Adaptive sampling for UAV sensor network in oil spill management

In this paper we propose a method for adaptive sampling using Unmanned Aerial Vehicles (UAVs) in oil spill management. The goal is to measure and estimate oil spill concentrations at the sea surface, while at the same time identify the leak rates of sources at known positions. First we construct a cost which approximates the benefit of sampling locations at specific times. This cost is based on measures of observability and of persistency of excitation for the oil spill model. A receding horizon Mixed-Integer Linear Programming (MILP) problem is solved in order to find UAV trajectories which are optimal with respect to the cost. For UAV trajectory tracking we use a Lyapunov based controller. The oil spill concentration measurements taken by the UAVs by following these tracks are used in an adaptive observer, which provides state (concentration) and parameter (leak rate) estimates. Under the assumption that the sampling strategy described above lead to uniform complete observability and persistency of excitation, we prove Uniform Global Asymptotic Stability (UGAS) of the state estimation, parameter identification and UAV trajectory tracking errors. Finally, we provide a simulation of the proposed strategy, and compare it with two other strategies.acceptedVersio

An integrated approach for monitoring structural deformation of aquaculture net cages

The majority of present marine finfish production is conducted in flexible net cages which can deform when they are subjected to water movements generated by currents. The ability to monitor net deformation is important for performing cage operations and evaluation of fish health and welfare under changing environment. This paper presents a new method for real-time monitoring of net cage deformations that is based on an integrated approach where positioning sensor data is incorporated into a numerical model. An underwater positioning system was deployed at a full-scale fish farm site, with three acoustic sensors mounted on a cage measuring positions of the net at different depths. A novel numerical model with an adaptive current field was used to simulate net cage deformations, where the magnitude and direction of the current could be adapted by continuously assessing deviations between the simulated and the measured positions of the net. This method was found to accurately predict the pre-defined current velocity profiles in a set of simulated experiments. In the field experiment, a good agreement was also obtained between the simulated positions of the net and the acoustic sensor data. The integrated approach was shown to be well suited for in-situ real-time monitoring of net cage deformations by using a significantly reduced number of sensors.publishedVersio

The Surface Array planned for IceCube-Gen2

IceCube-Gen2, the extension of the IceCube Neutrino Observatory, will feature three main components: an optical array in the deep ice, a large-scale radio array in the shallow ice and firn, and a surface detector above the optical array. Thus, IceCube-Gen2 will not only be an excellent detector for PeV neutrinos, but also constitutes a unique setup for the measurement of cosmic-ray air showers, where the electromagnetic component and low-energy muons are measured at the surface and high-energy muons are measured in the ice. As for ongoing enhancement of IceCube’s current surface array, IceTop, we foresee a combination of elevated scintillation and radio detectors for the Gen2 surface array, aiming at high measurement accuracy for air showers. The science goals are manifold: The in-situ measurement of the cosmic-ray flux and mass composition, as well as more thorough tests of hadronic interaction models, will improve the understanding of muons and atmospheric neutrinos detected in the ice, in particular, regarding prompt muons. Moreover, the surface array provides a cosmic-ray veto for the in-ice detector and contributes to the calibration of the optical and radio arrays. Last but not least, the surface array will make major contributions to cosmic-ray science in the energy range of the transition from Galactic to extragalactic sources. The increased sensitivities for photons and for cosmic-ray anisotropies at multi-PeV energies provide a chance to solve the puzzle of the origin of the most energetic Galactic cosmic rays and will serve IceCube’s multimessenger mission