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Distributed Estimation of the Pelagic Scattering Layer Using a Buoyancy Controlled Robotic System

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Dynamic Data Driven Applications Systems (DDDAS 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13984))

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Abstract

This paper formulates a strategy for Driftcam, an ocean-going robot system, to observe and track the motion of an ocean biological phenomenon called the pelagic scattering layer, which consists of organisms that migrate vertically in the water column once per day. Driftcam’s horizontal motion is determined by the flow field and the vertical motion is regulated by onboard buoyancy control. In order to observe the evolution of the scattering layer, an ensemble Kalman filter is applied to estimate organism density; the density dynamics are propagated using the Perron-Frobenius operator. Multiple Driftcam are subject to depth regulation by open-loop and closed-loop controllers; a control strategy is proposed to track the peak of the density. Numerical simulations illustrate the efficacy of this strategy and motivate ongoing and future efforts to design a coordination formation algorithm for multi-agent Driftcam system to track the motion of the scattering layer, with implications for ocean monitoring.

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Notes

  1. 1.

    https://en.wikipedia.org/wiki/Deep_scattering_layer.

  2. 2.

    https://oceanexplorer.noaa.gov/technology/development-partnerships/21scattering-layer/features/scattering-layer/scattering-layer.html.

  3. 3.

    https://ocean.si.edu/ecosystems/deep-sea/deep-sea.

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Authors and Affiliations

  1. Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA

    Cong Wei & Derek A. Paley

  2. Department of Aerospace Engineering, University of Maryland, College Park, MD, 20742, USA

    Derek A. Paley

Authors
  1. Cong Wei
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  2. Derek A. Paley
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Correspondence to Cong Wei .

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Editors and Affiliations

  1. MOVEJ Analytics, Fairborn, OH, USA

    Erik Blasch

  2. InfoSymbiotic Systems Society, Bethesda, MD, USA

    Frederica Darema

  3. Air Force Research Laboratories, Canastota, NY, USA

    Alex Aved

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Wei, C., Paley, D.A. (2024). Distributed Estimation of the Pelagic Scattering Layer Using a Buoyancy Controlled Robotic System. In: Blasch, E., Darema, F., Aved, A. (eds) Dynamic Data Driven Applications Systems. DDDAS 2022. Lecture Notes in Computer Science, vol 13984. Springer, Cham. https://doi.org/10.1007/978-3-031-52670-1_25

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  • DOI: https://doi.org/10.1007/978-3-031-52670-1_25

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  • Online ISBN: 978-3-031-52670-1

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