Search Results (13)

In recent years, the simplified computation of position and velocity changes in nonlinear systems using Lie groups and Lie algebra has been widely used in the study of robot localization systems. The unscented Kalman filter (UKF) can effectively deal with nonlinear systems through the unscented transformation, and in order to more accurately describe the robot localization system, the UKF method based on Lie groups has been studied successively. The computational complexity of the UKF on Lie groups is high, and in order to simplify its computation, the Lie groups are applied to the manifold, which efficiently handles the state and uncertainty and ensures that the system maintains the geometric constraints and computational simplicity during the updating process. In this paper, a multi-sensor fusion localization method based on an unscented Kalman filter on manifolds (UKF-M) is investigated. Firstly, a system model and a multi-sensor model are established based on an Autonomous Underwater Vehicle (AUV), and a corresponding UKF-M is designed for the system. Secondly, the multi-sensor fusion method is designed, and the fusion method is applied to the UKF-M. Finally, the proposed method is validated using an underwater cave dataset. The experiments demonstrate that the proposed method is suitable for underwater environments and can significantly correct the cumulative error in the trajectory estimation to achieve accurate underwater localization. Full article

Aquifer karstic structures, due to their complex nature, present significant challenges in accurately mapping their intricate features. Traditional methods often rely on invasive techniques or sophisticated equipment, limiting accessibility and feasibility. In this paper, a new approach is proposed for a non-invasive, low-cost 3D reconstruction using a camera that observes the light projection of a simple diving lamp. The method capitalizes on the principles of structured light, leveraging the projection of light contours onto the karstic surfaces. By capturing the resultant light patterns with a camera, three-dimensional representations of the structures are reconstructed. The simplicity and portability of the equipment required make this method highly versatile, enabling deployment in diverse underwater environments. This approach is validated through extensive field experiments conducted in various aquifer karstic settings. The results demonstrate the efficacy of this method in accurately delineating intricate karstic features with remarkable detail and resolution. Furthermore, the non-destructive nature of this technique minimizes disturbance to delicate aquatic ecosystems while providing valuable insights into the subterranean landscape. This innovative methodology not only offers a cost-effective and non-invasive means of mapping aquifer karstic structures but also opens avenues for comprehensive environmental monitoring and resource management. Its potential applications span hydrogeological studies, environmental conservation efforts, and sustainable water resource management practices in karstic terrains worldwide. Full article

Submarine caves are important biodiversity reservoirs, but there is little information about the biota of marine caves in the Southwestern Atlantic. Here, we describe three submarine cavities and their sponge communities on the Fernando de Noronha Archipelago, Northeast Brazil. The underwater cavities were explored and collections were made through scuba diving from 5 to 18 m depths. Sapata Cave has a wide semi-dark zone near the entrance, a narrow transition zone, and a dark chimney, which is closed at the top. Ilha do Meio Cave is narrower and shallower than Sapata Cave, but has a long passage that leads to two completely dark rooms. Pedras Secas Tunnel has only a semi-dark zone with high water movement. The sponge communities in the semi-dark zones of the three cavities are rich and dominated by the classes Demospongiae and Homoscleromorpha, but Calcarea are also common. The transition zones of both caves are dominated by a desma-bearing sponge, thinly encrusting spirastrellids, and small Homoscleromopha and Calcarea. The dark zone in Ilha do Meio Cave is almost azoic, with only three species. This study has increased the number of sponge species known in submarine cavities on Fernando de Noronha from 29 to 69, highlighting the great richness of the sponge communities in these cryptic environments. Full article

Underwater robots often encounter the influence of confined underwater environments during underwater exploration. These environments include underwater caves, sunken ships, submerged houses, and pipeline structures. Robot positioning in these environments is strongly disturbed, leading not only to the failure of some commonly used positioning methods but also to an increase in errors in positioning systems that normally function well in open water. In order to overcome the limitations of positioning methods in confined underwater environments, researchers have studied different underwater positioning methods and have selected suitable methods for positioning in such environments. These methods can achieve high-precision positioning without relying on assistance from other platforms and are referred to as autonomous positioning methods. Autonomous positioning methods for underwater robots mainly include SINS/DR positioning and SLAM positioning. In addition, in recent years, researchers have developed some bio-inspired autonomous positioning methods. This article introduces applicable robot positioning methods and sensors in confined underwater environments and discusses the research directions of robot positioning methods in such environments. Full article

The Mediterranean monk seal Monachus monachus is one of the most endangered pinnipeds in the world, and is classified as “Endangered” by the International Union for the Conservation of Nature. Any additional knowledge about the species is invaluable to its effective conservation. In the present study, we deployed an autonomous underwater recorder in an important reproductive area of the Mediterranean monk seal in Greece to describe its underwater vocal repertoire. Over the 330 h of continuous recordings, 9231 vocalizations were labelled as potentially produced by Mediterranean monk seals, and 1694 good quality calls were analyzed. We defined 18 call types divided into three main call categories: harmonic, noisy, and pulsative calls. We also described the soundscape in which this endangered species lives and found that human activities around the two main pupping caves had a strong impact on the sonic environment of these seals: the noise level produced by boat traffic was high, and occurred on an hourly (25 to 50 min/hour) and daily basis (10.8 to 16.9 h/day). Such high levels of noise might not only impair the communication of the species, but also impact its survival, as chronic noise can induce physiological stress. Full article

Considering that it is difficult for traditional materials to simultaneously meet the requirements for filling grouting of water-filled karst caves and subsequent shield tunneling, an environmentally friendly and controllable new underwater cementitious filling material (NUC-FM) is developed, with abandoned shield mud as the basic raw material. Through laboratory tests, the mechanical property parameters of NUC-FM are tested, and its micromechanism is analyzed. The research results show that there is excellent synergistic interactions among shield mud, cement, flocculant, fly ash and other raw materials. The NUC-FM grouting filling material with superior performance can be prepared when the water binder ratio is between 0.45 and 0.6 and the water consumption is between 270 and 310 kg/m³. It has the characteristics of non-dispersion underwater and moderate consolidated body strength. The compressive strength of the NUC-FM consolidated body samples under each mix proportion is much higher than 0.5 MPa, which meets the technical strength requirements of a construction site, and the microstructure shows that there is an obvious dense and stable block structure inside. The cost of the NUC-FM prepared with an optimized mix proportion is only 34.57 dollars/m³, which is far lower than the market purchase price of concrete and cement mortar. It can be predicted that the NUC-FM is an ideal filling grouting material for water-filled karst caves in shield tunnels in water-rich karst areas. Full article

Solen strictus Gould are mainly cave dwellers, using their axe feet to dig caves. The Solen strictus Gould also exhibit escape-swimming behavior when food, environment, and so on changes. In this paper, Solen strictus Gould were captured on a high-speed camera as they escaped, and it was found that the Solen strictus Gould whipped while the water spout between the axe foot and the mantle sprayed water outwards. The combined propulsion of these two methods allows the Solen strictus Gould to advance rapidly in a short time. It is calculated that the swimming speed of razor clams is positively correlated with their size and that the adult Solen strictus Gould can travel up to 12 times their body length per second. This study enriches the data on the behavioral characteristics of Solen strictus Gould and is of interest regarding Solen strictus Gould in artificial farming, marine fishing, offshore ecological restoration, and underwater bionic robot development. Full article

Data on the distribution and ecology of cryptobenthic fish of marine caves in the Mediterranean Sea are extremely scarce but necessary for scientists and marine managers alike in order to understand these fish’s ecological role and assess their conservation status. Broadscale surveys by implementing underwater visual census and photographic sampling in marine caves of the northeastern Mediterranean Sea, within different expeditions during the last 5 years, brought to light new records of eight rarely reported cryptobenthic fish species. To a smaller extent, complementary citizen science data from diving professionals of Crete were used to fill distribution gaps. A total of 36 new records (66 individuals) from 18 marine caves and caverns of the Aegean and northeastern Levantine Seas were assembled, belonging to the gobies Corcyrogobius liechtensteini, Didogobius splechtnai, Gammogobius steinitzi, and Thorogobius ephippiatus, the blenny Microlipophrys nigriceps, the tripterygiid Tripterygion melanurum, the speleophilic bythitid Grammonus ater, and the gobiesocid Lepadogaster cf. lepadogaster. The above species have been rarely reported from the Eastern Mediterranean Sea, with D. splechtnai and G. steinitzi being recorded for the first and second time from Greek waters, respectively, while L. cf. lepadogaster constitutes the second record of a clingfish species in a marine cave of the Aegean Sea. Interesting behavioral and ecological habits were also noted for some species, based on in situ observations and photographic evidence. Our study contributes to filling gaps in the knowledge of cave fish diversity and demonstrates that cryptobenthic mobile species in understudied cryptic habitats are more common than previously thought in the Mediterranean Sea. Full article

Successful underwater heritage management requires a sound understanding of visitor behavior. Primary visitors to underwater heritage sites are divers whose behavior can pose risks to the integrity of site cultural heritage and tourism values. This study seeks to understand wreck diver in-water behavior. Conventional observation of diver behavior is limiting. Wearable cameras are becoming popular across many recreational activities and potentially expand the scope and quality of diver observation. Video observation is rarely used in such research. This article demonstrates the potential of video observation, describing the analysis of first-person video records to explore details of diver behavior on shipwrecks. The evidence demonstrates that while most divers behaved responsibly, a few contributed to most contact behaviors. The analysis details this behavior, identifying, for example, that deliberate holding and touching comprised most contacts. Such findings on diver behavior inform heritage and tourism management decisions and provide a baseline for future studies. Methodologically, the study demonstrates the power of this method of observing divers and other recreationists. This is particularly valuable for researching recreationalists in confined spaces, such as caves or shipwrecks. The quality of results allows for further evidence-based examination of motivations, values, intentions and meanings underlying observed diver behavior. Full article

We present 52 new geographic location records for the peracarid crustacean Antromysis cenotensis Creaser, 1936, endemic in cenotes of the Yucatan Peninsula, Mexico. This species is currently considered threatened and, therefore, is protected by Mexican law. These results arise from several expeditions carried out between 2017 and 2020 in 75 locations within the cenote-ring, the interior, and coastal plains of the peninsula. A comprehensive literature review provided 84 geographic location records since the species was described in 1936. A map with 136 geographic location records that better describe the current species distribution is also included. With this information, plus some notes on the ecology of the species, a comprehensive literature and data review, and a brief analysis regarding the possible factors associated with the confirmed absence of the species in some locations in the state of Yucatan, we provide a brief and condensed summary of the actual knowledge on this particular species. The data in Darwin Core format can be retrieved in Zenodo. Full article

This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the development of a full 6D pose SLAM framework adapted to karst aquifer, where potential water turbidity disqualifies vision-based methods, hence relying on acoustic sonar measurements. Those environments have complex geometries which require 3D sensing. Wide-beam sonars are mandatory to cover previously seen surfaces but do not provide 3D measurements as the elevation angles are unknown. The approach proposed in this paper leverages the narrow-beam sonar measurements to estimate local karst surface with Gaussian process regression. The estimated surface is then further exploited to infer scaled-beta distributions of elevation angles from a wide-beam sonar. The pertinence of the method was validated through experiments on simulated environments. As a result, this approach allows one to benefit from the high coverage provided by wide-beam sonars without the drawback of loosing 3D information. Full article

Three-dimensional (3D) surveying and modelling of the underwater environment is challenging; however, it becomes even more arduous when the scene or asset to measure extends from above to underwater through the water surface. While this is topic of high interest for a number of different application fields (engineering, geology, archeology), few solutions are available, usually expensive and with no guarantee of obtaining homogenous accuracy and resolution in the two media. This paper focuses on a procedure to survey and link the above and the underwater worlds based on photogrammetry. The two parts of the asset, above and underwater, are separately surveyed and then linked through two possible analytical procedures: (1) independent model adjustment or (2) relative orientation constraints. In the first case, rigid pre-calibrated rods are installed across the waterline on the object to be surveyed; in the second approach, a synchronized stereo-camera rig, with a camera in water and the other above the water, is employed. The theoretical foundation for the two approaches is provided and their effectiveness is proved through two challenging case studies: (1) the 3D survey of the leak of the Costa Concordia shipwreck and (2) 3D modelling of Grotta Giusti, a complex semi-submerged cave environment in Italy. Full article

A low-cost data logging platform is presented that provides long-term operation in remote or submerged environments. Three premade “breakout boards” from the open-source Arduino ecosystem are assembled into the core of the data logger. Power optimization techniques are presented which extend the operational life of this module-based design to >1 year on three alkaline AA batteries. Robust underwater housings are constructed for these loggers using PVC fittings. Both the logging platform and the enclosures, are easy to build and modify without specialized tools or a significant background in electronics. This combination turns the Cave Pearl data logger into a generalized prototyping system and this design flexibility is demonstrated with two field studies recording drip rates in a cave and water flow in a flooded cave system. This paper describes a complete DIY solution, suitable for a wide range of challenging deployment conditions. Full article