Preliminary results from project MAST/AM-advanced tracking and telemetry methodologies to study marine animals

This paper proposes advanced methodologies for the study of tagged marine animals, resorting to telemetry techniques. The robotic tools to be developed and operated will be able to track the acoustic signals emitted by the animals, based on range and depth data acquired with ultra-short baseline positioning (USBL) systems aided Inertial Navigation Systems (INS). The USBL is composed of an array of hydrophones with a pre-specified structure and the INS is based on the numerically integrated measurements from triads of low cost accelerometers, rate-gyroscopes, and magnetometers, complemented with data from depth cells. The preliminary design and implementation phases will be described and the results obtained to validate the proposed approach will be presented. Finally, the next development and validation phases will be briefly outlined.

[1]  J. Nielsen,et al.  Reviews : methods and technologies in fish biology and fisheries , 2002 .

[2]  D. Abecasis,et al.  Site fidelity and movements of gilthead sea bream (Sparus aurata) in a coastal lagoon (Ria Formosa, Portugal) , 2008 .

[3]  S. Palumbi,et al.  MARINE RESERVES AND OCEAN NEIGHBORHOODS: The Spatial Scale of Marine Populations and Their Management , 2004 .

[4]  Carl G. Meyer,et al.  Seasonal, diel, and tidal movements of green jobfish (Aprion virescens, Lutjanidae) at remote Hawaiian atolls: implications for marine protected area design , 2007 .

[5]  Carlos Silvestre,et al.  A Sensor-Based Controller for Homing of Underactuated AUVs , 2009, IEEE Transactions on Robotics.

[6]  Carlos Silvestre,et al.  Vehicle and mission control of single and multiple autonomous marine robots , 2006 .

[7]  Elizabeth A. Fairchild,et al.  Using Telemetry to Monitor Movements and Habitat Use of Cultured and Wild Juvenile Winter Flounder in a Shallow Estuary , 2009 .

[8]  Paulo Oliveira,et al.  Study and implementation of an EKF GIB-based underwater positioning system , 2004 .

[9]  M. Heupel,et al.  Residency and movement patterns of bonnethead sharks, Sphyrna tiburo, in a large Florida estuary , 2006, Environmental Biology of Fishes.

[10]  Carlos Silvestre,et al.  Improving Aiding techniques for USBL Tightly-Coupled Inertial Navigation System , 2008 .

[11]  J. Sibert.  Electronic Tagging and Tracking in Marine Fisheries , 2001, Reviews: Methods and Technologies in Fish Biology and Fisheries.

[12]  Carlos Silvestre,et al.  Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation , 2011, IEEE Transactions on Control Systems Technology.

[13]  Dirk Zeller,et al.  Ultrasonic telemetry: Its application to coral reef fisheries research , 1999 .

[14]  M. Ovidio,et al.  Diel activity of Sarpa salpa (Sparidae) by ultrasonic telemetry in a Posidonia oceanica meadow of Corsica (Mediterranean Sea) , 2002 .

[15]  A.B. Baggeroer,et al.  The state of the art in underwater acoustic telemetry , 2000, IEEE Journal of Oceanic Engineering.

[16]  D. Abecasis,et al.  Comparative Behavior of Wild and Hatchery Reared White Sea Bream (Diplodus sargus) Released on Artificial Reefs Off the Algarve (Southern Portugal) , 2009 .

[17]  Barbara A. Block,et al.  Tuna : physiology, ecology, and evolution , 2001 .

[18]  Carlos Silvestre,et al.  Design and experimental evaluation of an integrated USBL/INS system for AUVs , 2010, 2010 IEEE International Conference on Robotics and Automation.

[19]  Carlos Silvestre,et al.  Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation , 2011, IEEE Transactions on Control Systems Technology.

[20]  Carlos Silvestre,et al.  Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame , 2011, IEEE Transactions on Aerospace and Electronic Systems.

[21]  S. B. Blackwell,et al.  Migratory Movements, Depth Preferences, and Thermal Biology of Atlantic Bluefin Tuna , 2001, Science.