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Proceedings Paper

Cooperative aquatic sensing using the telesupervised adaptive ocean sensor fleet
Author(s): John M. Dolan; Gregg W. Podnar; Stephen Stancliff; Kian Hsiang Low; Alberto Elfes; John Higinbotham; Jeffrey Hosler; Tiffany Moisan; John Moisan
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Paper Abstract

Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth's climate and ecology. Typical ocean sensing is done with satellites or in situ buoys and research ships which are slow to reposition. Cloud cover inhibits study of localized transient phenomena such as Harmful Algal Blooms (HAB). A fleet of extended-deployment surface autonomous vehicles will enable in situ study of characteristics of HAB, coastal pollutants, and related phenomena. We have developed a multiplatform telesupervision architecture that supports adaptive reconfiguration based on environmental sensor inputs. Our system allows the autonomous repositioning of smart sensors for HAB study by networking a fleet of NOAA OASIS (Ocean Atmosphere Sensor Integration System) surface autonomous vehicles. In situ measurements intelligently modify the search for areas of high concentration. Inference Grid and complementary information-theoretic techniques support sensor fusion and analysis. Telesupervision supports sliding autonomy from high-level mission tasking, through vehicle and data monitoring, to teleoperation when direct human interaction is appropriate. This paper reports on experimental results from multi-platform tests conducted in the Chesapeake Bay and in Pittsburgh, Pennsylvania waters using OASIS platforms, autonomous kayaks, and multiple simulated platforms to conduct cooperative sensing of chlorophyll-a and water quality.

Paper Details

Date Published: 9 September 2009
PDF: 12 pages
Proc. SPIE 7473, Remote Sensing of the Ocean, Sea Ice, and Large Water Regions 2009, 747307 (9 September 2009); doi: 10.1117/12.830483
Show Author Affiliations
John M. Dolan, Carnegie Mellon Univ. (United States)
Gregg W. Podnar, Carnegie Mellon Univ. (United States)
Stephen Stancliff, Carnegie Mellon Univ. (United States)
Kian Hsiang Low, Carnegie Mellon Univ. (United States)
Alberto Elfes, Jet Propulsion Lab. (United States)
John Higinbotham, Emergent Space Technologies, Inc. (United States)
Jeffrey Hosler, NASA Goddard Space Flight Ctr. (United States)
Tiffany Moisan, NASA Goddard Space Flight Ctr. Wallops Flight Facility (United States)
John Moisan, NASA Goddard Space Flight Ctr. Wallops Flight Facility (United States)

Published in SPIE Proceedings Vol. 7473:
Remote Sensing of the Ocean, Sea Ice, and Large Water Regions 2009
Charles R. Bostater; Stelios P. Mertikas; Xavier Neyt; Miguel Velez-Reyes, Editor(s)

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