Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research. WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.Peer reviewe

Psychoanalysis and politics: Juliet Mitchell then and now

Feminism and psychoanalysis have been in constant dialogue over the last four decades, and Juliet Mitchell has played a critical role in instigating and shaping that conversation. Yet her own work incorporates some of the most contentious aspects of it. Here I explore her latest book, Madmen and Medusas, to reflect upon why the relationship between her work and that dialogue remains so troubled. This exploration enables me to consider, once more, the contrasts between psychoanalytic perspectives that focus upon kinship, ideology, and symbolic structures and those which stress the historical contingency of gender categories

Medusae and ctenophores from the Bahia Blanca Estuary and neighboring inner shelf (Southwest Atlantic Ocean, Argentina)

An updated checklist of medusae and ctenophores is presented for the first time for the area comprised by the Bahía Blanca Estuary, the adjacent shelf El Rincón and Monte Hermoso beach, on the southwest coast of Buenos Aires province (Argentina). The area is highly productive and provides several ecosystem services including fishing and tourism. Updated information on the biodiversity of medusae and ctenophores species is essential for the study area, given that these species can affect ecosystem services. The list includes 23 hydromedusae, 3 scyphomedusae, and 3 ctenophores. Five hydromedusae (Halitiara formosa, Amphinema dinema, Aequorea forskalea, Clytia lomae and Halopsis ocellata) were firstly observed in this area. Three species of medusae, 2 hydromedusae (Olindias sambaquiensis and Liriope tetraphylla) and 1 scyphomedusae (Chrysaora lactea) pose a potential health risk, due to their toxicity to humans. Considering the size of the study area, the Bahía Blanca region has a comparatively high species richness of hydromedusae, higher than larger zones previously studied along the temperate SW Atlantic Ocean. The present report provides the baseline knowledge of gelatinous species for the Bahía Blanca region.Fil: Dutto, María Sofía. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaFil: Genzano, Gabriel Nestor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mar del Plata. Instituto de Investigaciones Marinas y Costeras. Universidad Nacional de Mar del Plata. Facultad de Ciencia Exactas y Naturales. Instituto de Investigaciones Marinas y Costeras; ArgentinaFil: Schiariti, Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mar del Plata. Instituto de Investigaciones Marinas y Costeras. Universidad Nacional de Mar del Plata. Facultad de Ciencia Exactas y Naturales. Instituto de Investigaciones Marinas y Costeras; Argentina. Instituto Nacional de Investigaciones y Desarrollo Pesquero; ArgentinaFil: Lecanda, Maria Julieta. Museo Municipal de Ciencias Naturales de Monte Hermoso; Argentina. Universidad Nacional del Sur; ArgentinaFil: Hoffmeyer, Monica Susana. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina. Universidad Tecnológica Nacional; ArgentinaFil: Pratolongo, Paula Daniela. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina. Universidad Nacional del Sur. Departamento de Biología, Bioquímica y Farmacia; Argentin

Cómo le Afecta a Usted la Sobrepesca: La Batalla por la Supremacía del Océano: las Conquistas de las Medusas 1

Este documento informativo publicado por OCEAN2012 explica cómo la sobreexplotación pesquera influye negativamente sobre la calidad del pescado que comemos en Europa. Forma parte de una serie de documentos que ilustran los efectos de la sobrepesca sobre la gente o los ecosistemas marinos debido a la extracción excesiva de millones de toneladas de vida marina cada año

Narcissuses, Medusas, Ophelias… Water Imagery And Femininity in the Texts by Two Decadent Women Writers

My concern is the way in which women writers whose work can be characterized as Decadent and/or Symbolist used the figures of Narcissus, Medusa and Ophelia, as well as the imagery of femininity and water. When analyzing this aspect of their work, I am looking at the ways in which these writers created and co-created the Decadent imagery, what strategies they adopted in their representations of woman and the construction of female subjectivity

Biological interactions between fish and jellyfish in the northwester Mediterranean

Tesi per compendi de publicacions, amb diverses seccions retallades per drets dels editors.Jellyfish are important components of marine ecosystems, being a key link between lower and higher trophic levels. Jellyfish blooms occur sporadically and unpredictably in coastal areas and often have important socio-economic consequences for fisheries and tourism. This PhD thesis addresses some questions regarding the potential impact, positive and/or negative, that jellyfish have on fish populations in the Catalan coast (NW Mediterranean). Firstly, the natural diet of one of the most abundant jellyfish in the area, the scyphomedusa Pelagia noctiluca, was studied analyzing its gut contents and conducting biomarker analyses (stable isotopes and fatty acids). These results were complemented with laboratory experiments to calculate their digestion times and also with the records of fish larvae and jellyfish abundances in the field. All together, these results were used to estimate the potential feeding impact of P. noctiluca on fish eggs and larvae and competition between both groups of organisms. Results suggest that the potential consumption of ichthyoplankton by the jellyfish and competition between them may be high. Secondly, the association between the jellyfish Rhizostoma pulmo and Cotylorhiza tuberculata and the carangid fishes Trachurus mediterraneus, Trachurus trachurus and Caranx rhonchus was studied in detail. For this purpuse, field observations of jellyfish and their hosted fish were carried out during summer to describe fish behavior. Moreover, laboratory experiments were performed to determine the survival capability of the jellyfishassociated fish to the venom of their hosts. Finally, biomarker analyses were conducted to understand the significance of the association. All this information demonstrated the benefit of the association for the fish.Las medusas son componentes importantes de los ecosistemas marinos ya que son un vínculo clave entre el zooplancton más pequeño y los niveles tróficos superiores. Las proliferaciones de medusas ocurren esporádica e impredeciblemente en áreas costeras y con frecuencia tienen importantes consecuencias socioeconómicas para la pesca y el turismo. Esta tesis doctoral aborda algunas cuestiones relacionadas con el potencial impacto de las medusas, tanto positivo como negativo, sobre las poblaciones de peces en la costa catalana (NO Mediterráneo). En primer lugar, se estudió la dieta natural de una de las medusas más abundante en la zona, Pelagia noctiluca, analizando su contenido estomacal y sus biomarcadores (isótopos estables y ácidos grasos). Estos resultados se complementaron con sus tiempos de digestión (obtenidos mediante experimentos de laboratorio) y también con las abundancias en mar abierto de larvas de peces y medusas. En conjunto, estos resultados demostraron que el potencial impacto de depredación de P. noctiluca sobre huevos y larvas de peces es alto y que existe una probable competencia entre ambos grupos por el alimento. En segundo lugar, se estudió la asociación entre las medusas Rhizostoma pulmo y Cotylorhiza tuberculata y los peces carángidos Trachurus mediterraneus, Trachurus trachurus y Caranx rhonchus. Para ello, se estudió durante el período de verano el comportamiento en el mar de los peces asociados. Además, se realizaron experimentos de laboratorio para determinar la capacidad de supervivencia de estos peces al veneno de sus medusas anfitrionas. Finalmente, se realizaron análisis de biomarcadores para comprender la importancia de estas asociaciones. Toda esta información demostró el beneficio obtenido por los peces cuando se asocian a medusas.Postprint (published version

Turismo y cambio climático en las costas españolas

Treball Final de Grau en Turisme. Codi: TU0944. Curs 2014-201

Os Impactos da Sobrepesca: A Batalha Pela Supremacia no Oceano: As Conquistas das Alforrecas 1

Este relatório publicado pela OCEAN2012 revela qual o impacto da sobrepesca na qualidade do peixe que as pessoas estão a comer na Europa. Este é parte de uma série de relatórios que ilustram os impactos da sobrepesca nas pessoas e nos ecossistemas marinhos causados pela extração excessiva de milhões de toneladas de vida marinha ao longo dos anos

Chrysaora plocamia lesson, 1830 (cnidaria, scyphozoa), frente a Pisco, Peru

Observa una generalizada proliferación de medusas, que llegan a formar “blooms” o poblaciones de alta densidad que podrían reemplazar organismos tradicionalmente dominantes en la cadena trófica.11 p