events. The subsequent machine learning method uses a previously published set of signal features (waveform-, frequency- and spectrum-based), applied successfully in recognition of different classes of events in land seismological data. Our workflow uses a small subset of manually selected signals for the initial training procedure and we then iteratively evaluate and refine the model using subsequent OBS stations within one single deployment in the eastern Fram Strait, between Greenland and Svalbard. We find that the used set of features is well suited for the discrimination of different classes of events during the training step. During the manual verification of the automatic detection results, we find that the produced catalogue of earthquakes contains a large number of noise examples, but almost all events of interest are properly captured. By providing increasingly larger sets of noise examples we see an improvement in the quality of the obtained catalogues. Our final model reaches an average accuracy of 87 per cent in recognition between the classes, comparable to classification results for data from land. We find that, from the used set of features, the most important in separating the different classes of events are related to the kurtosis of the envelope of the signal in different frequencies, the frequency with the highest energy and overall signal duration. We illustrate the implementation of the approach by using the temporal and spatial distribution of SDEs as a case study. We used recordings from six OBSs deployed between 2019 and 2020 off the west-Svalbard coast to investigate the potential link of SDEs to fluid dynamics and discuss the robustness of the approach by analysing SDE intensity, periodicity and distance to seepage sites in relation to other published studies on SDEs

An introduction to learning algorithms and potential applications in geomorphometry and earth surface dynamics

"Learning algorithms" are a class of computational tool designed to infer information from a dataset, and then apply that information predictively. They are particularly well-suited to complex pattern recognition, or to situations where a mathematical relationship needs to be modelled, but where the underlying processes are not well-understood, are too expensive to compute, or where signals are over-printed by other effects. If a representative set of examples of the relationship can be constructed, a learning algorithm can assimilate its behaviour, and may then serve as an efficient, approximate computational implementation thereof. A wide range of applications in geomorphometry and earth surface dynamics may be envisaged, ranging from classification of landforms through to prediction of erosion characteristics given input forces. Here, we provide a practical overview of the various approaches that lie within this general framework, review existing uses in geomorphology and related applications, and discuss some of the factors that determine whether a learning algorithm approach is suited to any given problem

Development of benthic monitoring approaches for salmon aquaculture sites using machine learning, hydroacoustic data and bacterial eDNA

Intensive caged salmon production can lead to localized perturbations of the seafloor environment where organic waste (flocculent matter) accumulates and disrupts ecological processes. As the aquaculture industry expands, the development of tools to rapidly detect changes in seafloor condition is critical. Here, we examine whether applying machine learning to two types of monitoring data could improve environmental assessments at aquaculture sites in Newfoundland. First, we apply machine learning to single beam echosounder data to detect flocculent matter at aquaculture sites over larger areas than currently achieved used drop camera imaging. Then, we use machine learning to categorize sediments by levels of disturbance based on bacterial tetranucleotide frequency distributions generated from environmental DNA. While echosounder data can detect flocculent matter with moderate success in this region, bacterial tetranucleotide frequencies are highly effective classifiers of benthic disturbance; this simplified environmental DNA-based approach could be implemented within novel aquaculture benthic monitoring pipelines

Autonomous Exploration of Large-Scale Natural Environments

This thesis addresses issues which arise when using robotic platforms to explore large-scale, natural environments. Two main problems are identified: the volume of data collected by autonomous platforms and the complexity of planning surveys in large environments. Autonomous platforms are able to rapidly accumulate large data sets. The volume of data that must be processed is often too large for human experts to analyse exhaustively in a practical amount of time or in a cost-effective manner. This burden can create a bottleneck in the process of converting observations into scientifically relevant data. Although autonomous platforms can collect precisely navigated, high-resolution data, they are typically limited by finite battery capacities, data storage and computational resources. Deployments are also limited by project budgets and time frames. These constraints make it impractical to sample large environments exhaustively. To use the limited resources effectively, trajectories which maximise the amount of information gathered from the environment must be designed. This thesis addresses these problems. Three primary contributions are presented: a new classifier designed to accept probabilistic training targets rather than discrete training targets; a semi-autonomous pipeline for creating models of the environment; and an offline method for autonomously planning surveys. These contributions allow large data sets to be processed with minimal human intervention and promote efficient allocation of resources. In this thesis environmental models are established by learning the correlation between data extracted from a digital elevation model (DEM) of the seafloor and habitat categories derived from in-situ images. The DEM of the seafloor is collected using ship-borne multibeam sonar and the in-situ images are collected using an autonomous underwater vehicle (AUV). While the thesis specifically focuses on mapping and exploring marine habitats with an AUV, the research applies equally to other applications such as aerial and terrestrial environmental monitoring and planetary exploration

Deep learning for deep waters: An expert-in-the-loop machine learning framework for marine sciences

Driven by the unprecedented availability of data, machine learning has become a pervasive and transformative technology across industry and science. Its importance to marine science has been codified as one goal of the UN Ocean Decade. While increasing amounts of, for example, acoustic marine data are collected for research and monitoring purposes, and machine learning methods can achieve automatic processing and analysis of acoustic data, they require large training datasets annotated or labelled by experts. Consequently, addressing the relative scarcity of labelled data is, besides increasing data analysis and processing capacities, one of the main thrust areas. One approach to address label scarcity is the expert-in-the-loop approach which allows analysis of limited and unbalanced data efficiently. Its advantages are demonstrated with our novel deep learning-based expert-in-the-loop framework for automatic detection of turbulent wake signatures in echo sounder data. Using machine learning algorithms, such as the one presented in this study, greatly increases the capacity to analyse large amounts of acoustic data. It would be a first step in realising the full potential of the increasing amount of acoustic data in marine sciences

Machine learning in marine ecology: an overview of techniques and applications

Machine learning covers a large set of algorithms that can be trained to identify patterns in data. Thanks to the increase in the amount of data and computing power available, it has become pervasive across scientific disciplines. We first highlight why machine learning is needed in marine ecology. Then we provide a quick primer on machine learning techniques and vocabulary. We built a database of ∼1000 publications that implement such techniques to analyse marine ecology data. For various data types (images, optical spectra, acoustics, omics, geolocations, biogeochemical profiles, and satellite imagery), we present a historical perspective on applications that proved influential, can serve as templates for new work, or represent the diversity of approaches. Then, we illustrate how machine learning can be used to better understand ecological systems, by combining various sources of marine data. Through this coverage of the literature, we demonstrate an increase in the proportion of marine ecology studies that use machine learning, the pervasiveness of images as a data source, the dominance of machine learning for classification-type problems, and a shift towards deep learning for all data types. This overview is meant to guide researchers who wish to apply machine learning methods to their marine datasets.Machine learning in marine ecology: an overview of techniques and applicationspublishedVersio

Machine learning methods for discriminating natural targets in seabed imagery

The research in this thesis concerns feature-based machine learning processes and methods for discriminating qualitative natural targets in seabed imagery. The applications considered, typically involve time-consuming manual processing stages in an industrial setting. An aim of the research is to facilitate a means of assisting human analysts by expediting the tedious interpretative tasks, using machine methods. Some novel approaches are devised and investigated for solving the application problems. These investigations are compartmentalised in four coherent case studies linked by common underlying technical themes and methods. The first study addresses pockmark discrimination in a digital bathymetry model. Manual identification and mapping of even a relatively small number of these landform objects is an expensive process. A novel, supervised machine learning approach to automating the task is presented. The process maps the boundaries of ≈ 2000 pockmarks in seconds - a task that would take days for a human analyst to complete. The second case study investigates different feature creation methods for automatically discriminating sidescan sonar image textures characteristic of Sabellaria spinulosa colonisation. Results from a comparison of several textural feature creation methods on sonar waterfall imagery show that Gabor filter banks yield some of the best results. A further empirical investigation into the filter bank features created on sonar mosaic imagery leads to the identification of a useful configuration and filter parameter ranges for discriminating the target textures in the imagery. Feature saliency estimation is a vital stage in the machine process. Case study three concerns distance measures for the evaluation and ranking of features on sonar imagery. Two novel consensus methods for creating a more robust ranking are proposed. Experimental results show that the consensus methods can improve robustness over a range of feature parameterisations and various seabed texture classification tasks. The final case study is more qualitative in nature and brings together a number of ideas, applied to the classification of target regions in real-world sonar mosaic imagery. A number of technical challenges arose and these were surmounted by devising a novel, hybrid unsupervised method. This fully automated machine approach was compared with a supervised approach in an application to the problem of image-based sediment type discrimination. The hybrid unsupervised method produces a plausible class map in a few minutes of processing time. It is concluded that the versatile, novel process should be generalisable to the discrimination of other subjective natural targets in real-world seabed imagery, such as Sabellaria textures and pockmarks (with appropriate features and feature tuning.) Further, the full automation of pockmark and Sabellaria discrimination is feasible within this framework