DISPRO datasets for validation of coastal hydrodynamic models

Appropriate field data are required to check the reliability of hydrodynamic models simulating the dispersion of soluble substances in the marine environment. This study deals with the collection of physical measurements and soluble tracer data intended specifically for this kind of validation. The intensity of currents as well as the complexity of topography and tides around the Cap de La Hague in the center of the English Channel makes it one of the most difficult areas to represent in terms of hydrodynamics and dispersion. Controlled releases of tritium - in the form of HTO - are carried out in this area by the AREVA-NC plant, providing an excellent soluble tracer. A total of 14 493 measurements were acquired to track dispersion in the hours and days following a release. These data, supplementing previously gathered data and physical measurements (bathymetry, water-surface levels, Eulerian and Lagrangian current studies) allow us to test dispersion models from the hour following release to periods of several years which are not accessible with dye experiments. The dispersion characteristics are described and methods are proposed for comparing models against measurements. An application is proposed for a 2 dimensions high-resolution numerical model. It shows how an extensive dataset can be used to build, calibrate and validate several aspects of the model in a highly dynamic and macrotidal area: tidal cycle timing, tidal amplitude, fixed-point current data, hodographs. This study presents results concerning the model's ability to reproduce residual Lagrangian currents, along with a comparison between simulation and high-frequency measurements of tracer dispersion. Physical and tracer data are available from the SISMER database of IFREMER (www.ifremer.fr/sismer/catal). This tool for validation of models in macro-tidal seas is intended to be an open and evolving resource, which could provide a benchmark for dispersion model validation.

A vision-based strategy for autonomous aerial refueling tasks

Autonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refueling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue.