introdução à robótica para aplicações em observação do ... · do oceano, arqueologia e...

Introdução à Robótica para aplicações em Observação

do Oceano, Arqueologia e Mapeamento de Ecosistemas

Laboratório de Sistemas e Tecnologias Subaquáticas

Porto University

[email protected]://lsts.fe.up.pt/

João Tasso de Figueiredo Borges de Sousa

Welcome!!!

https://lsts.fe.up.pt/

Outline

• Recommendations

• Introductions

• Blue planet

• Course overview

• IEEE/MTS Oceans 2021

J. Borges de Sousa

Recommendations

• Seat selection to respect social distancing

• Same seat used throughout the course

• FILO

J. Borges de Sousa

Intros

• Coordinator

• Students (1-2 mins)• Who are you?

• What is your motivation to participate in this course?

• How would you like to make an impact?

• What do you expect out of this course?

J. Borges de Sousa

Source: https://goes.gsfc.nasa.gov/

Blue planet

J. Borges de Sousa

Thin blue layer

Source: https://water.usgs.gov/edu/gallery/global-water-volume.html

Sphere representing all of Earth's water(860 miles diameter)

Most of the previous century could be called a “century of undersampling.”

Walter Munk, Secretary of the Navy Research Chair in Oceanography, Scripps

Testimony to The U.S. Commission On Ocean Policy, 18 April 2002

Internal waves https://www.youtube.com/watch?v=U2lq8TpLqR4&t=115s

https://www.youtube.com/watch?v=x7GXLJQ2Zn0&t=76s

https://www.youtube.com/watch?v=U2lq8TpLqR4&t=115s

Big waves

Tallest wave in recorded history (1958) – Lituya Bay (over 500m)

https://en.wikipedia.org/wiki/1958_Lituya_Bay,_Alaska_earthquake_and_megatsunamiht

https://www.youtube.com/watch?v=SCn480_TUgY

tps://en.wikipedia.org/wiki/1958_Lituya_Bay,_Alaska_earthquake_and_megatsunami

Freak waves

The Draupner wave, a single giant wave

measured on New Year's Day 1995

http://www.math.uio.no/~karstent/waves/inde

x_en.html, Fair use,

https://en.wikipedia.org/w/index.php?curid=16

19072

https://en.wikipedia.org/wiki/1958_Lituya_Bay,_Alaska_earthquake_and_megatsunamiht

https://www.youtube.com/watch?v=SCn480_TUgY

Dynamic ocean topography

The mean dynamic ocean topography (DOT) is the difference between the time-averaged sea surface and the geoid (the

equipotential surface of the Earth’s gravity field that best fits the mean sea surface).

https://grace.jpl.nasa.gov/data/get-data/dynamic-ocean-typography/

https://grace.jpl.nasa.gov/data/get-data/dynamic-ocean-typography/

Global oxygen minimum zones

ETNA

Cape Verde

ETSA

ETNP

ETSP

AS

Long-term oxygen declines are particularly fast in Oxygen Minimum Zones (OMZs), which identifies them as

sentinel systems for understanding ocean deoxygenation impacts globally.

OMZs are expanding in all oceans

Analyses of direct measurements at sites around the world indicate that open-ocean OMZs have expanded by >4

million km2 in 50 years. Stramma et al. (2008) Science.OMZs now have oxygen concentrations low enough to limit distributions and abundances of animal populations,

especially, of large marine predators with high oxygen demand.

Expanding OMZs will alter ecosystems

Slides courtesy of Nuno Queiroz, CIBIO

Skeleton of the flow

Thin blue layer


Sphere representing all of Earth's water(860 miles diameter)

• All life harnesses its energy from the environment

• Some chemical “building blocks” are found in all known life

• The environment in which an organism lives shapes it defining characteristics

• Convergent evolution tells us that certain features, like eyes, are advantageous

• Contingent evolution tells us that parental traits are passed to offspring

Courtesy Center for Environmental Visualization

Studies over time have established key principles

Slides courtesy of Peter Guirgis and Chris Scholin

Thin blue layer


Sphere representing all of Earth's water(860 miles diameter)• ~2 million known animal species

• may be up to 18 million additional species in the ocean

• For microbes, there are likely hundreds of millions of different “species”

• Microbes run our biosphere

• Without them, the biosphere could no longer support life

• That said, less than 1% have been grown in culture


Our ocean harbours untapped biological diversity

Thin blue layer


Sphere representing all of Earth's water(860 miles diameter)• There are ~1027 microbes in our ocean

• They weigh ~1015 g

• All of humankind weighs ~1014 g

• If placed end on end, they extend ~1021

meters- 1021 m is ~ 105,000 light years

- Our galaxy is ~100,000 light years in diameter


Microbes are found throughout the ocean from surface to seafloor

Data from our satellite tracking of pelagic shark movements and behaviour shows they move into

and often remain in the eastern tropical Atlantic OMZ. Analysis of vertical movements also

demonstrates.…

Sharks and OMZs


… blue sharks display a behavioural response to OMZ (left), with a shift in maximum daily depth

being observed (right). Suggests the OMZ compresses shark habitat to uppermost layers.

Queiroz et al., submitted.

Sharks and OMZs


The ‘habitat trap’ hypothesis

Scenario 1

Potential habitat compression

– predators avoid hypoxia.

Warming

Time

Expanding OMZ

Vulnerability to

fisheries capture

Sims (in press) In IUCN Report. Ocean Deoxygenation: Everyone’s ProblemQueiroz et al. (submitted)


Scenario 2

Some predators may tolerate

OMZs – for foraging?

Warming

Time

Expanding OMZ

Vulnerability

e.g. Mako and blue sharks hunt hypoxia-tolerant deep-sea cephalopods



Scenario 3

An ocean habitat trap?

Compression + foraging hotspot +

targeted fishing

➢ Increases vulnerability to

fisheries

➢ Will exacerbate population

declines

Warming

Time

Vulnerability Vulnerability

Expanding OMZ



Why sharks?

Blue (top left) and mako (bottom left) are amongst the deepest diving vertebrates, often performing multiple dives to

below 1000m, including sporadic deep dives inside the OMZ (right). But DO data is modelled – need direct values.

Hence, sharks are perfect animal oceanographers for providing huge quantities of fine-scale DO-Temp-Depth ‘cast’

data not feasible with survey vessels or autonomous floats (e.g. Argo)

pre

limin

ary

data

Shar

k d

ive

dep

th (

m)

OMZ


Ocean observation challenges

Synoptic observations on large spatial scalesPersistent observationsFrom micro to meso-scaleFind, track, and sample physical, chemical and biological features of the ocean with adaptive spatial-temporal resolution.

Follow a molecule of carbon dioxide from here ….

To here on a scale of hours to months, to eventually years

Remote and challenging environmentLargely unknownNo navigation aids and no refueling stationsCommunications-challenged

ARTIFICIALINTELLIGENCE

GENOMICS

NANOTECH MARINEROBOTICS

“ACCELERATED EVOLUTION OF OCEAN SCIENCES?”

Slides courtesy of John Delaney, UW

Course overview

J. Borges de Sousa

More than a course, an experience

• Active learning

• Networking environment

• T model (breadh and depth)

• Hands on

• Team based

• Yes, you can make an impact

J. Borges de Sousa

This project has received funding from the European Union’s Horizon 2020

research and innovation programme under grant agreement No 731103www.eumarinerobots.eu

Robotics RI Network

▪ Goals

• To open-up key national and regional marine robotics research infra-structures to

researchers in Europe and wordwide

• To establish a world-class marine robotics research infrastructure

▪ Activities

• Networking activities towards a world-class marine robotics integrated

infrastructure

• Joint research activities to make systems more operable

• Trans-national access to provide access to research infrastructures (open calls)

Coordinator: João Borges de Sousa E-mail: [email protected]

Organization

• Coordinator• João Borges de Sousa - [email protected]

• Office Hours: by appointment

• Method• Classes/Invited lectures (40h)

• Team research project (80h)

• Quizzes

• Adaptation based on feedback (quizzes)

• Assessment format• 10 minute-duration quizzes to be answered during class (50%)

• Research project (50%)

• Schedule• Classes:

- August 6th - Sept 3rd

- Thursdays / Fridays: 10:00-11:15; 11:30-12:30; 14:00-15:15; 15:30-16:30

• Project:

- Sept 3rd – Oct 6th

- TBDJ. Borges de Sousa

mailto:[email protected]

Project

What is the project?

• Independent research project on a topic selected from a list of challenges.

• Each challenge comprises:• A description of a problem in ecosystem mapping, oceanography or archeology

• A description of the hardware setup to be used to address the challenge

Choosing a project

• An e-mail with the selection is due September 6th.

Submission of the project

• Projects are due October 5th. Each submission should include:• 4-page long report:

- Approach.

- Organization.

- Results.

• Git repository with code and wiki providing documentation and compilation instructions (if applicable)

• Potential submission to a conference

J. Borges de Sousa

Modules

• Module 1: Introduction to Networked Vehicle Systems

• Module 2: LSTS software toolchain

• Module 3: Planning and control systems

• Module 4: Oceanography

• Module 5: Underwater archeology

J. Borges de Sousa

Detailed syllabusClass # Topic Type Who Affiliation Day

1 Introduction Class JBS LSTS 6 Aug

2 LSTS overview Class JBS LSTS 6 Aug

3 Robotic systems overview Class JBS LSTS 6 Aug

4 Models Class JBS LSTS 6 Aug

5 LSTS tool chain I Tutorial KL LSTS 7 Aug

6 Sensors Class PD LSTS 7 Aug

7 LSTS vehicles Class MC/JLP LSTS 7 Aug

8 Deliberative planning Invited session KR LSTS 7 Aug

9 Models Class JBS LSTS 13 Aug

10 Planning and control systems I Class JBS LSTS 13 Aug

11 Planning and control systems II Class JBS LSTS 13 Aug

12 LSTS tool chain II Tutorial KL LSTS 13 Aug

13 Communications Class ZP LSTS 14 Aug

14 Atlantic journeys Invited session CB PLOCAN 14 Aug

15 Animal tracking (Sunfish, REP15) Tutorial ZP LSTS 14 Aug

16 Habitat mapping (REP15, OMARE) Tutorial ZP LSTS 14 Aug

17 AIR 1 Invited session AIR 1 AIR 20 Aug


19 Underwater archeology I Class FC TAMU 20 Aug

20 Underwater archeology II Class FC TAMU 20 Aug

21 Oceanography I Class RM LSTS 21 Aug

22 Oceanography II Class RM LSTS 21 Aug

23 SOI cruise Tutorial KL LSTS 21 Aug

24 Ocean exploration Invited session KB MIT 21 Aug

25 Adaptive sampling Invited session TF NTNU 27 Aug

26 Douro river plume Tutorial ZP LSTS 27 Aug

27 ROV operations Invited session GO UL 27 Aug

28 NECSAVE (multi-vehicle coordination) Tutorial ZP LSTS 27 Aug





33 Sharjah (Archaeology applications) Tutorial MR LSTS 3 Set

34 Nuno Lourenço Invited session Collab 3 Set

35 Presentation of projects Class JBS LSTS 3 Set

J. Borges de Sousa

Contacts

• Coordinator• João Borges de Sousa

• [email protected]

• 22 508 1690

• Support• Sofia Brandão

• [email protected]

• 22 041 3200

J. Borges de Sousa



OCEANS 2021MTS/IEEE-OES Porto

Portugal

https://www.oceansconference.org/porto-2021/

“Opening the Ocean Frontier: A New Age of Discoveries”

Ocean science and technology for the benefit of humankind.

Questions?

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