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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!!!
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
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
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/
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
Source: https://water.usgs.gov/edu/gallery/global-water-volume.html
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
Source: https://water.usgs.gov/edu/gallery/global-water-volume.html
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
Slides courtesy of Peter Guirgis and Chris Scholin
Our ocean harbours untapped biological diversity
Thin blue layer
Source: https://water.usgs.gov/edu/gallery/global-water-volume.html
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
Slides courtesy of Peter Guirgis and Chris Scholin
Microbes are found throughout the ocean from surface to seafloor
Thin blue layer
Source: https://water.usgs.gov/edu/gallery/global-water-volume.html
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
Slides courtesy of Peter Guirgis and Chris Scholin
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
Slides courtesy of Nuno Queiroz, CIBIO
… 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
Slides courtesy of Nuno Queiroz, CIBIO
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)
Slides courtesy of Nuno Queiroz, CIBIO
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
The ‘habitat trap’ hypothesis
Slides courtesy of Nuno Queiroz, CIBIO
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
The ‘habitat trap’ hypothesis
Slides courtesy of Nuno Queiroz, CIBIO
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
Slides courtesy of Nuno Queiroz, CIBIO
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
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
18 AIR 2 Invited session AIR 2 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
29 AIR 3 Invited session AIR 3 AIR 28 Aug
30 AIR 4 Invited session AIR 4 AIR 28 Aug
31 AIR 5 Invited session AIR 5 AIR 28 Aug
32 AIR 6 Invited session AIR 6 AIR 28 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
• 22 508 1690
• Support• Sofia Brandão
• 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?