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

Developing technological synergies between deep-sea and space research

Recent advances in robotic design, autonomy and sensor integration create solutions for the exploration of deep-sea environments, transferable to the oceans of icy moons. Marine platforms do not yet have the mission autonomy capacity of their space counterparts (e.g., the state of the art Mars Perseverance rover mission), although different levels of autonomous navigation and mapping, as well as sampling, are an extant capability. In this setting their increasingly biomimicked designs may allow access to complex environmental scenarios, with novel, highly-integrated life-detecting, oceanographic and geochemical sensor packages. Here, we lay an outlook for the upcoming advances in deep-sea robotics through synergies with space technologies within three major research areas: biomimetic structure and propulsion (including power storage and generation), artificial intelligence and cooperative networks, and life-detecting instrument design. New morphological and material designs, with miniaturized and more diffuse sensor packages, will advance robotic sensing systems. Artificial intelligence algorithms controlling navigation and communications will allow the further development of the behavioral biomimicking by cooperating networks. Solutions will have to be tested within infrastructural networks of cabled observatories, neutrino telescopes, and off-shore industry sites with agendas and modalities that are beyond the scope of our work, but could draw inspiration on the proposed examples for the operational combination of fixed and mobile platforms

Wireless Neurosensor for Full-Spectrum Electrophysiology Recordings during Free Behavior

SummaryBrain recordings in large animal models and humans typically rely on a tethered connection, which has restricted the spectrum of accessible experimental and clinical applications. To overcome this limitation, we have engineered a compact, lightweight, high data rate wireless neurosensor capable of recording the full spectrum of electrophysiological signals from the cortex of mobile subjects. The wireless communication system exploits a spatially distributed network of synchronized receivers that is scalable to hundreds of channels and vast environments. To demonstrate the versatility of our wireless neurosensor, we monitored cortical neuron populations in freely behaving nonhuman primates during natural locomotion and sleep-wake transitions in ecologically equivalent settings. The interface is electrically safe and compatible with the majority of existing neural probes, which may support previously inaccessible experimental and clinical research

UNMANNED GROUND VEHICLE (UGV) DOCKING, CONNECTION, AND CABLING FOR ELECTRICAL POWER TRANSMISSION IN AUTONOMOUS MOBILE MICROGRIDS

Autonomous Mobile Microgrids provide electrical power to loads in environments where humans either can not, or would prefer not to, perform the task of positioning and connecting the power grid equipment. The contributions of this work compose an architecture for electrical power transmission by Unmanned Ground Vehicles (UGV). Purpose-specific UGV docking and cable deployment software algorithms, and hardware for electrical connection and cable management, has been deployed on Clearpath Husky robots. Software development leverages Robot Operating System (ROS) tools for navigation and rendezvous of the autonomous UGV robots, with task-specific visual feedback controllers for docking validated in Monte-Carlo outdoor trials with a 73% docking rate, and application to wireless power transmission demonstrated in an outdoor environment. An “Adjustable Cable Management Mechanism” (ACMM) was designed to meet low cost, compact-platform constraints for powered deployment and retraction by a UGV of electrical cable subject to disturbance, with feed rates up to 1 m/s. A probe-and-funnel AC/DC electrical connector system was de- veloped for deployment on UGVs, which does not substantially increase the cost or complexity of the UGV, while providing a repeatable and secure method of coupling electrical contacts subject to a docking miss-alignment of up to +/-2 cm laterally and +/-15 degrees axially. Cabled power transmission is accomplished by a feed-forward/feedback control method, which utilizes visual estimation of the cable state to deploy electrical cable without tension, in the obstacle-free track of the UGV as it transverses to connect power grid nodes. Cabling control response to step-input UGV chassis velocities in the forward, reverse, and zero-point-turn maneuvers are presented, as well as outdoor cable deployment. This power transmission capability is relevant to diverse domains including military Forward-Operating-Bases, disaster response, robotic persistent operation, underwater mining, or planetary exploration

Delivering 21st century Antarctic and Southern Ocean science

The Antarctic Roadmap Challenges (ARC) project identified critical requirements to deliver high priority Antarctic research in the 21st century. The ARC project addressed the challenges of enabling technologies, facilitating access, providing logistics and infrastructure, and capitalizing on international co-operation. Technological requirements include: i) innovative automated in situ observing systems, sensors and interoperable platforms (including power demands), ii) realistic and holistic numerical models, iii) enhanced remote sensing and sensors, iv) expanded sample collection and retrieval technologies, and v) greater cyber-infrastructure to process ‘big data’ collection, transmission and analyses while promoting data accessibility. These technologies must be widely available, performance and reliability must be improved and technologies used elsewhere must be applied to the Antarctic. Considerable Antarctic research is field-based, making access to vital geographical targets essential. Future research will require continent- and ocean-wide environmentally responsible access to coastal and interior Antarctica and the Southern Ocean. Year-round access is indispensable. The cost of future Antarctic science is great but there are opportunities for all to participate commensurate with national resources, expertise and interests. The scope of future Antarctic research will necessitate enhanced and inventive interdisciplinary and international collaborations. The full promise of Antarctic science will only be realized if nations act together

The NASA SBIR product catalog

The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected

NASA SBIR abstracts of 1990 phase 1 projects

The research objectives of the 280 projects placed under contract in the National Aeronautics and Space Administration (NASA) 1990 Small Business Innovation Research (SBIR) Phase 1 program are described. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses in response to NASA's 1990 SBIR Phase 1 Program Solicitation. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 280, in order of its appearance in the body of the report. The document also includes Appendixes to provide additional information about the SBIR program and permit cross-reference in the 1990 Phase 1 projects by company name, location by state, principal investigator, NASA field center responsible for management of each project, and NASA contract number

A Task Hand-Off Framework for Multi-Robot Systems

Multi-robot systems have many uses such as cleaning, exploration, search and rescue. These robots operate under constraints such as communication, battery etc. In this thesis, we provide a method by which the robots can hand-off their current task to a new robot so that the given task can be continued without interruption. It is assumed that the task can be handed off to any other robot without losing the progress on the task. In the task hand-off framework, the robots complete as much of the task as possible before trying to replenish their resources (e.g., refuel). The robots must also make sure that the task is handed over to another robot before they go back to refuel. We demonstrate the task hand-off framework in the context of a battery constraint. The robots hand-off their current task once they are low on battery. The robots are divided into helpers and workers. The workers are the ones that perform the given task while the helpers wait at charging locations. Once a worker determines it is running out of battery it calls for help and switches behaviors with a helper. The new worker then takes over the task. This framework allows a user to model robot teams performing common robotic tasks such as exploration, coverage or any other task where the task can be easily handed-off without losing any progress on the task. We also present a simple priority based inter-robot contention resolution algorithm using motion replanning to avoid inter-robot collisions. Each robot is assigned a priority. Whenever the robots are close to each other, the lower priority robots halt and the highest priority robot replans a path around the robots by considering them as additional robots. We demonstrate the task hand-off framework approach using a physics based simulator that is built on top of a physics engine and also using physical hardware. The physical hardware consists of multiple iRobot Create robots with an onboard ASUS Netbook. We provide results from room 407 of the Harvey Bum Bright Building at Texas A&M University. We show that the tasks get completed faster with task hand-off than when task hand-off was not allowed