Cluster Control of Automated Surface Vessels

This research focuses on the design and control of a fleet of robotic kayaks, and presents experimental data regarding the functionality and performance of the system. One of the key technical challenges in fielding multi-robot systems for real-world applications is the coordination and relative motion control of the individual units. Coordinated formation control of the fleet is implemented through the use of the cluster space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. The resulting system is capable of autonomous navigation utilizing a centralized controller, currently implemented via a shore-based computer that wirelessly receives ASV data and relays control commands. Using the cluster space control approach, these control commands allow a cluster supervisor to oversee a flexible and mobile formation formed by the ASV cluster. This paper includes an extended appendix which includes MatLab and Simulink code as well as two publications completed in the process of this research

Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets

There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.Fil: Mahacek, Paul. Santa Clara University; Estados UnidosFil: Kitts, Christopher A.. Santa Clara University; Estados UnidosFil: Mas, Ignacio Agustin. Santa Clara University; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Effects of in situ CO2 enrichment on structural characteristics, photosynthesis, and growth of the Mediterranean seagrass Posidonia oceanica

Seagrass is expected to benefit from increased carbon availability under future ocean acidification. This hypothesis has been little tested by in situ manipulation. To test for ocean acidification effects on seagrass meadows under controlled CO2/pH conditions, we used a Free Ocean Carbon Dioxide Enrichment (FOCE) system which allows for the manipulation of pH as continuous offset from ambient. It was deployed in a Posidonia oceanica meadow at 11 m depth in the Northwestern Mediterranean Sea. It consisted of two benthic enclosures, an experimental and a control unit both 1.7 m**3, and an additional reference plot in the ambient environment (2 m**2) to account for structural artifacts. The meadow was monitored from April to November 2014. The pH of the experimental enclosure was lowered by 0.26 pH units for the second half of the 8-month study. The greatest magnitude of change in P. oceanica leaf biometrics, photosynthesis, and leaf growth accompanied seasonal changes recorded in the environment and values were similar between the two enclosures. Leaf thickness may change in response to lower pH but this requires further testing. Results are congruent with other short-term and natural studies that have investigated the response of P. oceanica over a wide range of pH. They suggest any benefit from ocean acidification, over the next century (at a pH of 7.7 on the total scale), on Posidonia physiology and growth may be minimal and difficult to detect without increased replication or longer experimental duration. The limited stimulation, which did not surpass any enclosure or seasonal effect, casts doubts on speculations that elevated CO2 would confer resistance to thermal stress and increase the buffering capacity of meadows

Effects of in situ CO₂ enrichment on structural characteristics, photosynthesis, and growth of the Mediterranean seagrass <i>Posidonia oceanica</i>

International audienceSeagrass is expected to benefit from increased carbon availability under future ocean acidification. This hypothesis has been little tested by in situ manipulation. To test for ocean acidification effects on seagrass meadows under controlled CO2/pH conditions, we used a Free Ocean Carbon Dioxide Enrichment (FOCE) system which allows for the manipulation of pH as continuous offset from ambient. It was deployed in a Posidonia oceanica meadow at 11 m depth in the Northwestern Mediterranean Sea. It consisted of two benthic enclosures, an experimental and a control unit both 1.7 m3, and an additional reference plot in the ambient environment (2 m2) to account for structural artifacts. The meadow was monitored from April to November 2014. The pH of the experimental enclosure was lowered by 0.26 pH units for the second half of the 8-month study. The greatest magnitude of change in P. oceanica leaf biometrics, photosynthesis, and leaf growth accompanied seasonal changes recorded in the environment and values were similar between the two enclosures. Leaf thickness may change in response to lower pH but this requires further testing. Results are congruent with other short-term and natural studies that have investigated the response of P. oceanica over a wide range of pH. They suggest any benefit from ocean acidification, over the next century (at a pH of  ∼ 7.7 on the total scale), on Posidonia physiology and growth may be minimal and difficult to detect without increased replication or longer experimental duration. The limited stimulation, which did not surpass any enclosure or seasonal effect, casts doubts on speculations that elevated CO2 would confer resistance to thermal stress and increase the buffering capacity of meadows

Seawater carbonate chemistry and Posidonia oceanica epiphytic community composition and mineralogy

Alterations in seagrass epiphytic communities are expected under future ocean acidification conditions, yet this hypothesis has been little tested in situ. A Free Ocean Carbon Dioxide Enrichment system was used to lower pH by a ~0.3 unit offset within a partially enclosed portion (1.7 m3) of a Posidonia oceanica meadow (11 m depth) between June 21 and November 3, 2014. Leaf epiphytic community composition (% cover) and bulk epiphytic mineralogy were compared every 4 weeks within three treatments, located in the same meadow: a pH-manipulated (experimental enclosure) and a control enclosure, as well as a nearby ambient area. Percent coverage of invertebrate calcifiers and crustose coralline algae (CCA) did not appear to be affected by the lowered pH. Furthermore, fleshy algae did not proliferate at lowered pH. Only Foraminifera, which covered less than 3% of leaf surfaces, declined in manner consistent with ocean acidification predictions. Bulk epiphytic magnesium carbonate composition was similar between treatments and percentage of magnesium appeared to increase from summer to autumn. CCA did not exhibit any visible skeleton dissolution or mineral alteration at lowered pH and carbonate saturation state. Negative impacts from ocean acidification on P. oceanica epiphytic communities were smaller than expected. Epiphytic calcifiers were possibly protected from the pH treatment due to host plant photosynthesis inside the enclosure where water flow is slowed. The more positive outcome than expected suggests that calcareous members of epiphytic communities may find refuge in some conditions and be resilient to environmentally relevant changes in carbonate chemistry

Flight Results from the GeneSat-1 Biological Microsatellite Mission

The mission of the GeneSat-1 technology demonstration spacecraft is to validate the use of research-quality instrumentation for in situ biological research and processing. To execute this mission, the GeneSat-1 satellite was launched on December 16, 2006 from Wallops Flight Facility as a secondary payload off of a Minotaur launch vehicle. During the first week of operation, the core biological growth test was successfully executed, and by the end of the first month of operation all primary science and engineering test objectives had been successfully performed. In its current phase of operation, a variety of secondary technology characterizations tests are being performed, and a wide range of educational, training, and public outreach programs are being supported. This paper reviews the GeneSat-1 mission system, discusses the government-industry-university teaming approach, and presents flight results pertaining to the primary scientific and engineering experiments

Extended Life Flight Results from the GeneSat-1 Biological Microsatellite Mission

The Genesat-1 technology demonstration mission validated the use of research quality instrumentation for in situ biological research and processing. After its launch from Wallops Flight Facility as a secondary payload off a Minotaur launch vehicle on December 16, 2006, all primary science and engineering test objectives were completed successfully within one month of operation. Since that time, additional trend analyses and experiments have been performed to further quantify the performance of the bus; such quantification is of particular interest for at least five heritage-based missions currently in development, three of which are set to launch in 2008 and two slated for 2009. This paper revisits the GeneSat-1 mission system and presents results from the extended mission

Initial Flight Results from the PharmaSat Biological Microsatellite Mission

The mission of the PharmaSat biological microsatellite is to investigate the efficacy of anti-fungal agents in the spaceflight environment. The satellite uses autonomous, in situ bio-analytical and sample management technologies in order to culture and characterize the growth of multiple samples of yeast, which are exposed to differing levels of an anti-fungal agent during their growth cycle. The satellite uses a 10 cm x 10 cm x 30 cm Cubesat-class structure with body-mounted solar panels, an ISM-band transceiver, and a simple PIC-class microcontroller for the main flight computer. PharmaSat was launched on May 19 , 2009 from Wallops Flight Facility as a secondary payload on a Minotaur launch vehicle. During the first week of operation, the primary biological experiment was conducted, and data from this experiment was downloaded thereby achieving mission success. The PharmaSat design and mission control architecture inherits many features and design strategies from the GeneSat-1 mission, which was previously developed by the same design group at NASA Ames Research Center and Santa Clara University. This paper presents the PharmaSat mission, the design of its spacecraft and ground segment, and initial flight results