Engineering Commons^™

Self Consistent Bathymetric Mapping Using Sub-Maps: Survey Results From The Tag Hydrothermal Structure, C. Roman, R. Reves-Sohn, H. Singh, S. Humphris

Christopher N. Roman

The spatial resolution of microbathymetry maps created using robotic vehicles such as ROVs, AUVs and manned submersibles in the deep ocean is currently limited by the accuracy of the vehicle navigation data. Errors in the vehicle position estimate commonly exceed the ranging errors of the acoustic mapping sensor itself, which creates inconsistency in the map making process and produces artifacts that lower resolution and distort map integrity. We present a methodology for producing self-consistent maps and improving vehicle position estimation by exploiting accurate local navigation and utilizing terrain relative measurements. The complete map is broken down into individual "sub-maps'', which …

High-Resolution Sonar Surveying: Techniques And Strategies For Improved Micro-Bathymetic Mapping, Vicki Ferrini, D. Fornari, T. Shank, D. Kelley, M. Tivey, S. Carbotte, D. Glickson, C. Roman, A. Sterling

Christopher N. Roman

No abstract provided.

Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh

Christopher N. Roman

This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …

Citizen Based Public Health Surveillance, Monitoring And Post-Event Assessments, Thomas Lyons Carr Iii

Thomas Lyons (Thom) Carr III Appl.Sc., CEM

When a sudden on-set emergency or disaster affects a region or the whole country, communities and neighborhoods should plan for the possibility that emergency and other civic services will be disrupted and unavailable (District of Columbia 2003a, 2003b, 2004; Doyle 2004; Siskiyou County Public Health/NorCalBT.com 2004). The event may be severe enough that the routine public health surveillance and monitoring system will be disrupted or the system will not be able to provide data quickly enough to support state and local decisionmaking. A temporary post-disaster system should be planned for and implemented. The epidemiologist supporting the local decision makers must …

What Communities Should Do Pre-Event To Support Public Health Post-Event Assessments, Surveillance And Monitoring, Thomas Lyons Carr Iii

Thomas Lyons (Thom) Carr III Appl.Sc., CEM

[Abstract written March 2008, TLC] Under worst-case planning assumptions used by some major metropolitan areas, a Neighbor-to-Neighbor self-help program model is the primary link between citizens and the professional response personnel of the responsible government agencies.

In the Neighbor-to-Neighbor self-help program model or a Community Emergency Management Plan (CEMP) calls on the citizens in neighborhoods to identify and establish cluster emergency preparedness committees, Cluster Emergency Coordination Centers (CECC) and Community Emergency Response Teams (CERT). Missing from these plans or what is not articulated is how constant Public Health Post-Event Surveillance, Monitoring and Assessments will be done. Given the worst-case planning …

Constraint Programming, John Hooker

John Hooker

No abstract provided.

Runoff Production In The Upper Rio Chagres Watershed, Panama, Fred Ogden

Fred L. Ogden

Runoff production in tropical watersheds is governed by a wide variety of potential sources and there have been few rigorous studies to date. The 414 km2 upper Río Chagres basin offers a unique opportunity to better understand the runoff production mechanisms in tropical watersheds through data analysis and modeling with rainfall and runoff data. Flow data and tipping bucket rain gage data are available at both the basin outlet (Chico gage) and for an 80.6 km2 internal basin location (Piedras gage). Modeling is performed using the Sacramento Soil Moisture Accounting Model (SAC-SMA), calibrated using data from 2000 and verified using …

Platform Thinking In Embedded Systems, Robert Iannucci

Robert A Iannucci

No abstract provided.

Advances In High Resolution Imaging From Underwater Vehicles, Hanumant Singh, Christopher Roman, Oscar Pizarro, Ryan Eustice

Christopher N. Roman

Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper we present advances that exploit consistency and redundancy within local sensor measurements to build high resolution optical and acoustic maps that are a consistent representation of the environment.

We present our work in the context of real world data acquired using Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) working in diverse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic …