Chemical plume tracing experimental results with a REMUS AUV

Farrell, Jay A.; Pang, Shuo; Li, W.; Arrieta, Richard

doi:10.1109/oceans.2003.178458

Cited by 82 publications

(71 citation statements)

References 27 publications

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“…For example, the REMUS (Remote Environmental Monitoring UnitS) AUV built by Hydroid has been used to make a variety of biological, chemical, and physical measurements in the near-shore environment. REMUS has been used to measure properties including scale-dependent dispersion on the continental shelf (Fong and Stacey 2003), bioluminescence (Moline et al 2005), and turbulence microstructure (Hayes and Morison 2002;Levine et al 2002, Goodman et al 2006, and also to successfully track chemical plumes using an adaptive mission planner (Farrell et al 2003(Farrell et al , 2005. More recently, investigators have used the vehicle to deduce bottom roughness characteristics (G. Pawlak, personal communication), quantify sand ripple structure (P. Traykovski, personal communication), and measure chlorophyll a concentrations (N. Jones, unpublished data).…”

Section: Introductionmentioning

confidence: 99%

“…Very little published work has discussed or exploited the latter capability, however. One exception is the recent work of Farrell et al (2005), who used the measured water velocities by the upward and downward DVL ADCPs on a REMUS AUV to infer upstream and downstream plume advection and track a chemical plume. Nevertheless, Farrell et al (2005) did not rigorously compare the reported DVL velocities with any other reference measurements.…”

Section: Introductionmentioning

confidence: 99%

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Evaluation of AUV-based ADCP measurements

Fong

Jones

2006

Limnol. Oceanogr. Methods

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Recent development and commercialization of relatively portable and inexpensive autonomous underwater vehicles (AUVs) have led to new methods for making hydrodynamic, chemical, and biological measurements in near-coastal, lake, and estuarine systems. Equipped with Doppler velocity log (DVL) technology to allow for deadreckoning navigation, this new class of AUVs has the potential to log not only vehicle motions, but water velocities as well. In this article, we assess the performance of the DVL acoustic Doppler current profiler (ADCP) equipped on the REMUS AUV (Hydroid) in three different environments: a tidally forced lake; a wave-forced, near-shore fringing coral reef; and a gently sloping continental shelf. In all three data sets, the water velocities measured by the AUV DVL compare favorably with measurements from nearby stationary acoustic Doppler current profilers. Nevertheless, the water velocity component measured parallel to the vehicle's tracks exhibited a bias in the direction of AUV motion, consistent with a previously reported bias found for the ship-mounted ADCP application in low-scattering environments. The fringing reef data suggest that DVLs are capable of partially resolving wave motions.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Evaluation of AUV-based ADCP measurements

Fong

Jones

2006

Limnol. Oceanogr. Methods

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“…A first CPT algorithm, described with experimental results in (Farrell et al, 2003), was tested at San Clemente Island (SCI) CA in September 2002 and at SCI in November 2002. Based on the results of those tests, the Find, Reacquire, and Source Declaration behaviors were revised and the post-declaration maneuvers were added.…”

Section: Field Test Resultsmentioning

confidence: 99%

Chemical Signal Guided Autonomous Underwater Vehicle

Pang¹

2009

Underwater Vehicles

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“…Real time adaptive sampling has been suggested as a way to improve the efficiency in the sampling process, by concentrating the measurements in a region of interest identified according to the local characteristics of the scalar field being measured by the vehicle (Consi et al, 1994;Burian et al, 1996;Willcox et al, 2001). However, only recently the first steps were taken towards implementation of adaptive sampling strategies on AUVs (Barat and Rendas, 2003;Bachmayer and Leonard, 2002;Farrell et al, 2003). Such an approach exploits the onboard computational power to make assumptions about the oceanographic environment and to react to this environment by making decisions about the best sampling strategy to use.…”

Section: Sensor Based Missionsmentioning

confidence: 99%

Small size AUVs: operation results and new mission concepts 1

Cruz

Matos

Sousa

2004

IFAC Proceedings Volumes

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The number of successful missions with autonomous underwater vehicles (AUVs) has been increasing steadily during the last few years, validating this emerging technology as an efficient tool for underwater sampling. At the same time it has served to envisage their operation in more demanding scenarios. This paper presents results from environment monitoring missions with an AUV and new mission concepts for the operation of one or multiple AUVs. These new concepts are the natural evolution of previous work and also the response to the requirements of some of the identified scenarios. For each type of mission, solutions for navigation, control, coordination, and communications are presented.

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Chemical plume tracing experimental results with a REMUS AUV

Cited by 82 publications

References 27 publications

Evaluation of AUV-based ADCP measurements

Evaluation of AUV-based ADCP measurements

Chemical Signal Guided Autonomous Underwater Vehicle

Small size AUVs: operation results and new mission concepts 1

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