Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

RF communication between surface and underwater robotic swarms

In order for underwater robots to communicate with land and air based robots on an equal basis, high speed communications is required. If the robots are not to be tethered then wireless communications is the only possibility. Sonar communications is too slow. Unfortunately radio waves are rapidly attenuated under water due to phenomena such as skin depth. These experiments attempt to extend the range of underwater radio communications.

Predictive motion planning for AUVs subject to strong time-varying currents and forecasting uncertainties

This paper presents a novel path planning method for minimizing the energy consumption of an autonomous underwater vehicle subjected to time varying ocean disturbances and forecast model uncertainty. The algorithm determines 4-Dimensional path candidates using Nonlinear Robust Model Predictive Control (NRMPC) and solutions optimised using A∗-like algorithms. Vehicle performance limits are incorporated into the algorithm with disturbances represented as spatial and temporally varying ocean currents with a bounded uncertainty in their predictions. The proposed algorithm is demonstrated through simulations using a 4-Dimensional, spatially distributed time-series predictive ocean current model. Results show the combined NRMPC and A∗ approach is capable of generating energy-efficient paths which are resistant to both dynamic disturbances and ocean model uncertainty.

Outcropping reef ledges drive patterns of epibenthic assemblage diversity on cross-shelf habitats

Seafloor habitats on continental shelf margins are increasingly being the subject of worldwide conservation efforts to protect them from human activities due to their biological and economic value. Quantitative data on the epibenthic taxa which contributes to the biodiversity value of these continental shelf margins is vital for the effectiveness of these efforts, especially at the spatial resolution required to effectively manage theseecosystems. We quantified the diversity of morphotype classes on an outcropping reef system characteristic of the continental shelf margin in the Flinders Commonwealth Marine Reserve, southeastern Australia. The system is uniquely characterized by long linear outcropping ledge features in sedimentary bedrock that differ markedly from the surrounding low-profile, sand-inundated reefs. We characterize a reef system harboring rich morphotype classes, with a total of 55 morphotype classes identified from the still images captured by an autonomous underwater vehicle. The morphotype class Cnidaria/Bryzoa/Hydroid matrix dominated the assemblages recorded. Both a and b diversitydeclined sharply with distance from nearest outcropping reef ledge feature. Patterns of the morphotype classes were characterized by (1) morphotype turnover at scales of 5 to 10s m from nearest outcropping reef ledge feature, (2) 30 % of morphotype classes were recordedonly once (i.e. singletons), and (3) generally low levels of abundance (proportion cover) of the component morphotype class. This suggests that the assemblages in this region contain a considerable number of locally rare morphotype classes. This study highlights the particular importance of outcropping reef ledge features in this region, as they provide a refuge against sediment scouring and inundation common on the low profile reef that characterizes this region. As outcropping reef features, they represent a small fraction of overall reef habitat yet contain much of the epibenthic faunal diversity. This study has relevance to conservation planning for continental shelf habitats, as protecting a single, or few, areas of reef is unlikely to accurately represent the geomorphic diversity of cross-shelf habitats and the morphotype diversity that is associated with these features. Equally, whendesigning monitoring programs these spatially-discrete, but biologically rich outcropping reef ledge features should be considered as distinct components in stratified sampling designs.

Setback distances as a conservation tool in wildlife-human interactions : testing their efficacy for birds affected by vehicles on open-coast sandy beaches

In some wilderness areas, wildlife encounter vehicles disrupt their behaviour and habitat use. Changing driver behaviour has been proposed where bans on vehicle use are politically unpalatable, but the efficacy of vehicle setbacks and reduced speeds remains largely untested. We characterised bird-vehicle encounters in terms of driver behaviour and the disturbance caused to birds, and tested whether spatial buffers or lower speeds reduced bird escape responses on open beaches. Focal observations showed that: i) most drivers did not create sizeable buffers between their vehicles and birds; ii) bird disturbance was frequent; and iii) predictors of probability of flushing (escape) were setback distance and vehicle type (buses flushed birds at higher rates than cars). Experiments demonstrated that substantial reductions in bird escape responses required buffers to be wide (> 25 m) and vehicle speeds to be slow (< 30 km h-1). Setback distances can reduce impacts on wildlife, provided that they are carefully designed and derived from empirical evidence. No speed or distance combination we tested, however, eliminated bird responses. Thus, while buffers reduce response rates, they are likely to be much less effective than vehicle-free zones (i.e. beach closures), and rely on changes to current driver behaviour

The ethos of the mover/witness dyad: an experimental frame for participatory performance

This article reflects on a dance improvisation project in which the foundational relationship of the Mover Witness Dyad (MWD), the private exchange between mover and witness (and more commonly known as Authentic Movement) became an ethical and physical paradigm for an improvised performance. The untitled performance (conceived by Shaun McLeod and danced by Olivia Millard, Peter Fraser, Jason Marchant, Sophia Cowen and Shaun McLeod) took place over three nights in Melbourne in November 2014. It was specifically informed by the experiences, observations and questions drawn from an extensive studio practice of the MWD by the dancers. The practice of the MWD is a therapeutic relationship between contemplative mover and attentive witness. Falling within the wider field of Dance Movement Therapy, the MWD has uses as a therapeutic aid, in personal development and also as a context for exploring dance improvisation. An important feature of the MWD is that attention, in whatever manifestation, is directed inwardly and is engaged bodily. The form parallels dance improvisation in its emphasis on open, exploratory movement, which is grounded in the particular sensibility each individual brings to embodiment. Never intended as a performance practice, the MWD has nonetheless been used by dancers as a method for investigating dancing and towards informing or generating performance content. This project threw up considerations of values; in this case values associated with audience participation and the ethics of ‘witnessing’ improvised dance.