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A Machine Learning, Multi-Band Spectral Reflectance Clustering Approach for Examining Physical Transformations in Landfast Sea Ice Environments Affected by Spring Freshets

SSRN

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SSRN 2025年

作者： Catipovic, Luka Laney, Samuel R. Woods Hole Oceanographic Institution Woods HoleMA United States The MIT-WHOI Joint Program in Oceanography/Applied Ocean Science and Engineering Cambridge and Woods Hole MA United States City College of New York New YorkNY United States

Highlights• ML algorithms can classify water and sea ice characteristics in the coastal Arctic.• Spring freshet runoff over sea ice is optically distinct from surface melt ponds.• Time-series analyses of satellite ima... 详细信息

关键词： Sea ice

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Distributed Certifiably Correct Range-Aided SLAM

arXiv

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arXiv 2025年

作者： Thoms, Alexander Papalia, Alan Velasquez, Jared Rosen, David M. Narasimhan, Sriram Sensing and Robotics for Infrastructure Laboratory University of California Los Angeles Los Angeles United States The Massachusetts Institute of Technology The MIT-WHOI Joint Program in Oceanography/Applied Ocean Science & Engineering Woods Hole CambridgeMA United States Robust Autonomy Lab Northeastern University BostonMA United States

Reliable simultaneous localization and mapping (SLAM) algorithms are necessary for safety-critical autonomous navigation. In the communication-constrained multi-agent setting, navigation systems increasingly use point-to-point range sensors as they afford measurements with low bandwidth requirements and known data association. The state estimation problem for these systems takes the form of range-aided (RA) SLAM. However, distributed algorithms for solving the RA-SLAM problem lack formal guarantees on the quality of the returned estimate. To this end, we present the first distributed algorithm for RA-SLAM that can efficiently recover certifiably globally optimal solutions. Our algorithm, distributed certifiably correct RA-SLAM (DCORA), achieves this via the Riemannian Staircase method, where computational procedures developed for distributed certifiably correct pose graph optimization are generalized to the RA-SLAM problem. We demonstrate DCORA’s efficacy on real-world multi-agent datasets by achieving absolute trajectory errors comparable to those of a state-of-the-art centralized certifiably correct RA-SLAM algorithm. Additionally, we perform a parametric study on the structure of the RA-SLAM problem using synthetic data, revealing how common parameters affect DCORA’s performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Navigation systems

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Corrigendum to “Biochemical implications of the Bottom Boundary Layer Detachment at the Mid-Atlantic Bight shelf-break front” [Continent. Shelf Res. 286 (2025) 105408]

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Continental Shelf Research 2025年 288卷

作者： Serena Negroni Dennis J. McGillicuddy Glen G. Gawarkiewicz Paolo Oddo Nadia Pinardi Department of Physics and Astronomy (DIFA) University of Bologna Bologna 40126 Italy MIT/WHOI Joint Program in Oceanography/Applied Ocean Sciences and Engineering Woods Hole 02543 MA USA Woods Hole Oceanographic Institution Woods Hole 02543 MA USA

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CUREE: A Curious Underwater Robot for Ecosystem Exploration

CUREE: A Curious Underwater Robot for Ecosystem Exploration

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yogesh Girdhar Nathan McGuire Levi Cai Stewart Jamieson Seth McCammon Brian Claus John E. San Soucie Jessica E. Todd T. Aran Mooney Woods Hole Oceanographic Institution (WHOI) MIT-WHOI Joint Program in Oceanography/Applied Ocean Science and Engineering

The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full variation and complexity of interactions between different reef organisms and their habitat. The CUREE platform presented in this paper provides a unique set of capabilities in the form of robot behaviors and perception algorithms to enable scientists to explore different aspects of an ecosystem. Examples of these capabilities include low-altitude visual surveys, soundscape surveys, habitat characterization, and animal following. We demonstrate these capabilities by describing two field deployments on coral reefs in the US Virgin Islands. In the first deployment, we show that CUREE can identify the preferred habitat type of snapping shrimp in a reef through a combination of a visual survey, habitat characterization, and a soundscape survey. In the second deployment, we demonstrate CUREE's ability to follow arbitrary animals by separately following a barracuda and stingray for several minutes each in midwater and benthic environments, respectively.

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An Algorithm for the Numerical Evaluation of the Hankel Transform

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Proceedings of the IEEE 1978年第2期66卷 264-265页

作者： Oppenheim, Alan V. Frisk, George V. Martinez, David R. Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA 02139 United States Woods Hole Oceanographic Institution Woods Hole MA. United States MIT-WHOI Joint Program in Oceanography/Oceanographic Engineering Woods Hole MA. United States

A. procedure is proposed for the numerical evaluation of the Hankel (Fourier-Bessel) transform of any integer order using die FFT algorithm. The basis for the procedure is the “projection-slice” theorem associated with the Two-Dimensional Fourier transform. Copyright © 1978 by The Institute of Electrical and Electronics Engineers, Inc.

关键词： Fourier transforms Coordinate measuring machines Sea measurements Contracts Equations Oceans Acoustic waves Optical reflection Acoustic reflection Biomedical optical imaging

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Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle

Development of a six-degree of freedom simulation model for ...

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OCEANS

作者： T. Prestero MIT/WHOI Joint Program in Oceanographic Engineering USA

Describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS AUV, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. The paper briefly describes the derivation of these coefficients. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then verified against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle. The paper concludes with recommendations for future model validation experiments.

关键词： Underwater vehicles Vehicle dynamics Remotely operated vehicles Propellers Nonlinear equations Marine vehicles Hydrodynamics Automotive engineering Life testing Costs

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oceanographic pursuit: Networked control of multiple vehicles tracking dynamic ocean features

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Methods in oceanography 2014年 10卷 21-43页

作者： Reed, Brooks Hover, Franz Massachusetts Institute of Technology Department of Mechanical Engineering Cambridge 02139 MA United States MIT-WHOI Joint Program Woods Hole Oceanographic Institution Woods Hole MA United States

We present an integrated framework for joint estimation and pursuit of dynamic features in the ocean, over large spatial scales and with multiple collaborating vehicles relying on limited communications. Our approach uses ocean model predictions to design closed-loop networked control at short time scales, and the primary innovation is to represent model uncertainty via a projection of ensemble forecasts into local linearized vehicle coordinates. Based on this projection, we identify a stochastic linear time-invariant model for estimation and control design. The methodology accurately decomposes spatial and temporal variations, exploits coupling between sites along the feature, and allows for advanced methods in communication-constrained control. Simulations with three example datasets successfully demonstrate the proof-of-concept. © 2014 The Authors.

关键词： Autonomous underwater vehicles Collaborative control Ensemble forecasts Feature tracking Linearization System identification

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Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations

Multi-Robot Distributed Semantic Mapping in Unfamiliar Envir...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Stewart Jamieson Kaveh Fathian Kasra Khosoussi Jonathan P. How Yogesh Girdhar MIT-WHOI Joint Program in Oceanography/Applied Ocean Science and Engineering Massachusetts Institute of Technology (MIT) Woods Hole Oceanographic Institution (WHOI)

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations online. While unsupervised learning algorithms can invent labels for novel observations, approaches to detect when multiple robots have independently developed their own labels for the same new class are prone to erroneous or inconsistent matches. These issues worsen as the number of robots in the system increases and prevent fusing the local maps produced by each robot into a consistent global map, which is crucial for cooperative planning and joint mission summarization. Our proposed solution overcomes these obstacles by having each robot learn an unsupervised semantic scene model online and use a multiway matching algorithm to identify consistent sets of matches between learned semantic labels belonging to different robots. Compared to the state of the art, the proposed solution produces 20-60% higher quality global maps that do not degrade even as many more local maps are fused.

关键词： Conferences Semantics Supervised learning Buildings Bandwidth Path planning Classification algorithms

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Tracking Ocean Fronts with Multiple Vehicles and Mixed Communication Losses

Tracking Ocean Fronts with Multiple Vehicles and Mixed Commu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Brooks L. Reed Franz S. Hover the MIT/WHOI Joint Program in Oceanographic Engineering MIT Department of Mechanical Engineering

ISBN: (纸本)9781467363563

We make two contributions toward integrated monitoring over large spatial scales, with multiple collaborating vehicles. Our focus is dynamic ocean features such as fronts and plumes. To support strong networked-control designs, we first develop a clean linear time-invariant framework for tracking features, that directly couples the global structure of the process to vehicle positioning. To address the packet loss inherent in underwater acoustic communications, we then extend the synthesis technique of Imer et al. [1] to the case where measurements and control commands suffer loss with differing statistics among the multiple channels. Simulations show that the integrated feedback system achieves good performance in front tracking.

关键词： Tracking Ocean Fronts Multiple Vehicles Mixed Communication Losses

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LONGSHORE SEDIMENT TRANSPORT DATA: A REVIEW 16

LONGSHORE SEDIMENT TRANSPORT DATA: A REVIEW

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16th International Conference on Coastal engineering 1978

作者： Greer, Matthew N. Madsen, Ole Secher MIT-WHOI Joint Program in Oceanographic Engineering R.M. Parsons Lab. Dept. of Civil Engineering MIT CambridgeMA United States Dept. of Civil Engineering MIT CambridgeMA United States

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