ALBERT

All Library Books, journals and Electronic Records Telegrafenberg

X
feed icon rss

Your email was sent successfully. Check your inbox.

An error occurred while sending the email. Please try again.

Proceed reservation?

Export
Filter
  • Ice/ocean interactions  (2)
  • Marine robotics  (2)
  • Cambridge University Press  (2)
  • Wiley  (2)
  • Oxford University Press
  • 2020-2023  (4)
  • 1955-1959
  • 1
    facet.materialart.
    Unknown
    Synchronous-clock range-angle relative acoustic navigation: a unified approach to multi-AUV localization, command, control, and coordination (2022)
    Wiley
    Details
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Rypkema, N., Schmidt, H., & Fischell, E. Synchronous-clock range-angle relative acoustic navigation: a unified approach to multi-AUV localization, command, control, and coordination. Journal of Field Robotics, 2(1), (2022): 774–806, https://doi.org/10.55417/fr.2022026.
    Description: This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communications, which becomes impractical with large vehicle numbers; or they require bi-directional intervehicle acoustic communications to achieve limited coordination when submerged, with limited scalability due to the physical properties of the acoustic channel. Our approach utilizes a single, periodically broadcasting beacon acting as a navigation reference for the group of AUVs, each of which carries a chip-scale atomic clock and fixed ultrashort baseline array of acoustic receivers. One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine their relative position to the beacon. The operator can command different vehicle behaviors by selecting between broadcast signals from a predetermined set, while coordination between AUVs is achieved without intervehicle communication by defining individual vehicle behaviors within the context of the group. Vehicle behaviors are designed within a beacon-centric moving frame of reference, allowing the operator to control the absolute position of the AUV group by repositioning the navigation beacon to survey the area of interest. Multiple deployments with a fleet of three miniature, low-cost SandShark AUVs performing closed-loop acoustic navigation in real-time provide experimental results validated against a secondary long-baseline positioning system, demonstrating the capabilities and robustness of our approach with real-world data.
    Description: This work was partially supported by the Office of Naval Research, the Defense Advanced Research Projects Agency, Lincoln Laboratory, and the Reuben F. and Elizabeth B. Richards Endowed Funds at WHOI.
    Keywords: Underwater robotics ; Navigation ; Multirobot systems ; Localization ; Marine robotics
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER (OA)
  • 2
    facet.materialart.
    Unknown
    Surface flooding of Antarctic summer sea ice (2020)
    Cambridge University Press
    Details
    Publication Date: 2022-10-20
    Description: © The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Ackley, S. F., Perovich, D. K., Maksym, T., Weissling, B., & Xie, H. Surface flooding of Antarctic summer sea ice. Annals of Glaciology, 61(82), (2020): 117-126, doi:10.1017/aog.2020.22.
    Description: The surface flooding of Antarctic sea ice in summer covers 50% or more of the sea-ice area in the major summer ice packs, the western Weddell and the Bellingshausen-Amundsen Seas. Two CRREL ice mass-balance buoys were deployed on the Amundsen Sea pack in late December 2010 from the icebreaker Oden, bridging the summer period (January–February 2011). Temperature records from thermistors embedded vertically in the snow and ice showed progressive increases in the depth of the flooded layer (up to 0.3–0.35 m) on the ice cover during January and February. While the snow depth was relatively unchanged from accumulation (〈10 cm), ice thickness decreased by up to a meter from bottom melting during this period. Contemporaneous with the high bottom melting, under-ice water temperatures up to 1°C above the freezing point were found. The high temperature arises from solar heating of the upper mixed layer which can occur when ice concentration in the local area falls and lower albedo ocean water is exposed to radiative heating. The higher proportion of snow ice found in the Amundsen Sea pack ice therefore results from both winter snowfall and summer ice bottom melt found here that can lead to extensive surface flooding.
    Description: This work was supported by the National Science Foundation grant to UTSA, ANT-0839053-Sea Ice System in Antarctic Summer (S.F. Ackley, H. Xie and B. Weissling), and to WHOI, ANT-1341513 (T. Maksym), and by the NASA Center for Advanced Measurements in Extreme Environments or NASA-CAMEE at UTSA, NASA #80NSSC19M0194 (S.F. Ackley, H. Xie, B.Weissling).
    Keywords: Ice/ocean interactions ; Sea ice ; Sea-ice growth and decay ; Snow/ice surface processes
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER (OA)
  • 3
    facet.materialart.
    Unknown
    Towards automated sample collection and return in extreme underwater environments (2022)
    Wiley
    Details
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Billings, G., Walter, M., Pizarro, O., Johnson-Roberson, M., & Camilli, R. Towards automated sample collection and return in extreme underwater environments. Journal of Field Robotics, 2(1), (2022): 1351–1385, https://doi.org/10.55417/fr.2022045.
    Description: In this report, we present the system design, operational strategy, and results of coordinated multivehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of remotely operated vehicle (ROV) manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an analog to a planetary lander, which must be capable of high-level autonomy. Our field trials involve two underwater vehicles, the SuBastian ROV and the Nereid Under Ice (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous) missions, both equipped seven-degrees-of-freedom hydraulic manipulators. We describe an adaptable, hardware-independent computer vision architecture that enables high-level automated manipulation. The vision system provides a three-dimensional understanding of the workspace to inform manipulator motion planning in complex unstructured environments. We demonstrate the effectiveness of the vision system and control framework through field trials in increasingly challenging environments, including the automated collection and return of biological samples from within the active undersea volcano Kolumbo. Based on our experiences in the field, we discuss the performance of our system and identify promising directions for future research.
    Description: This work was funded under a NASA PSTAR grant, number NNX16AL08G, and by the National Science Foundation under grants IIS-1830660 and IIS-1830500. The authors would like to thank the Costa Rican Ministry of Environment and Energy and National System of Conservation Areas for permitting research operations at the Costa Rican shelf margin, and the Schmidt Ocean Institute (including the captain and crew of the R/V Falkor and ROV SuBastian) for their generous support and making the FK181210 expedition safe and highly successful. Additionally, the authors would like to thank the Greek Ministry of Foreign Affairs for permitting the 2019 Kolumbo Expedition to the Kolumbo and Santorini calderas, as well as Prof. Evi Nomikou and Dr. Aggelos Mallios for their expert guidance and tireless contributions to the expedition.
    Keywords: Underwater robotics ; Mobile manipulation ; Marine robotics ; Exploration
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER (OA)
  • 4
    facet.materialart.
    Unknown
    Sea-ice production and air/ice/ocean/biogeochemistry interactions in the Ross Sea during the PIPERS 2017 autumn field campaign (2020)
    Cambridge University Press
    Details
    Publication Date: 2022-10-21
    Description: © The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Ackley, S. F., Stammerjohn, S., Maksym, T., Smith, M., Cassano, J., Guest, P., Tison, J., Delille, B., Loose, B., Sedwick, P., DePace, L., Roach, L., & Parno, J. Sea-ice production and air/ice/ocean/biogeochemistry interactions in the Ross Sea during the PIPERS 2017 autumn field campaign. Annals of Glaciology, 61(82), (2020): 181-195, doi:10.1017/aog.2020.31.
    Description: The Ross Sea is known for showing the greatest sea-ice increase, as observed globally, particularly from 1979 to 2015. However, corresponding changes in sea-ice thickness and production in the Ross Sea are not known, nor how these changes have impacted water masses, carbon fluxes, biogeochemical processes and availability of micronutrients. The PIPERS project sought to address these questions during an autumn ship campaign in 2017 and two spring airborne campaigns in 2016 and 2017. PIPERS used a multidisciplinary approach of manned and autonomous platforms to study the coupled air/ice/ocean/biogeochemical interactions during autumn and related those to spring conditions. Unexpectedly, the Ross Sea experienced record low sea ice in spring 2016 and autumn 2017. The delayed ice advance in 2017 contributed to (1) increased ice production and export in coastal polynyas, (2) thinner snow and ice cover in the central pack, (3) lower sea-ice Chl-a burdens and differences in sympagic communities, (4) sustained ocean heat flux delaying ice thickening and (5) a melting, anomalously southward ice edge persisting into winter. Despite these impacts, airborne observations in spring 2017 suggest that winter ice production over the continental shelf was likely not anomalous.
    Description: NSF supported PIPERS award numbers: ANT-1341717 (S.F. Ackley, UTSA); ANT-1341513 (E. Maksym, WHOI); ANT-1341606 (S. Stammerjohn and J. Cassano, U Colorado); ANT-1341725 (P. Guest, NPS). P. Sedwick was supported by NSF ANT-1543483. S.F. Ackley was also supported by NASA Grant 80NSSC19M0194 to the Center for Advanced Measurements in Extreme Environments at UTSA. S. Stammerjohn was also supported by the LTER Program under NFS award number ANT-0823101 (H. Ducklow, LDEO/Columbia University). Additional support was by the Belgian F.R.S-FNRS (project ISOGGAP and IODIne, contract T.0268.16 and J.0262.17, respectively). Bruno Delille is a research associate of the F.R.S.-FNRS. Terra-Sar-X quicklook imagery was coordinated by Kathrin Hoeppner at DLR, and Andy Archer (with the Antarctic Support Contractor) provided selected (cloud-free) MODIS scenes and daily maps of AMSR2 sea-ice concentration.
    Keywords: Atmosphere/ice/ocean interactions ; Ice/ocean interactions ; Sea ice ; Sea-ice growth and decay
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER (OA)
Close ⊗
This website uses cookies and the analysis tool Matomo. More information can be found here...