On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Selective submap joining SLAM for autonomous vehicles

Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map grows the computational cost increases, making SLAM solutions unsuitable for on-line applications. This thesis surveys SLAM approaches paying special attention to those approaches aimed to work on large scenarios. Special focus is given to existing underwater SLAM applications. A technique based on using independent local maps together with a global stochastic map is presented. This technique is called Selective Submap Joining SLAM (SSJS). A global map contains relative transformations between local maps, which are updated once a new loop is detected. Maps sharing several features are fused, maintaining the correlation between landmarks and vehicle's pose. The use of local maps reduces computational costs and improves map consistency as compared to state of the art techniques.

Análise dos efeitos das deformações estruturais sobre a transferência transversal de carga em um veículo do tipo fórmula SAE submetido a uma aceleração lateral constante

This paper studies the frame deformations on a formula SAE vehicle in steady-state cornering and its influence on the lateral load transfers and, consequently, on the tires normal loads due to the applied lateral load. For a vehicle with a perfect rigid frame, the vehicle mass, the position of the center of gravity and the suspensions are the only factors responsible for the load distribution between the tires. When the frame deformations are no longer negligible, the frame deformations affect the loaddistribution between the tires. The frame flexibility turns it able to behave as an additional set of springs to the suspension system, thus changing the behavior of the set. This paper describes howit happens and suggests ways to minimize this phenomenon

BALTHMETRIC SURVEY IN THE KEWEENAW WATER WAY IN MICHIGAN, USA, MAKING 3D MODEL, AND COMPARING SONAR EQUIPMENT OF THE MODERN AUV AND THE TRADITIONAL SINGLE BEAM SONAR

This thesis represents the overview of hydrographic surveying and different types of modern and traditional surveying equipment, and data acquisition using the traditional single beam sonar system and a modern fully autonomous underwater vehicle, IVER3. During the thesis, the data sets were collected using the vehicles of the Great Lake Research Center at Michigan Technological University. This thesis also presents how to process and edit the bathymetric data on SonarWiz5. Moreover, the three dimensional models were created after importing the data sets in the same coordinate system. In these interpolated surfaces, the details and excavations can be easily seen on the surface models. In this study, the profiles are plotted on the surface models to compare the sensors and details on the seabed. It is shown that single beam sonar might miss some details, such as pipeline and quick elevation changes on the seabed when we compare to the side scan sonar of IVER3 because the single side scan sonar can acquire better resolution. However, sometimes using single beam sonar can save your project time and money because the single beam sonar is cheaper than side scan sonars and the processing might be easier than the side scan data.

Anatomy of the nail unit and the nail biopsy

The nail unit is the largest and a rather complex skin appendage. It is located on the dorsal aspect of the tips of fingers and toes and has important protective and sensory functions. Development begins in utero between weeks 7 and 8 and is fully formed at birth. For its correct development, a great number of signals are necessary. Anatomically, it consists of 4 epithelial components: the matrix that forms the nail plate; the nail bed that firmly attaches the plate to the distal phalanx; the hyponychium that forms a natural barrier at the physiological point of separation of the nail from the bed; and the eponychium that represents the undersurface of the proximal nail fold which is responsible for the formation of the cuticle. The connective tissue components of the matrix and nail bed dermis are located between the corresponding epithelia and the bone of the distal phalanx. Characteristics of the connective tissue include: a morphogenetic potency for the regeneration of their epithelia; the lateral and proximal nail folds form a distally open frame for the growing nail; and the tip of the digit has rich sensible and sensory innervation. The blood supply is provided by the paired volar and dorsal digital arteries. Veins and lymphatic vessels are less well defined. The microscopic anatomy varies from nail subregion to subregion. Several different biopsy techniques are available for the histopathological evaluation of nail alterations.

(Supplemet S1) Silicon oxide and Potassium + Sodium oxide from the PACManus hydrothermal area

This study presents a systematic analysis and interpretation of autonomous underwater vehicle-based microbathymetry combined with remotely operated vehicle (ROV) video recordings, rock analyses and temperaturemeasurements within the PACManus hydrothermal area located on Pual Ridge in the Bismarck Sea of eastern Manus Basin. The data obtained during research cruise Magellan-06 and So-216 provides a framework for understanding the relationship between the volcanism, tectonismand hydrothermal activity. PACManus is a submarine felsic vocanically-hosted hydrothermal area that hosts multiple vent fields locatedwithin several hundredmeters of one another but with different fluid chemistries, vent temperatures and morphologies. The total area of hydrothermal activity is estimated to be 20,279m**2. Themicrobathymetrymaps combinedwith the ROV video observations allow for precise high-resolution mapping estimates of the areal extents of hydrothermal activity.We find the distribution of hydrothermal fields in the PACManus area is primarily controlled by volcanic features that include lava domes, thick andmassive blocky lava flows, breccias and feeder dykes. Spatial variation in the permeability of local volcanic facies appears to control the distribution of venting within a field.We define a three-stage chronological sequence for the volcanic evolution of the PACManus based on lava flow morphology, sediment cover and lava SiO2 concentration. In Stage-1, sparsely to moderately porphyritic dacite lavas (68-69.8 wt.% SiO2) erupted to form domes or cryptodomes. In Stage-2, aphyric lava with slightly lower SiO2 concentrations (67.2-67.9 wt.% SiO2) formed jumbled and pillowed lava flows. In the most recent phase Stage-3, massive blocky lavaswith 69 to 72.5wt.% SiO2were erupted throughmultiple vents constructing a volcanic ridge identified as the PACManus neovolcanic zone. The transition between these stages may be gradual and related to progressive heating of a silicic magma following a recharge event of hot, mantle-derived melts.

Profile of sediment echo sounding with links to ParaSound data files and swath sonar multibeam bathymetry during METEOR cruise M70/2b

Two highly active mud volcanoes located in 990-1,265 m water depths were mapped on the northern Egyptian continental slope during the BIONIL expedition of R/V Meteor in October 2006. High-resolution swath bathymetry and backscatter imagery were acquired with an autonomous underwater vehicle (AUV)-mounted multibeam echosounder, operating at a frequency of 200 kHz. Data allowed for the construction of ~1 m pixel bathymetry and backscatter maps. The newly produced maps provide details of the seabed morphology and texture, and insights into the formation of the two mud volcanoes. They also contain key indicators on the distribution of seepage and its tectonic control. The acquisition of high-resolution seafloor bathymetry and acoustic imagery maps with an AUV-mounted multibeam echosounder fills the gap in spatial scale between conventional multibeam data collected from a surface vessel and in situ video observations made from a manned submersible or a remotely operating vehicle.

Gridded bathymetry from multibeam echosounder EM122 data of the cruise M84/2, off Eregli (2011)

We investigated gas bubble emissions at the Don-Kuban paleo-fan in the northeastern Black Sea regarding their geological setting, quantities as well as spatial and temporal variabilities during three ship expeditions between 2007 and 2011. About 600 bubble-induced hydroacoustic anomalies in the water column (flares) originating from the seafloor above the gas hydrate stability zone (GHSZ) at ~700 m water depth were found. At about 890 m water depth a hydrocarbon seep area named "Kerch seep area" was newly discovered within the GHSZ. We propose locally domed sediments ('mounds') discovered during ultra-high resolution bathymetric mapping with an autonomous underwater vehicle (AUV) to result from gas hydrate accumulation at shallow depths. In situ measurements indicated spatially limited temperature elevations in the shallow sediment likely induced by upward fluid flow which may confine the local GHSZ to a few meters below the seafloor. As a result, gas bubbles are suspected to migrate into near-surface sediments and to escape the seafloor through small-scale faults. Hydroacoustic surveys revealed that several flares originated from a seafloor area of about 1 km**2 in size. The highest flare disappeared in about 350 m water depth, suggesting that the released methane remains in the water column. A methane flux estimate, combining data from visual quantifications during dives with a remotely operated vehicle (ROV) with results from ship-based hydroacoustic surveys and gas analysis revealed that between 2 and 87 x 10**6 mol CH4 yr-1 escaped into the water column above the Kerch seep area. Our results show that the finding of the Kerch seep area represents a so far underestimated type of hydrocarbon seep, which has to be considered in methane budget calculations.

Dissipation rate measurements during R/V Maria S. Merian cruise MSM21/1b dives

GEOMAR's autonomous underwater vehicle (AUV Abyss REMUS 6000) was deployed within the framework of a multi-platform experiment in June 2012 with R/V Maria S. Merian cruise MSM21/1b at about 180 km downstream of Denmark Strait. The scientific payload included a pumped Seabird 49 FastCAT CTD system, a paroscientific pressure sensor, and shear and temperature microstructure profiler from Rockland Scientific Inc.. In total, six of eight AUV dives were carried out successfully. Aborts on three dives were caused by strong counter currents the AUV experienced in the Denmark Strait Overflow plume, which made the AUV fail to reach its waypoints on schedule. During all missions the AUV was programmed to dive at constant depth levels along? straight legs approximately parallel to chosen isobaths with a constant speed of 1.6 m s-1 through the water.

Physical oceanography from R/V Maria S. Merian cruise MSM21/1b dives

GEOMAR's autonomous underwater vehicle (AUV Abyss REMUS 6000) was deployed within the framework of a multi-platform experiment in June 2012 with R/V Maria S. Merian cruise MSM21/1b at about 180 km downstream of Denmark Strait. The scientific payload included a pumped Seabird 49 FastCAT CTD system, a paroscientific pressure sensor, and shear and temperature microstructure profiler from Rockland Scientific Inc.. In total, six of eight AUV dives were carried out successfully. Aborts on three dives were caused by strong counter currents the AUV experienced in the Denmark Strait Overflow plume, which made the AUV fail to reach its waypoints on schedule. During all missions the AUV was programmed to dive at constant depth levels along? straight legs approximately parallel to chosen isobaths with a constant speed of 1.6 m s-1 through the water.

Physical oceanography, current meter data, and microstructure measurements 180 km downstream of Denmark Strait sill during Maria S. Merian cruise MSM21/1b

The main objectives of the cruise MSM21/1b were to characterize the spatio-temporal variability of the Denmark Strait overflow and to identify processes responsible for the exchange of the overflow plume with ambient water downstream of Denmark Strait. A multi-platform approach was taken to achieve the goals, based on moorings, an autonomous underwater vehicle (AUV), as well as lowered and vessel-mounted observations. From these platforms, measurements of temperature, salinity, dissolved oxygen, current velocity, dissipation of turbulent kinetic energy, and bottom pressure were obtained.

Uncalibrated temperature measurement during R/V Maria S. Merian cruise MSM21/1b

GEOMAR's autonomous underwater vehicle (AUV Abyss REMUS 6000) was deployed within the framework of a multi-platform experiment in June 2012 with R/V Maria S. Merian cruise MSM21/1b at about 180 km downstream of Denmark Strait. The scientific payload included a pumped Seabird 49 FastCAT CTD system, a paroscientific pressure sensor, and shear and temperature microstructure profiler from Rockland Scientific Inc.. In total, six of eight AUV dives were carried out successfully. Aborts on three dives were caused by strong counter currents the AUV experienced in the Denmark Strait Overflow plume, which made the AUV fail to reach its waypoints on schedule. During all missions the AUV was programmed to dive at constant depth levels along? straight legs approximately parallel to chosen isobaths with a constant speed of 1.6 m s-1 through the water.

Molecular cloning and characterization of the mouse Na+ sulfate cotransporter gene (Slc13a4): structure and expression

Sulfate is an essential ion required for numerous functions in mammalian physiology. Due to its hydrophilic nature, cells require sulfate transporters on their plasma membranes to allow entry of sulfate into cells. In this study, we identified a new mouse Na+-sulfate cotransporter (mNaS2), characterized its tissue distribution and determined its cDNA and gene (Slc13a4) structures. mNaS2 mRNA was expressed in placenta, brain, lung, eye, heart, testis, thymus and liver. The mouse NaS2 cDNA spans 3384 nucleotides and its open frame encodes a protein of 624 amino acids. Slc13a4 maps to mouse chromosome 6131 and contains 16 exons, spanning over 40 kb in length. Its 5'-flanking region contains CART- and GC-box motifs and a number of putative transcription factor binding sites, including GATA-1, MTF-1, STAT6 and HNF4 consensus sequences. This is the first study to define the tissue distribution of mNaS2 and resolve its cDNA and gene structures, which will allow us to investigate mNaS2 gene expression in vivo and determine its role in mammalian physiology.

Characterization of Atlantic Cod Spawning Habitat and Behavior in Icelandic Coastal Waters

The physical habitat used during spawning may potentially be an important factor affecting reproductive output of broadcast spawning marine fishes, particularly for species with complex, substrate-oriented mating systems and behaviors, such as Atlantic cod Gadus morhua. We characterized the habitat use and behavior of spawning Atlantic cod at two locations off the coast of southwestern Iceland during a 2-d research cruise (15–16 April 2009). We simultaneously operated two different active hydroacoustic gear types, a split beam echosounder and a dual frequency imaging sonar (DIDSON), as well as a remotely operated underwater vehicle (ROV). A total of five fish species were identified through ROV surveys: including cusk Brosme brosme, Atlantic cod, haddock Melanogrammus aeglefinus, lemon sole Microstomus kitt, and Atlantic redfish Sebastes spp. Of the three habitats identified in the acoustic surveys, the transitional habitat between boulder/lava field and sand habitats was characterized by greater fish density and acoustic target strength compared to that of sand or boulder/lava field habitats independently. Atlantic cod were observed behaving in a manner consistent with published descriptions of spawning. Individuals were observed ascending 1–5 m into the water column from the bottom at an average vertical swimming speed of 0.20–0.25 m s−1 and maintained an average spacing of 1.0–1.4 m between individuals. Our results suggest that cod do not choose spawning locations indiscriminately despite the fact that it is a broadcast spawning fish with planktonic eggs that are released well above the seafloor.