Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles
Oceanic fronts, similar to atmospheric fronts, occur at the interface of two fluid (water) masses of varying characteristics. In regions such as these where there are quantifiable physical, chemical, or biological changes in the ocean environment, it is possible - with the proper instrumentation - t...
| Main Authors: | , , , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2017
|
| Online Access: | http://hdl.handle.net/1721.1/107817 https://orcid.org/0000-0003-3422-8700 https://orcid.org/0000-0002-1869-3883 https://orcid.org/0000-0002-2883-7027 |
| _version_ | 1811077639654342656 |
|---|---|
| author | Petillo, Stephanie Yoerger, Dana Balasuriya, Arjuna Schmidt, Henrik Lermusiaux, Pierre Petillo, Stephanie Marie |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Petillo, Stephanie Yoerger, Dana Balasuriya, Arjuna Schmidt, Henrik Lermusiaux, Pierre Petillo, Stephanie Marie |
| author_sort | Petillo, Stephanie |
| collection | MIT |
| description | Oceanic fronts, similar to atmospheric fronts, occur at the interface of two fluid (water) masses of varying characteristics. In regions such as these where there are quantifiable physical, chemical, or biological changes in the ocean environment, it is possible - with the proper instrumentation - to track, or map, the front boundary. In this paper, the front is approximated as an isotherm that is tracked autonomously and adaptively in 2D (horizontal) and 3D space by an autonomous underwater vehicle (AUV) running MOOS-IvP autonomy. The basic, 2D (constant depth) front tracking method developed in this work has three phases: detection, classification, and tracking, and results in the AUV tracing a zigzag path along and across the front. The 3D AUV front tracking method presented here results in a helical motion around a central axis that is aligned along the front in the horizontal plane, tracing a 3D path that resembles a slinky stretched out along the front. To test and evaluate these front tracking methods (implemented as autonomy behaviors), virtual experiments were conducted with simulated AUVs in a spatiotemporally dynamic MIT MSEAS ocean model environment of the Mid-Atlantic Bight region, where a distinct temperature front is present along the shelfbreak. A number of performance metrics were developed to evaluate the performance of the AUVs running these front tracking behaviors, and the results are presented herein. |
| first_indexed | 2024-09-23T10:46:14Z |
| format | Article |
| id | mit-1721.1/107817 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:46:14Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1078172022-09-27T14:53:57Z Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles Petillo, Stephanie Yoerger, Dana Balasuriya, Arjuna Schmidt, Henrik Lermusiaux, Pierre Petillo, Stephanie Marie Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Ocean Engineering Schmidt, Henrik Lermusiaux, Pierre Petillo, Stephanie Marie Oceanic fronts, similar to atmospheric fronts, occur at the interface of two fluid (water) masses of varying characteristics. In regions such as these where there are quantifiable physical, chemical, or biological changes in the ocean environment, it is possible - with the proper instrumentation - to track, or map, the front boundary. In this paper, the front is approximated as an isotherm that is tracked autonomously and adaptively in 2D (horizontal) and 3D space by an autonomous underwater vehicle (AUV) running MOOS-IvP autonomy. The basic, 2D (constant depth) front tracking method developed in this work has three phases: detection, classification, and tracking, and results in the AUV tracing a zigzag path along and across the front. The 3D AUV front tracking method presented here results in a helical motion around a central axis that is aligned along the front in the horizontal plane, tracing a 3D path that resembles a slinky stretched out along the front. To test and evaluate these front tracking methods (implemented as autonomy behaviors), virtual experiments were conducted with simulated AUVs in a spatiotemporally dynamic MIT MSEAS ocean model environment of the Mid-Atlantic Bight region, where a distinct temperature front is present along the shelfbreak. A number of performance metrics were developed to evaluate the performance of the AUVs running these front tracking behaviors, and the results are presented herein. United States. Office of Naval Research (Awards N00014-11-1-0097 and N00014-14-1-0214) 2017-04-03T14:09:36Z 2017-04-03T14:09:36Z 2015-05 2015-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-8736-8 http://hdl.handle.net/1721.1/107817 Petillo, Stephanie et al. “Autonomous & Adaptive Oceanographic Front Tracking on Board Autonomous Underwater Vehicles.” IEEE, 2015. 1–10. https://orcid.org/0000-0003-3422-8700 https://orcid.org/0000-0002-1869-3883 https://orcid.org/0000-0002-2883-7027 en_US http://dx.doi.org/10.1109/OCEANS-Genova.2015.7271616 Proceedings of IEEE OCEANS '15 Conference Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | Petillo, Stephanie Yoerger, Dana Balasuriya, Arjuna Schmidt, Henrik Lermusiaux, Pierre Petillo, Stephanie Marie Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title | Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title_full | Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title_fullStr | Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title_full_unstemmed | Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title_short | Autonomous & adaptive oceanographic front tracking on board autonomous underwater vehicles |
| title_sort | autonomous adaptive oceanographic front tracking on board autonomous underwater vehicles |
| url | http://hdl.handle.net/1721.1/107817 https://orcid.org/0000-0003-3422-8700 https://orcid.org/0000-0002-1869-3883 https://orcid.org/0000-0002-2883-7027 |
| work_keys_str_mv | AT petillostephanie autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles AT yoergerdana autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles AT balasuriyaarjuna autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles AT schmidthenrik autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles AT lermusiauxpierre autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles AT petillostephaniemarie autonomousadaptiveoceanographicfronttrackingonboardautonomousunderwatervehicles |