The 2005 Chios Ancient Shipwreck Survey: New Methods for Underwater Archaeology

Foley, Brendan; Dellaporta, Katerina; Sakellariou, D.; Bingham, Brian; Camilli, Richard; Eustice, Ryan M.; Dionysis, Evagelistis,; Ferrini, V. L.; Katsaros, Kostas; Kourkoumelis, Dimitris; Mallios, Angelos; Micha, Paraskevi; Mindell, David A.; Roman, Christopher; Singh, Hanumant; Switzer, David S.; Theodoulou, Theotokis

doi:10.2972/hesp.78.2.269

Cited by 59 publications

(51 citation statements)

References 33 publications

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“…AUVs enable scientists from across the oceanographic disciplines to answer questions about the health of our nation's fisheries [121] or learn the secrets of ancient ship and airplane wrecks [35]. AUVs have operated in environments as diverse as lively Puerto Rican coral reefs [4], the world's longest aqueduct [112], hydrothermal vents along the mid-oceanic ridges [133], and the Arctic seafloor [107].…”

Section: Autonomous Underwater Explorationmentioning

confidence: 99%

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Murphy¹

2012

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As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface observers remains a significant challenge -as a result, current telemetry from free-roaming autonomous marine vehicles remains limited to 'heartbeat' status messages, with minimal scientific data available until after recovery. Increasing the challenge, longdistance communication may require relaying data across multiple acoustic hops between vehicles, yet fixed infrastructure is not always appropriate or possible.In this thesis I present an analysis of the unique considerations facing telemetry systems for free-roaming Autonomous Underwater Vehicles (AUVs) used in exploration. These considerations include high-cost vehicle nodes with persistent storage and significant computation capabilities, combined with human surface operators monitoring each node. I then propose mechanisms for interactive, progressive communication of data across multiple acoustic hops. These mechanisms include wavelet-based embedded coding methods, and a novel image compression scheme based on texture classification and synthesis. The specific characteristics of underwater communication channels, including high latency, intermittent communication, the lack of instantaneous end-to-end connectivity, and a broadcast medium, inform these proposals. Human feedback is incorporated by allowing operators to identify segments of data that warrant higher quality refinement, ensuring efficient use of limited throughput. I then analyze the performance of these mechanisms relative to current practices.Finally, I present CAPTURE, a telemetry architecture that builds on this analysis. CAPTURE draws on advances in compression and delay tolerant networking to enable progressive transmission of scientific data, including imagery, across mul-3 tiple acoustic hops. In concert with a physical layer, CAPTURE provides an endto-end networking solution for communicating science data from autonomous marine vehicles. Automatically selected imagery, sonar, and time-series sensor data are progressively transmitted across multiple hops to surface operators. Human operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction. The components of this system are then demonstrated through three field trials in diverse environments on SeaBED, OceanServer and Bluefin AUVs, each in different software architectures.

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Section: Autonomous Underwater Explorationmentioning

confidence: 99%

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Murphy¹

2012

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“…The first of the three PeRL research domains, real-time vision-based SLAM algorithms [1]- [4], has direct application to ship-hull inspection [5] and deep sea archaeological missions [6]. Present day means for ship hull and port facility inspection require either putting divers in the water or piloting a remotely operated vehicle (ROV) over the area of interestboth of which are manpower intensive and generally cannot guarantee 100% survey coverage.…”

Section: A Real-time Visual Slammentioning

confidence: 99%

An overview of AUV algorithms research and testbed at the University of Michigan

Eustice

Brown

Kim

2008

2008 IEEE/OES Autonomous Underwater Vehicles

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Abstract-This paper provides a general overview of the autonomous underwater vehicle (AUV) research projects being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research thrust is centered around improving AUV autonomy via algorithmic advancements in sensor-driven perceptual feedback for environmentally-based real-time mapping, navigation, and control. In this paper we discuss our three major research areas of: (1) real-time visual simultaneous localization and mapping (SLAM); (2) cooperative multi-vehicle navigation; and (3) perception-driven control. Pursuant to these research objectives, PeRL has acquired and significantly modified two commercial off-the-shelf (COTS) Ocean-Server Technology, Inc. Iver2 AUV platforms to serve as a real-world engineering testbed for algorithm development and validation. Details of the design modification, and related research enabled by this integration effort, are discussed herein.

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“…Creating accurate photographic and bathymetric maps of the sea floor, and particularly archaeological sites, with robotic vehicles is a challenging task [1], [2], [3]. The accuracy requirements, set by the archaeological communities' experience with detailed land based surveys and numerous prior underwater surveys completed with SCUBA divers, demands better than centimeter level precision over spatial scales of 100's of square meters.…”

Section: Introductionmentioning

confidence: 99%

Application of structured light imaging for high resolution mapping of underwater archaeological sites

Roman

Inglis

Rutter

2010

Oceans'10 Ieee Sydney

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Abstract-This paper presents results from recent work using structured light laser profile imaging to create high resolution bathymetric maps of underwater archaeological sites. Documenting the texture and structure of submerged sites is a difficult task and many applicable acoustic and photographic mapping techniques have recently emerged. This effort was completed to evaluate laser profile imaging in comparison to stereo imaging and high frequency multibeam mapping. A ROV mounted camera and inclined 532 nm sheet laser were used to create profiles of the bottom that were then merged into maps using platform navigation data. These initial results show very promising resolution in comparison to multibeam and stereo reconstructions, particularly in low contrast scenes. At the test sites shown here there were no significant complications related to scattering or attenuation of the laser sheet by the water. The resulting terrain was gridded at 0.25 cm and shows overall centimeter level definition. The largest source of error was related to the calibration of the laser and camera geometry. Results from three small areas show the highest resolution 3D models of a submerged archaeological site to date and demonstrate that laser imaging will be a viable method for accurate three dimensional site mapping and documentation.

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The 2005 Chios Ancient Shipwreck Survey: New Methods for Underwater Archaeology

Cited by 59 publications

References 33 publications

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

An overview of AUV algorithms research and testbed at the University of Michigan

Application of structured light imaging for high resolution mapping of underwater archaeological sites

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