These aquatic robots can be instrumental in detecting occurs suns of invasive species into protected area, either organically over time or through attachment to the halls of ships that travel from other area where species is prevalent. Aquatic robots can deployed for standalone tasks such as ship hall inspection reef monitoring by common wealth Scientific and Industrial Research Organization (CSIRO) star bug or sample collecting by Monterey Bay Aquarium Research institute (MBARI) Gulper or be used along side static sensor net works such as data mules and mobile nodes with high-value sensor payloads. A CSIRO ASV can be used as a mobile node for water quality monitoring to detect HAB in water storage reservoir connected to a longer, floating static sensor network.
Aquatic robots can carry underwater vision and sonar sensors to detect and characterize submerged biosecurity threats. Although most shallow water biosecurity surveillance is currently being done by divers, robotic solutions based on Remotely operated vehicles are now emerging for submerged biosecurity threats. Although most shallow water biosecurity surveillance is currently being done by divers, robotic solutions base on Remotely operated vehicles are now emerging for submerged port inspection and in-water ship hall inspection and applications, to prevent the introduction of invasive species R can operate at almost any depth, perform in high-resolution survey of an area of interest and perform interventional tasks. However, these require permanent connection to a surface vessel or larger AUV by a tether, constraining their maximum operation range, as in the case of the Roving Bat.
AUVS are more suitable for tracking biosecurity event as they can cover a spatial scale of the order of 1-20km2 in range with a resolution of few centimeters and do not require tethering to another vessel, allowing them to freely maneuver during a mission. They can explore the seafloor with no gaps in deep or shallow water, to onset submerged structures or ship hills, take samples of harmful algae blooms. AUV mission duration is usually constrained by their endurance.
Table 1: Mission parameters for study of algal
blooms by a UAV.
|
Parameter
|
Algal blooms
|
|
Knowledge goal
|
· Determine the existence and location of potential algal blooms
· Direct the deployment of AUVs and ASVs for in-situ
measurements
· Secondary data product
|
|
Target characteristics
|
· Bloom’s location, size, and temporal aspects all unknown
· Best identified by some color variation
|
|
Measurement characteristic
|
· Visual spectrum
·Looking for meta-scale properties such as color contrast
|
|
Operator interaction
|
· Define search area
· Providing visual feedback via identification
· Behavior modification after discovery
|
|
Coverage and navigation requirements
|
· Rapid coverage of large areas
· Low spatial accuracy required
|
|
Data processing
|
· Mosaicking based on navigation data
· Limited image processing for partial bloom recognition
|
Source: (Achtelik, 2009).
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