Sea-floor images from ROV transects during POLARSTERN cruise ANT-XVII/3 (EASIZ III) to the Weddell Sea, Antarctica

Transects of a Remotely Operated Vehicle (ROV) providing sea-bed videos and photographs were carried out during POLARSTERN expedition ANT-XVII/3 focussing on the ecology of benthic assemblages on the Antarctic shelf in the South-Eastern Weddell Sea. The ROV-system sprint 103 was equiped with two video- and one still camera, lights, flash-lights, compass, and parallel lasers providing a scale in the images, a tether-management system (TMS), a winch, and the board units. All cameras used the same main lense and could be tilted. Videos were recorded in Betacam-format and (film-)slides were made by decision of the scientific pilot. The latter were mainly made under the aspect to improve the identification of organisms depicted in the videos because the still photographs have a much higher optical resolution than the videos. In the photographs species larger than 3 mm, in the videos larger than 1 cm are recognisable and countable. Under optimum conditions the transects were strait; the speed and direction of the ROV were determined by the drift of the ship in the coastal current, since both, the ship and the ROV were used as a drifting system; the option to operate the vehicle actively was only used to avoide obstacles and to reach at best a distance of only approximately 30 cm to the sea-floor. As a consequence the width of the photographs in the foreground is approximately 50 cm. Deviations from this strategy resulted mainly from difficult ice- and weather conditions but also from high current velocity and local up-welling close to the sea-bed. The sea-bed images provide insights into the general composition of key species, higher systematic groups and ecological guilds. Within interdisciplinary approaches distributions of assemblages can be attributed to environmental conditions such as bathymetry, sediment characteristics, water masses and current regimes. The images also contain valuable information on how benthic species are associated to each other. Along the transects, small- to intermediate-scaled disturbances, e.g. by grounding icebergs were analysed and further impact to the entire benthic system by local succession of recolonisation was studied. This information can be used for models predicting the impact of climate change to benthic life in the Southern Ocean. All these approaches contribute to a better understanding of the fiunctioning of the benthic system and related components of the entire Antarctic marine ecosystem. Despite their scientific value the imaging methods meet concerns about the protection of sensitive Antarctic benthic systems since they are non-invasive and they also provide valuable material for education and outreach purposes.

Sea-bed photographs (benthos) from the Weddell Sea along two ROV profiles during Polarstern cruise ANT-XIII/3

Young specimens of cf. Pagothenia borchgrevinki were observed for the first time to cling to the subsurface of the marginal ice shelf in Drescher Inlet, southeastern Weddell Sea. Along an approximately 40-m-long videotransect at 80 m water depth, the abundance was roughly estimated to be 7 individuals per 10 m**2. This behaviour is interpreted to represent the most advanced adaptation to ice as a microhabitat for Antarctic fish.

Sea-bed photographs (benthos) from the AWI-Hausgarten area along OFOS profile PS62/191-1

Although the use of deep-sea imagery considerably increased during the last decades, reports on nekton falls to the deep seafloor are very scarce. Whereas there are a few reports describing the finding of whale carcasses in the deep north-eastern and south-eastern Pacific, descriptions of invertebrate or vertebrate food-falls at centimetre to metre scale are extremely rare. After 4 years of extensive work at a deep-sea long-term station in northern polar regions (AWI-"Hausgarten"), including large-scale visual observations with various camera systems covering some 10 000 m2 of seafloor at water depths between 1250 and 5600 m, this paper describes the first observation of a fish carcass at about 1280 m water depth, west off Svålbard. The fish skeleton had a total length of 36 cm and an approximated biomass of 0.5 kg wet weight. On the basis of in situ experiments, we estimated a very short residence time of this particular carcass of about 7 h at the bottom. The fast response of the motile deep-sea scavenger community to such events and the rapid utilisation of this kind of organic carbon supply might partly explain the extreme rarity of such an observation.

Mega-epibenthos at Bouvet Island (South Atlantic)

Mega-epibenthic diversity was analysed using a seabed photography at four stations off Bouvet Island and one station at the Spiess Seamount in the South Atlantic. Surprisingly, the intermediate-scale diversity within the area of investigation was not lower compared to that on the Patagonian shelf and only moderately lower than that on the Antarctic continental shelf. This result is incompatible with Mac Arthur and Wilson's Island Biogeography Theory describing species richness as a function of immigration of new species into an area and its extension. The relatively high species number and the very small extension of the Bouvet shelf compared to the much larger continental shelves of the other two areas can be explained by long-range dispersal of marine benthic animals in the Antarctic Circumpolar Current and high habitat heterogeneity. The observed uncoupling of intermediate-scale from large-scale background species diversity on the Antarctic shelf raises the question whether in these benthic systems an upper capacity limit for diversity exists.

Visibility recovery on images acquired in attenuating media. Application to underwater, fog, and mammographic imaging

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SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

Underwater slam for estructured environments using and imaging sonar

Aquesta tesi tracta sobre el problema de la navegació per a vehicles submarins autònoms que operen en entorns artificials estructurats com ara ports, canals, plataformes marines i altres escenaris similars. A partir d'una estimació precisa de la posició en aquests entorns, les capacitats dels vehicles submarins s'incrementen notablement i s'obre una porta al seu funcionament autònom. El manteniment, inspecció i vigilància d'instal lacions marines són alguns exemples de possibles aplicacions. Les principals contribucions d'aquesta tesi consisteixen per una banda en el desenvolupament de diferents sistemes de localització per a aquelles situacions on es disposa d'un mapa previ de l'entorn i per l'altra en el desenvolupament d'una nova solució al problema de la Localització i Construcció Simultània de Mapes (SLAM en les seves sigles en anglès), la finalitat del qual és fer que un vehicle autònom creï un mapa de l'entorn desconegut que el rodeja i, al mateix temps, utilitzi aquest mapa per a determinar la seva pròpia posició. S'ha escollit un sonar d'imatges d'escaneig mecànic com a sensor principal per a aquest treball tant pel seu relatiu baix cost com per la seva capacitat per produir una representació detallada de l'entorn. Per altra banda, les particularitats de la seva operació i, especialment, la baixa freqúència a la que es produeixen les mesures, constitueixen els principals inconvenients que s'han hagut d'abordar en les estratègies de localització proposades. Les solucions adoptades per aquests problemes constitueixen una altra contribució d'aquesta tesi. El desenvolupament de vehicles autònoms i el seu ús com a plataformes experimentals és un altre aspecte important d'aquest treball. Experiments portats a terme tant en el laboratori com en escenaris reals d'aplicació han proporcionat les dades necessàries per a provar i avaluar els diferents sistemes de localització proposats.

Multi-channel 2-D pattern transfer model based on imaging optics for submarine laser uplink communication

An optical communication scheme of 2-D pattern transfer based on imaging optics for submarine laser uplink communication (SLUC) is suggested. Unlike the methods aiming at avoiding neighboring crosstalk used in traditional multi-channel optical beam transferring, we make full use of the overlapping of each spreading beam other than controlling divergence effect of each beam to avoid interference noise. The apparent parameters have been introduced to simplify theoretical analysis of optical pattern transfer problem involving underwater condition, with the help of which the complex beam propagation inside two kinds of mediums can be easily reduced to brief beam transfer only inside air medium. In this paper, optical transmission path and receiver terminal optics geometry have been described in detail. The link range equation and system uplink performance analysis have also been given. At last, results of a proof-of-concept experiment indicate good feasibility of the proposed SLUC model. © 2007 Elsevier GmbH. All rights reserved.

Underwater topography detection of Shuangzi Reefs with SAR images acquired in different time

Imaging mechanism of underwater topography by SAR and a underwater topography SAR detection model built on the theory of underwater topography detection with SAR image presented by Yuan Yeli are used to detect the underwater topography of Shuangzi Reefs in the Nansha Islands with three scenes of SAR images acquired in different time. Detection results of three SAR images are compared with the chart topography and the detection errors are analyzed. Underwater topography detection experiments of Shuangzi Reefs show that the detection model is practicable. The detection results indicate that SAR images acquired in different time also can be used to detect the underwater topography, and the detection results are affected by the ocean conditions in the SAR acquiring time.

Towards Detecting Changes in Underwater Image Sequences

Detecting changes between images of the same scene taken at different times is of great interest for monitoring and understanding the environment. It is widely used for on-land application but suffers from different constraints. Unfortunately, Change detection algorithms require highly accurate geometric and photometric registration. This requirement has precluded their use in underwater imagery in the past. In this paper, the change detection techniques available nowadays for on-land application were analyzed and a method to automatically detect the changes in sequences of underwater images is proposed. Target application scenarios are habitat restoration sites, or area monitoring after sudden impacts from hurricanes or ship groundings. The method is based on the creation of a 3D terrain model from one image sequence over an area of interest. This model allows for synthesizing textured views that correspond to the same viewpoints of a second image sequence. The generated views are photometrically matched and corrected against the corresponding frames from the second sequence. Standard change detection techniques are then applied to find areas of difference. Additionally, the paper shows that it is possible to detect false positives, resulting from non-rigid objects, by applying the same change detection method to the first sequence exclusively. The developed method was able to correctly find the changes between two challenging sequences of images from a coral reef taken one year apart and acquired with two different cameras