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- Density measurement , Ecosystems , Lagrangian functions , Ocean temperature , Oceanographic techniques , Sea measurements , Temperature distribution , Temperature sensors , Testing , Water , bathymetry , ecology , oceanographic equipment , pressure measurement , pressure sensors , spatial variables measurement , Netburner microprocessor , altitude measurements , altitude sensor , coastal marine ecosystems , dynamic auto-ballasting system , highly varied bathymetry , piston style volume changing mechanism , pressure measurements , pressure sensor , profile sampling , rechargeable lithium ion battery system , seawater density , shallow water Lagrangian float , water densities , drifter , float , sensor platform (1)
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Articles 1 - 9 of 9
Full-Text Articles in Engineering
Sharing Landmark Information Using Mixture Of Gaussian Terrain Spatiograms, Damian M. Lyons
Sharing Landmark Information Using Mixture Of Gaussian Terrain Spatiograms, Damian M. Lyons
Faculty Publications
In this paper we evaluate the use of a novel spatial histogram called the terrain spatiogram as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity …
Combining Multiple Scoring Systems For Target Tracking Using Rank-Score Characteristics, Damian M. Lyons, D. Frank Hsu
Combining Multiple Scoring Systems For Target Tracking Using Rank-Score Characteristics, Damian M. Lyons, D. Frank Hsu
Faculty Publications
Video target tracking is the process of estimating the current state, and predicting the future state of a target from a sequence of video sensor measurements. Multitarget video tracking is complicated by the fact that targets can occlude one another, affecting video feature measurements in a highly non-linear and difficult to model fashion. In this paper, we apply a multisensory fusion approach to the problem of multitarget video tracking with occlusion. The approach is based on a data-driven method (CFA) to selecting the features and fusion operations that improve a performance criterion. Each sensory cue is treated as a scoring …
Towards Supervised Autonomous Task Completion Using An In Vivo Surgical Robot, Jason J. Dumpert
Towards Supervised Autonomous Task Completion Using An In Vivo Surgical Robot, Jason J. Dumpert
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Laparoscopy is a minimally invasive alternative to traditional abdominal surgery. Unlike traditional surgery, a laparoscopic procedure can be completed using small incisions. The use of these small incision results in reduced pain to the patient, shorter recovery times, and less trauma to skin, muscle and other tissues. However, these benefits to the patient are offset by the increased difficulty to the surgeon performing the procedure. These difficulties include reduced dexterity, reduced perception, and longer procedure times. The use of small in vivo robotic devices in minimally invasive surgery is one possible solution to these problems. The movement of these devices …
Development Of A New Lagrangian Float For Studying Coastal Marine Ecosystems, Alex Schwithal, Chris Roman
Development Of A New Lagrangian Float For Studying Coastal Marine Ecosystems, Alex Schwithal, Chris Roman
Graduate School of Oceanography Faculty Publications
This paper presents an overview and initial testing results for a shallow water Lagrangian float designed to operate in coastal settings. The presented effort addresses the two main characteristics of the shallow coastal environment that preclude the direct of use of many successfully deep water floats, namely the higher variation of water densities near the coast compared with the open ocean and the highly varied bathymetry. Our idea is to develop a high capacity dynamic auto-ballasting system that is able to compensate for the expected seawater density variation over a broad range of water temperatures and salinities while using measurements …
The 2005 Chios Ancient Shipwreck Survey: New Methods For Underwater Archaeology, Brendan P. Foley, Katerina Dellaporta, Dimitris Sakellariou, Brian S. Bingham, Richard Camilli, Ryan M. Eustice, Dionysis Evagelistis, Vicki Lynn Ferrini, Kostas Katsaros, Dimitris Kourkoumelis, Aggelos Mallios, Paraskevi Micha, David A. Mindell, Christopher Roman, Hanumant Singh, David S. Switzer, Theotokis Theodoulou
The 2005 Chios Ancient Shipwreck Survey: New Methods For Underwater Archaeology, Brendan P. Foley, Katerina Dellaporta, Dimitris Sakellariou, Brian S. Bingham, Richard Camilli, Ryan M. Eustice, Dionysis Evagelistis, Vicki Lynn Ferrini, Kostas Katsaros, Dimitris Kourkoumelis, Aggelos Mallios, Paraskevi Micha, David A. Mindell, Christopher Roman, Hanumant Singh, David S. Switzer, Theotokis Theodoulou
Graduate School of Oceanography Faculty Publications
In 2005 a Greek and American interdisciplinary team investigated two ship wrecks off the coast of Chios dating to the 4th-century B.C. and the 2nd/lst century. The project pioneered archaeological methods of precision acoustic, digital image, and chemical survey using an autonomous underwater vehicle (AUV) and in-situ sensors, increasing the speed of data acquisition while decreasing costs. The AUV recorded data revealing the physical dimensions, age, cargo, and preservation of the wrecks. The earlier wreck contained more than 350 amphoras, predominantly of Chian type, while the Hellenistic wreck contained about 40 Dressel 1C amphoras. Molecular biological analysis of two amphoras …
Sharing And Fusing Landmark Information In A Team Of Autonomous Robots, Damian M. Lyons
Sharing And Fusing Landmark Information In A Team Of Autonomous Robots, Damian M. Lyons
Faculty Publications
A team of robots working to explore and map a space may need to share information about landmarks so as register local maps and to plan effective exploration strategies. In this paper we investigate the use of spatial histograms (spatiograms) as a common representation for exchanging landmark information between robots. Each robot can use sonar, stereo, laser and image information to identify potential landmarks. The sonar, laser and stereo information provide the spatial dimension of the spatiogram in a landmark-centered coordinate frame while video provides the image information. We call the result a terrain spatiogram. This representation can be shared …
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Faculty Publications
A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In this paper we present an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduce an approach to compare real and simulated imagery and present results using this approach to locate and track objects with complex behaviors. In this …
Agent Based Modeling In Computer Graphics And Games, Brian Macnamee
Agent Based Modeling In Computer Graphics And Games, Brian Macnamee
Books/Book Chapters
As graphics technology has improved in recent years, more and more importance has been placed on the behavior of virtual characters in applications set in virtual worlds in areas such as games, movies and simulations. The behavior of virtual characters should be believable in order to create the illusion that these virtual worlds are populated with living characters. This has led to the application of agent-based modeling to the control of these virtual characters. There are a number of advantages of using agent-based modeling techniques which include the fact that they remove the requirement for hand controlling all agents in …
Gathering Cows Using Virtual Fencing Methodologies, Dean M. Anderson, Marek Doniec, Carrick Detweiler, Iuliu Vesilescu, Daniela Rus, Barbara Nolen, Roy Libeau
Gathering Cows Using Virtual Fencing Methodologies, Dean M. Anderson, Marek Doniec, Carrick Detweiler, Iuliu Vesilescu, Daniela Rus, Barbara Nolen, Roy Libeau
CSE Conference and Workshop Papers
Free-ranging livestock are classically controlled by herders. Holding, moving, or gathering free-ranging cattle requires flexible husbandry practices for efficient and effective lowstress animal management. Behavioral theory and practical experience indicates cattle can be taught to respond to auditory cues. Preliminary research has demonstrated that cows can be gathered autonomously using recorded audio cues associated with manual gathering. However, efficient gathering requires movement in the proper direction. Therefore, we believe using audio cues administered from directional virtual fencing (DVF™) equipment can facilitate proper animal orientation and facilitate the gathering of animals with minimal human intervention. Results from applying directional audio cues …