Machine Learning-Aided Operations and Communications of Unmanned Aerial Vehicles: A Contemporary Survey

The ongoing amalgamation of UAV and ML techniques is creating a significant synergy and empowering UAVs with unprecedented intelligence and autonomy. This survey aims to provide a timely and comprehensive overview of ML techniques used in UAV operations and communications and identify the potential growth areas and research gaps. We emphasise the four key components of UAV operations and communications to which ML can significantly contribute, namely, perception and feature extraction, feature interpretation and regeneration, trajectory and mission planning, and aerodynamic control and operation. We classify the latest popular ML tools based on their applications to the four components and conduct gap analyses. This survey also takes a step forward by pointing out significant challenges in the upcoming realm of ML-aided automated UAV operations and communications. It is revealed that different ML techniques dominate the applications to the four key modules of UAV operations and communications. While there is an increasing trend of cross-module designs, little effort has been devoted to an end-to-end ML framework, from perception and feature extraction to aerodynamic control and operation. It is also unveiled that the reliability and trust of ML in UAV operations and applications require significant attention before full automation of UAVs and potential cooperation between UAVs and humans come to fruition.Comment: 36 pages, 304 references, 19 Figure

Computational approaches for sub-meter ocean color remote sensing

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Mechanical and Oceanographic Engineering at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2021.The satellite ocean color remote sensing paradigm developed by government space agencies enables the assessment of ocean color products on global scales at kilometer resolutions. A similar paradigm has not yet been developed for regional scales at sub-meter resolutions, but it is essential for specific ocean color applications (e.g., mapping algal biomass in the marginal ice zone). While many aspects of the satellite ocean color remote sensing paradigm are applicable to sub-meter scales, steps within the paradigm must be adapted to the optical character of the ocean at these scales and the opto-electronics of the available sensing instruments. This dissertation adapts the three steps of the satellite ocean color remote sensing paradigm that benefit the most from reassessment at sub-meter scales, namely the correction for surface-reflected light, the design and selection of the opto-electronics and the post-processing of over-sampled regions. First, I identify which surface-reflected light removal algorithm and view angle combination are optimal at sub-meter scales, using data collected during a field deployment to the Martha’s Vineyard Coastal Observatory. I find that of the three most widely used glint correction algorithms, a spectral optimization based approach applied to measurements with a 40∘ view angle best recovers the remotesensing reflectance and chlorophyll concentration despite centimeter scale variability in the surface-reflected light. Second, I develop a simulation framework to assess the impact of higher optical and electronics noise on ocean color product retrieval from unique ocean color scenarios. I demonstrate the framework’s power as a design tool by identifying hardware limitations, and developing potential solutions, for estimating algal biomass from high dynamic range sensing in the marginal ice zone. Third, I investigate a spectral super-resolution technique for application to spatially over-sampled oceanic regions. I determine that this technique more accurately represents spectral frequencies beyond the Nyquist and that it can be trained to be invariant to noise sources characteristic of ocean color remote sensing on images with similar statistics as the training dataset. Overall, the developed and critically assessed sub-meter ocean color remote sensing paradigm enables researchers to collect high fidelity sub-meter data from imaging spectrometers in unique ocean color scenarios.Ryan O’Shea was supported by the Department of Defense (DoD) through the National Defense Science & Engineering Graduate Fellowship (NDSEG) Program. This research was funded by Woods Hole Oceanographic Institution’s Edwin W. Hiam Ocean Science and Technology Award Fund, its Ocean Venture Funds, its Academic Programs Office, and the National Aeronautics and Space Administration via grant number CCE NNX17AI72G to Dr. Samuel Laney. The raw data for Figures 3-3 and 3-4 were provided through Australian Antarctic Science grants 2678 and 4390

Monitoring, Modelling and Management of Water Quality

Different types of pressures, such as nutrients, micropollutants, microbes, nanoparticles, microplastics, or antibiotic-resistant genes, endanger the quality of water bodies. Evidence-based pollution control needs to be built on the three basic elements of water governance: Monitoring, modeling, and management. Monitoring sets the empirical basis by providing space- and time-dependent information on substance concentrations and loads, as well as driving boundary conditions for assessing water quality trends, water quality statuses, and providing necessary information for the calibration and validation of models. Modeling needs proper system understanding and helps to derive information for times and locations where no monitoring is done or possible. Possible applications are risk assessments for exceedance of quality standards, assessment of regionalized relevance of sources and pathways of pollution, effectiveness of measures, bundles of measures or policies, and assessment of future developments as scenarios or forecasts. Management relies on this information and translates it in a socioeconomic context into specific plans for implementation. Evaluation of success of management plans again includes well-defined monitoring strategies. This book provides an important overview in this context