2 resultados para Persistent robot navigation

em Aquatic Commons


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In April 2005, a SHOALS 1000T LIDAR system was used as an efficient alternative for safely acquiring data to describe the existing conditions of nearshore bathymetry and the intertidal zone over an approximately 40.7 km2 (11.8 nm2) portion of hazardous coastline within the Olympic Coast National Marine Sanctuary (OCNMS). Data were logged from 1,593 km (860 nm) of track lines in just over 21 hours of flight time. Several islands and offshore rocks were also surveyed, and over 24,000 geo-referenced digital still photos were captured to assist with data cleaning and QA/QC. The 1 kHz bathymetry laser obtained a maximum water depth of 22.2 meters. Floating kelp beds, breaking surf lines and turbid water were all challenges to the survey. Although sea state was favorable for this time of the year, recent heavy rainfall and a persistent low-lying layer of fog reduced acquisition productivity. The existence of a completed VDatum model covering this same geographic region permitted the LIDAR data to be vertically transformed and merged with existing shallow water multibeam data and referenced to the mean lower low water (MLLW) tidal datum. Analysis of a multibeam bathymetry-LIDAR difference surface containing over 44,000 samples indicated surface deviations from –24.3 to 8.48 meters, with a mean difference of –0.967 meters, and standard deviation of 1.762 meters. Errors in data cleaning and false detections due to interference from surf, kelp, and turbidity likely account for the larger surface separations, while the remaining general surface difference trend could partially be attributed to a more dense data set, and shoal-biased cleaning, binning and gridding associated with the multibeam data for maintaining conservative least depths important for charting dangers to navigation. (PDF contains 27 pages.)

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The National Status and Trends (NS&T) Program has conducted studies to determine the spatial extent and severity of chemical contamination and associated adverse biological effects in coastal bays and estuaries of the United States since 1991. Sediment contamination in U.S. coastal areas is a major environmental issue because of its potential toxic effects on biological resources and often, indirectly, on human health. Thus, characterizing and delineating areas of sediment contamination and toxicity and demonstrating their effect(s) on benthic living resources are therefore important goals of coastal resource management at NOAA. The National Centers for Coastal Ocean Science, and the Office of National Marine Sanctuaries, in cooperation with the U.S. Geological Survey (USGS), University of California Moss Landing Marine Lab (MLML), and the Monterey Bay Aquarium Research Institute (MBARI), conducted ecosystem monitoring and characterization studies within and between marine sanctuaries along the California coast in 2002 and 2004 on the NOAA RV McArthur. One of the objectives was to perform a systematic assessment of the chemical and physical habitats and associated biological communities in soft bottom habitats on the continental shelf and slope in the central California region. This report addresses the magnitude and extent of chemical contamination, and contaminant transport patterns in the region. Ongoing studies of the benthic community are in progress and will be reported in an integrated assessment of habitat quality and the parameters that govern natural resource distributions on the continental margin and in canyons in the region.