Constructing a Distributed AUV Network for Underwater Plume-Tracking Operations
Name
Petillo-2012-Constructing a Distr.pdf
Size
2.6 MB
Format
Adobe PDF
Checksum (MD5)
cf4bf4c01700d644bad96cd7d8e8fc2b
Author(s)
Petillo, Stephanie Marie
Schmidt, Henrik
Balasuriya, Arjuna Prabhath
Date Issued
January 2012
Journal
International Journal of Distributed Sensor Networks
Publisher
Hindawi Publishing Corporation
Citation
Petillo, Stephanie, Henrik Schmidt, and Arjuna Balasuriya. “Constructing a Distributed AUV Network for Underwater Plume-Tracking Operations.” International Journal of Distributed Sensor Networks 2012 (2012): 1–12.
Version
Final published version
Abstract
In recent years, there has been significant concern about the impacts of offshore oil spill plumes and harmful algal blooms on the coastal ocean environment and biology, as well as on the human populations adjacent to these coastal regions. Thus, it has become increasingly important to determine the 3D extent of these ocean features (“plumes”) and how they evolve over time. The ocean environment is largely inaccessible to sensing directly by humans, motivating the need for robots to intelligently sense the ocean for us. In this paper, we propose the use of an autonomous underwater vehicle (AUV) network to track and predict plume shape and motion, discussing solutions to the challenges of spatiotemporal data aliasing (coverage versus resolution), underwater communication, AUV autonomy, data fusion, and coordination of multiple AUVs. A plume simulation is also developed here as the first step toward implementing behaviors for autonomous, adaptive plume tracking with AUVs, modeling a plume as a sum of Fourier orders and examining the resulting errors. This is then extended to include plume forecasting based on time variations, and future improvements and implementation are discussed.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1155/2012/191235
