Consensus control for a system of underwater swarm robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.

Maritime archaeology and trans-oceanic trade : a case study of the Oranjemund Shipwreck Cargo, Namibia

Routine sand dredging for alluvial diamonds at Oranjemund on the southern coast of Namibia exposed remnants of a long forgotten Portuguese merchant ship believed to have wrecked in the 1530s. The rescue excavations yielded over 40 tons of cargo consisting of thousands of gold and silver coins, tons of copper and lead ingots, and large quantities of ivory together with food refuse, part of personal possessions and the superstructure of the ship. This paper discusses the cargo from the shipwreck. The varying provenances show that overland inter-and intra-regional networks fed into the maritime trade between Europe and the Indian sub-continent. As such, the wreck is a lens through which we can view what was happening on the seas as well as on land. Finally we consider wider issues raised by this discovery relating to the protection and management of such material wherever it may be found in future.

Design of a prototype underwater research platform for swarm robotics

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels are not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Also it must be able to navigate and avoid obstacles. Further if this platform is to be part of a swarm of like platforms then it must be cost effective and relatively small. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This article describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics. Whilst the robotic platform performs well, to explore what many of them would do, that is more than are available, simulation is required. This article continues to study how best to simulate these robots for a swarm, or system of systems, approach.

Critical policy sociology : historiography, archaeology and genealogy as methods of policy analysis

In recent times critical approaches to educational policy studies have been subject to increasing interrogation over methodological issues, often by critical policy researchers themselves. In the main, their reflexive posturings have been informed by critique which proceeds that beyond brief descriptions of research logis tics and a general commitment to the methodologies of a critical orientation, critical policy analyses offer few explicit accounts of the connections between the stories they tell about policy and the data used to tell them. As a way of addressing these silences, this paper proposes three methodological approaches within which to explore and explain matters of policy, each generating its own particular view of the (policy) issues worth looking for, where they can be found and how to look for them. Drawing on research into the production of Australian higher education policy during the late 1980s and early 1990s, the paper illustrates the characteristics of these approaches, referring to them as policy historiography, policy genealogy and policy archaeology. Without claiming absolute distinctions between their interests, the paper couples policy historiography with the substantive issues of policy at particular hegemonic moments, policy genealogy with social actors' engagement with policy, and policy archaeology with conditions that regulate policy formations.

Comparing towed and baited underwater video techniques for assessing temperate marine fishes

Accurate estimates of fish species occurrence are important to any species’ assessments and distribution model. With increasing emphasis on nondestructive sampling, underwater video techniques are commonly used without a thorough understanding of their advantages and disadvantages. This study compared data collected from baited remote underwater stereo-video systems (stereo BRUVS) and towed-video systems to determine; (1) the differences between these video techniques in terms of fish assemblages, functional groups (i.e. pelagic carnivore, epibenthic carnivore/omnivore or herbivore) and observability (i.e. conspicuous or cryptic), and (2) what impact do these two techniques have on the interpretation of spatially-explicit, predictive models. We found stereo BRUVS and towedvideo techniques recorded very different assemblages, functional groups and observability categories across structurally complex benthic biological habitats (i.e. macroalgae dominated habitats). However, as the habitat complexity became less (e.g. seagrass and areas with no visible macro-biota) both techniques appeared to provide similar fish assemblage information. We also found considerable differences in the predicted extents of habitat suitability between the two video techniques.

Determination of lung volume by hydrogen dilution at the time of underwater weighing

A method for measuring the volume of air in the lungs at the time of underwater weighing is described. A low concentration of hydrogen is used as a tracer gas in a closed-circuit rebreathing system. At the end of a normal exhalation the subject is connected to a respiratory bladder containing 2 L of air with a small admixture of hydrogen. After an equilibration period of five breaths the subject submerges completely, together with the bladder, and underwater weight is measured. Lung volume, at the time of weighing, is determined by hydrogen dilution. Using this method, the coefficient of variation for body density in the same individual was 0.23%.

Underwater swarm robotics consensus control

The control of a swarm of underwater robots requires more than just a control algorithm, it requires a communications system. Underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to work on minimal and out of date information. The control system must also be able to control a large number of robots without a master control, a decentralized control approach. This paper describes one such control method.

Quantification of spatial and thematic uncertainty in the application of underwater video for benthic habitat mapping

This study presents an analysis of the application of underwater video data collected for training and validating benthic habitat distribution models. Specifically, we quantify the two major sources of error pertaining to collection of this type of reference data. A theoretical spatial error budget is developed for a positioning system used to co-register video frames to their corresponding locations at the seafloor. Second, we compare interpretation variability among trained operators assessing the same video frames between times over three hierarchical levels of a benthic classification scheme. Propagated error in the positioning system described was found to be highly correlated with depth of operation and varies from 1.5m near the surface to 5.7m in 100m of water. In order of decreasing classification hierarchy, mean overall observer agreement was found to be 98% (range 6%), 82% (range 12%) and 75% (range 17%) for the 2, 4, and 6 class levels of the scheme, respectively. Patterns in between-observer variation are related to the level of detail imposed by each hierarchical level of the classification scheme, the feature of interest, and to the amount of observer experience. © 2014 Copyright © Taylor & Francis Group, LLC.

Underwater swarm robotics review

Underwater robotics is a growing field in which more research is required. A literature review has been conducted on underwater robotics, focusing on the swarm problem with this type of robotics to help overcome this gap. Consensus control of robotic swarms is focused on, with a brief description of formation control and how it can be applied in the underwater setting. The basic concepts behind Particle Swarm Optimization, Ant Colony Optimization, Bees Algorithm and Heterogeneous Swarms has also been presented. The problems that are associated with communicating underwater are shown, with some possible solutions to this problem also being presented. Possible future work is described to conclude the paper.

Underwater swarm robotics : challenges and opportunities

Underwater swarm robotics today faces a series of challenges unique to its aquatic environment. This chapter explores some possible applications of underwater swarm robotics and its challenges. Those challenges include the environment itself, sensor types required, problems with communication and the difficulty in localisation. it notes the serious challenges in underwater communication is that radio communications is practically non-existent in the underwater realm. Localisation also becomes problematic due to the lack of radio waves as GPS cannot be used. it also looks at the platforms required by underwater robots and includes a possible low-cost platform. Also explored is a method of swarm robotics control known as consensus control. It shows possible solutions to the challenges and where swarm robotics may head.

Increased functionality of an underwater robotic manipulator

Research into underwater robotic applications is currently a growing field. There are many challenges involved in underwater robotics that are not present in other mediums, such as how the harsh environmental conditions that this environment invokes onto the robot and any equipment that is attached to the robot. In this paper an attachment to an underwater gripper is proposed that adds another Degree Of Freedom to the system, thus allowing the gripper to move along the belly of the robot. Adding this functionality to the gripper has many advantages, some of which involve the robot being able to easily pass a collected object to another robot with minimal interference. This attachment is constructed using 3D printed parts, a waterproofed servomotor and a leadscrew to provide linear motion to a commercial gripper.