Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery
Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2007.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2007
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| Online Access: | http://hdl.handle.net/1721.1/38931 |
| _version_ | 1811088201229533184 |
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| author | Jakuba, Michael Vavrousek, 1976- |
| author2 | Dana R. Yoerger. |
| author_facet | Dana R. Yoerger. Jakuba, Michael Vavrousek, 1976- |
| author_sort | Jakuba, Michael Vavrousek, 1976- |
| collection | MIT |
| description | Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2007. |
| first_indexed | 2024-09-23T13:57:52Z |
| format | Thesis |
| id | mit-1721.1/38931 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:57:52Z |
| publishDate | 2007 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/389312019-04-12T11:55:21Z Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery Jakuba, Michael Vavrousek, 1976- Dana R. Yoerger. Woods Hole Oceanographic Institution. Joint Program in Oceanography/Applied Ocean Science and Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Woods Hole Oceanographic Institution. /Woods Hole Oceanographic Institution. Joint Program in Oceanography/Applied Ocean Science and Engineering. Mechanical Engineering. Woods Hole Oceanographic Institution. Stochastic analysis Environmental monitoring Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2007. Includes bibliographical references (p. 313-325). This thesis presents a stochastic mapping framework for autonomous robotic chemical plume source localization in environments with multiple sources. Potential applications for robotic chemical plume source localization include pollution and environmental monitoring, chemical plant safety, search and rescue, anti-terrorism, narcotics control, explosive ordinance removal, and hydrothermal vent prospecting. Turbulent flows make the spatial relationship between the detectable manifestation of a chemical plume source, the plume itself, and the location of its source inherently uncertain. Search domains with multiple sources compound this uncertainty because the number of sources as well as their locations is unknown a priori. Our framework for stochastic mapping is an adaptation of occupancy grid mapping where the binary state of map nodes is redefined to denote either the presence (occupancy) or absence of an active plume source. A key characteristic of the chemical plume source localization problem is that only a few sources are expected in the search domain. The occupancy grid framework allows for both plume detections and non-detections to inform the estimated state of grid nodes in the map, thereby explicitly representing explored but empty portions of the domain as well as probable source locations. (cont.) However, sparsity in the expected number of occupied grid nodes strongly violates a critical conditional independence assumption required by the standard Bayesian recursive map update rule. While that assumption makes for a computationally attractive algorithm, in our application it results in occupancy grid maps that are grossly inconsistent with the assumption of a small number of occupied cells. To overcome this limitation, several alternative occupancy grid update algorithms are presented, including an exact solution that is computationally tractable for small numbers of detections and an approximate recursive algorithm with improved performance relative to the standard algorithm but equivalent computational cost. Application to hydrothermal plume data collected by the autonomous underwater vehicle ABE during vent prospecting operations in both the Pacific and Atlantic oceans verifies the utility of the approach. The resulting maps enable nested surveys for homing-in on seafloor vent sites to be carried out autonomously. This eliminates inter-dive processing, recharging of batteries, and time spent deploying and recovering the vehicle that would otherwise be necessary with survey design directed by human operators. by Michael V. Jakuba. Ph.D. 2007-09-28T13:12:04Z 2007-09-28T13:12:04Z 2007 2006 Thesis http://hdl.handle.net/1721.1/38931 166142007 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 325 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | /Woods Hole Oceanographic Institution. Joint Program in Oceanography/Applied Ocean Science and Engineering. Mechanical Engineering. Woods Hole Oceanographic Institution. Stochastic analysis Environmental monitoring Jakuba, Michael Vavrousek, 1976- Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title | Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title_full | Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title_fullStr | Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title_full_unstemmed | Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title_short | Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| title_sort | stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery |
| topic | /Woods Hole Oceanographic Institution. Joint Program in Oceanography/Applied Ocean Science and Engineering. Mechanical Engineering. Woods Hole Oceanographic Institution. Stochastic analysis Environmental monitoring |
| url | http://hdl.handle.net/1721.1/38931 |
| work_keys_str_mv | AT jakubamichaelvavrousek1976 stochasticmappingforchemicalplumesourcelocalizationwithapplicationtoautonomoushydrothermalventdiscovery |