A5103085507- Underwater Acoustics Research
- Underwater Vehicles and Communication Systems
- Geology and Paleoclimatology Research
- Methane Hydrates and Related Phenomena
- Geological formations and processes
- Hydrocarbon exploration and reservoir analysis
- Maritime and Coastal Archaeology
- Atmospheric and Environmental Gas Dynamics
- Geological and Geochemical Analysis
- Space Exploration and Technology
- Marine and coastal ecosystems
- Planetary Science and Exploration
- Maritime Navigation and Safety
- earthquake and tectonic studies
- Oil Spill Detection and Mitigation
- Experimental Learning in Engineering
- Marine animal studies overview
- Marine and fisheries research
- AI-based Problem Solving and Planning
- Ocean Acidification Effects and Responses
- Robotics and Sensor-Based Localization
- Engineering and Materials Science Studies
- Marine Biology and Ecology Research
- Robotic Path Planning Algorithms
- Remote Sensing and LiDAR Applications
Ames Research Center
2000-2025
Cancer Research UK Cambridge Center
2024
Monterey Bay Aquarium Research Institute
2010-2022
University of Michigan
2020
The University of Texas at Austin
2020
American Institute of Aeronautics and Astronautics
2020
American Military Academy
2020
United States Military Academy
2020
LVR-Klinik Köln
2020
Carol I National Defence University
2020
Autonomous Underwater Vehicles (AUVs) are an increasingly important tool for oceanographic research demonstrating their capabilities to sample the water column in depths far beyond what humans capable of visiting, and doing so routinely cost-effectively. However, control these platforms date has relied on fixed sequences execution pre-planned actions limiting effectiveness measuring dynamic episodic ocean phenomenon. In this paper we present agent architecture developed overcome limitation...
In October 2001, the Monterey Bay Aquarium Research Institute (MBARI) operated an autonomous underwater vehicle (AUV) in Arctic at latitudes exceeding 80/spl deg/. The navigation instruments consisted of a ring-laser gyro inertial system (INS) coupled with DVL and GPS, separate fiber-optic-based gyro-compass, traditional flux-gate AHRS system. were tested on deck, open water, under ice. This paper describes performance these high latitudes.
Abstract Morphologic features, 600–1100 m across and elevated up to 30 above the surrounding seafloor, interpreted be mud volcanoes were investigated on continental slope in Beaufort Sea Canadian Arctic. Sediment cores, detailed mapping with an autonomous underwater vehicle, exploration a remotely operated vehicle show that these are young actively forming features experiencing ongoing eruptions. Biogenic methane low‐chloride, sodium‐bicarbonate‐rich waters extruded warm sediment accumulates...
Multibeam (1 m resolution) and side scan data collected from an autonomous underwater vehicle, lava samples, radiocarbon‐dated sediment cores, observations of flow contacts by remotely operated vehicle were combined to reconstruct the geologic history emplacement processes on Axial Seamount's summit upper rift zones. The maps show 52 post‐410 CE flows 20 precaldera as old 31.2 kyr, inferred age caldera. Clastic deposits 1–2 thick accumulated rims postcaldera. Between 31 ka 410 CE, there are...
Abstract Hydrothermal vent fields located in the gap between known sites Guaymas Basin and 21°N on East Pacific Rise were discovered Alarcón southern Pescadero Basin. The spreading segment was mapped at 1‐m resolution by an autonomous underwater vehicle. Individual chimneys identified using bathymetric data. Vent interpreted as active from temperature anomalies water column data observed sampled during remotely operated vehicle dives. Ja Sít, Pericú, Meyibó are near eruptive fissure of...
Predicting when and where key oceanic processes will be encountered is problematic in dynamic coastal waters diverse physical, chemical, biological factors interact varied rapidly changing combinations. Defining often requires efficient sampling of specific water masses prompt sample return for subsequent analyses. This compound challenge motivated our efforts to develop mobile autonomous process (MAPS) use with underwater vehicles (AUVs). With this system, features are recognized by...
High-resolution (1.5 m) mapping from the autonomous underwater vehicle (AUV) D. Allan B. of West Mata Volcano in northern Lau Basin is used to identify processes that construct and modify volcano. The surface consists largely volcaniclastic debris forms smooth slopes NW SE, with smaller lava flows forming gently sloping plateaus concentrated along ENE WSW rift zones, more elongate radiating summit. Two active volcanic vents, Prometheus Hades, are located ∼50 ∼150 m 1159 summit, respectively,...
Abstract During the Gulf of Mexico Oil Spill Response Scientific Survey on National Oceanic and Atmospheric Administration Ship Gordon Gunter Cruise GU‐10‐02 (27 May–4 June 2010), a Monterey Bay Aquarium Research Institute autonomous underwater vehicle (AUV) was deployed to make high‐resolution surveys water column in targeted areas. There were 10 2‐liter samplers AUV for acquiring samples. An essential challenge how autonomously trigger when peak hydrocarbon signals detected. In ship...
Abstract High‐resolution bathymetric surveys from autonomous underwater vehicles ABE and D. Allan B . were merged to create a coregistered map of 71.7 km 2 the Endeavour Segment Juan de Fuca Ridge. Radiocarbon dating foraminifera in cores three dives remotely operated vehicle Doc Ricketts provide minimum eruption ages for 40 lava flows that are combined with data outline eruptive tectonic history. The range Modern 10,700 marine‐calibrated years before present (yr BP). During robust magmatic...
Benthopelagic animals are an important component of the deep-sea ecosystem, yet notoriously difficult to study. Multibeam echosounders (MBES) deployed on autonomous underwater vehicles (AUVs) represent a promising technology for monitoring this elusive fauna at relatively high spatial and temporal resolution. However, application remote-sensing study small (relative sampling resolution), dispersed mobile depth does not come without significant challenges with respect data collection,...
High-resolution multibeam bathymetry data collected with an autonomous underwater vehicle (AUV) complemented by compressed high-intensity radar pulse (Chirp) profiles and remotely operated (ROV) observations sediment sampling reveal a distinctive rough topography associated seafloor gas venting and/or near-subsurface hydrate accumulations. The surveys provide 1 m bathymetric grids of deep-water sites along the best-known areas Pacific margin North America, which is unprecedented level...
The original Odyssey vehicle systems established a style of platform that has proven to be extremely versatile and useful for variety scientific missions. Monterey Bay Aquarium Research Institute (MBARI) carried forward the design, now called Dorado. Dorado is mid-sized in comparison other AUV systems. vehicles are 0.5334 m (21") diameter, designed deep water (4500 m) operation. design improves upon versatility by dividing up into modular sections. Specific sections can then built carry out...
A hierarchy of planning strategies is proposed and explained for a walking robot called the Ambler. The decomposes into levels trajectory, gait, footfall. An abstraction feasible traversability allows Ambler's trajectory planner to identify acceptable trajectories by finding paths that guarantee footfalls without specifying exactly which footfalls. Leg body moves achieve this can be generated gait planner, incorporates pattern constraints measures utility search best next move. By combining...
The Monterey Bay Aquarium Research Institute (MBARI) has developed an autonomous seafloor mapping capability for high resolution of the deep ocean seafloor. MBARI Mapping AUV is a 21" diameter, Dorado class underwater vehicle (AUV) equipped with 200 kHz multibeam sonar, 110 and 410 sidescan sonars, 2-16 subbottom profiler. All components are rated to 6000 m depth. Using precise navigation attitude data from laser-ring-gyro-based inertial system (INS) integrated Doppler velocity log sonar...
Abstract Flipping the Engineering Classroom: Results and Observations with Non-engineering Students a classroom is an innovative teaching method in itself. This facesadditional challenges when students are not actually engineering majors. The purpose of thispaper to discuss development, implementation, assessment flipped for athermal-fluids course non-engineering Problem solving critical component education; studentcannot only read problem statements or solely attend lecture. However,...
Nomad was deployed for a 45 day traverse in the Atacama Desert, Chile, during summer of 1997. During this traverse, 1 week devoted to science experiments. The goal experiments test different planetary surface exploration strategies that included (1) Mars mission simulation, (2) on fly experiment, where rover kept moving 75% operation time. (The determine whether or not successful interpretation environment is related time spent target. role mobility helping also assessed.) (3) meteorite...
A terrestrial geologist investigates an area by systematically moving among and inspecting surface features, such as outcrops, boulders, contacts faults. planetary must explore remotely use a robot to approach image features. To date, position-based control has been developed accomplish this task. This method requires accurate estimate of the feature position, frequent update robot's position. In practice is error prone, since it relies on interpolation continuous integration data from...
We report on a field experiment held near Silver Lake playa in the Mojave Desert February 1999 with Marsokhod rover. The payload (Descent Imager, PanCam, Mini‐TES, and Robotic Arm Camera), data volumes, transmission/receipt windows simulated those planned for Mars Surveyor mission selected 2001. A central mast pan tilt platform at 150 cm height carried high‐resolution color stereo imager to simulate PanCam visible/near‐infrared fiberoptic spectrometer (operating range 0.35–2.5 μm)....
Abstract The Endeavour Segment of the Juan de Fuca Ridge is well known for its abundance hydrothermal vents and chimneys. One‐meter scale multibeam mapping data collected by an autonomous undersea vehicle revealed 572 chimneys along central 14 km segment, although only 47 are named to be active. Hydrothermal deposits restricted axial graben near‐rims above a seismically mapped magma lens. sparse eruptive activity on segment during last 4,300 years has not buried inactive chimneys, as occurs...