Intervention AUVs: The Next Challenge

While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of: permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: 1) Valve turning and connector plugging/unplugging while docked to a subsea panel, 2) Free floating valve turning using learning by demonstration, and 3) Multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far

Seabed fluid flow-related processes: evidence and quantification based on high-resolution imaging techniques and GIS analyses

This work provides new insights on different aspects of seabed fluid flow processes based on seafloor observations. The methods used entirely rely on ROV-based high-resolution imaging and mapping techniques. Optical data are used to produce visual maps of the seafloor, in the form of geo-referenced video- and photo-mosaics, whereas acoustic techniques allow mapping the micro-bathymetry of the seabed, as well as the signal reflectivity of the sediment surface and of the water column. This work presents three case studies, about two sites of seabed fluid flow: the Menez Gwen hydrothermal vent on the MAR and the REGAB pockmark in the Lower Congo Basin. On the technical side, some of the high-resolution techniques used in this thesis are not commonly used by the marine scientific community. This is particularly the case for large-area photo-mosaics. Although the interest in mosaicking is growing, there are still no tools freely and readily available to scientists to routinely construct large-area photo-mosaics. Therefore, this work presents a MATLAB toolbox for large-area photo-mosaicking (LAPM toolbox), which was developed as part of this thesis

Antimisting kerosene atomization and flammability

Various parameters found to affect the flammability of antimisting kerosene (Jet A + polymer additive) are investigated. Digital image processing was integrated into a technique for measurement of fuel spray characteristics. This technique was developed to avoid many of the error sources inherent to other spray assessment techniques and was applied to the study of engine fuel nozzle atomization performance with Jet A and antimisting fuel. Aircraft accident fuel spill and ignition dynamics were modeled in a steady state simulator allowing flammability to be measured as a function of airspeed, fuel flow rate, fuel jet Reynolds number and polymer concentration. The digital imaging technique was employed to measure spray characteristics in this simulation and these results were related to flammability test results. Scaling relationships were investigated through correlation of experimental results with characteristic dimensions spanning more than two orders of magnitude

Biometric assessment of deep-sea vent megabenthic communities using multi-resolution 3D image reconstructions

This paper describes a method to survey the distribution of megabenthos over multi-hectare regions of the seafloor. Quantitative biomass estimates are made by combining high-resolution 3D image reconstructions, used to model spatial relationships between representative taxa, with lower-resolution reconstructions taken over a wider area in which the distribution of larger predatory animals can be observed. The method is applied to a region of the Iheya North field that was the target of scientific drilling during the IODP Expedition 331 in 2010. An area of 2.5 ha was surveyed 3 years and 4 months after the site was drilled. More than 100,000 organisms from 6 taxa were identified. The visible effects of drilling on the distribution of megabenthos were confined to a 20 m radius of the artificially created hydrothermal discharges, with the associated densities of biomass lower than observed in nearby naturally discharging areas

The Mica shipwreck: deepwater nautical archaeology in the Gulf of Mexico

The purpose of this study was to describe the investigation of the Mica shipwreck. The objectives of the investigation, as identified by nautical archaeologists from the United States Minerals Management Service and the Nautical Archaeology Program at Texas A&M University, include determining the extent and limits of the wreck site, acquisition of diagnostic artifacts to identify the temporal period of the shipwreck and its mission at the time of loss, to identify the type of ship and its country of origin, and quantify the relationship between the vessel's construction and function. The manuscript contains a thorough analysis of the equipment and approach used by archaeologists during the excavation. The manuscript also briefly explores the use of metallic ship sheathing during the eighteenth and nineteenth centuries, focusing specifically on the pure copper sheathing found on the Mica wreck. Sheathing from numerous contemporary vessels will be analyzed and compared to the Mica shipwreck sheathing

Radio & Optical Interferometry: Basic Observing Techniques and Data Analysis

Astronomers usually need the highest angular resolution possible, but the blurring effect of diffraction imposes a fundamental limit on the image quality from any single telescope. Interferometry allows light collected at widely-separated telescopes to be combined in order to synthesize an aperture much larger than an individual telescope thereby improving angular resolution by orders of magnitude. Radio and millimeter wave astronomers depend on interferometry to achieve image quality on par with conventional visible and infrared telescopes. Interferometers at visible and infrared wavelengths extend angular resolution below the milli-arcsecond level to open up unique research areas in imaging stellar surfaces and circumstellar environments. In this chapter the basic principles of interferometry are reviewed with an emphasis on the common features for radio and optical observing. While many techniques are common to interferometers of all wavelengths, crucial differences are identified that will help new practitioners avoid unnecessary confusion and common pitfalls. Concepts essential for writing observing proposals and for planning observations are described, depending on the science wavelength, angular resolution, and field of view required. Atmospheric and ionospheric turbulence degrades the longest-baseline observations by significantly reducing the stability of interference fringes. Such instabilities represent a persistent challenge, and the basic techniques of phase-referencing and phase closure have been developed to deal with them. Synthesis imaging with large observing datasets has become a routine and straightforward process at radio observatories, but remains challenging for optical facilities. In this context the commonly-used image reconstruction algorithms CLEAN and MEM are presented. Lastly, a concise overview of current facilities is included as an appendix.Comment: 45 pages, 14 Figures; an abridged version of a chapter to appear in Volume 2 of Planets, Stars and Stellar Systems, to be published in 2011 by Springe

Localization, Mapping and SLAM in Marine and Underwater Environments

The use of robots in marine and underwater applications is growing rapidly. These applications share the common requirement of modeling the environment and estimating the robots’ pose. Although there are several mapping, SLAM, target detection and localization methods, marine and underwater environments have several challenging characteristics, such as poor visibility, water currents, communication issues, sonar inaccuracies or unstructured environments, that have to be considered. The purpose of this Special Issue is to present the current research trends in the topics of underwater localization, mapping, SLAM, and target detection and localization. To this end, we have collected seven articles from leading researchers in the field, and present the different approaches and methods currently being investigated to improve the performance of underwater robots

The Development of a bi-level geographic information systems (GIS) database model for informal settlement upgrading

Bibliography : leaves 348-369.Existing Urban GIS models are faced with several limitations. Firstly, these models tend to be single-scale in nature. They are usually designed to operate at either metropolitan- or at the local-level. Secondly, they are generally designed to cater only for the needs of the formal and environmental sectors of the city system. These models do not cater for the "gaps" of data that exist in digital cadastres throughout the world. In the developed countries, these gaps correspond to areas of physical decay or economic decline. In the developing countries, they correspond to informal settlement areas. In this thesis, a new two-scale urban GIS database model, termed the "Bi-Ievel model" is proposed. This model has been specifically designed to address these gaps in the digital cadastre. Furthermore, the model addresses the short-comings facing current informal settlement upgrading models by providing mechanisms for community participation, project management, creating linkages to formal and environmental sectoral models, and for co-ordinating initiatives at a global-level. The Bi-Ievel model is comprised of a metropolitan-level and a series of local-level database components. These components are inter-linked through bi-directional database warehouse connections. While the model requires Internet-connectivity to achieve its full potential across a metropolitan region, it recognises the need for community participation-based methods at a local-level. Members of the community are actually involved in capturing and entering informal settlement data into the local-level database