Simulating Fine-Scale Marine Pollution Plumes for Autonomous Robotic Environmental Monitoring
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Authors
Fahad, Muhammad
Guo, Yi
Bingham, Brian
Subjects
environmental monitoring
pollution plume models
autonomous robotics
plume characteristics
Robot Operating System (ROS) simulator
pollution plume models
autonomous robotics
plume characteristics
Robot Operating System (ROS) simulator
Advisors
Date of Issue
2018-05-28
Date
May 28, 2018
Publisher
Frontiers
Language
Abstract
Marine plumes exhibit characteristics such as intermittency, sinuous structure, shape and flow field coherency, and a time varying concentration profile. Due to the lack of experimental quantification of these characteristics for marine plumes, existing work often assumes marine plumes exhibit behavior similar to aerial plumes and are commonly modeled by filament based Lagrangian models. Our previous field experiments with Rhodamine dye plumes at Makai Research Pier at Oahu, Hawaii revealed that marine plumes show similar characteristics to aerial plumes qualitatively, but quantitatively they are disparate. Based on the field data collected, this paper presents a calibrated
Eulerian plume model that exhibits the qualitative and quantitative characteristics exhibited by experimentally generated marine plumes. We propose a modified model with an intermittent source, and implement it in a Robot Operating System (ROS) based simulator. Concentration time series of stationary sampling points and dynamic sampling points across cross-sections and plume fronts are collected and analyzed for statistical parameters of the simulated plume. These parameters are then compared with statistical parameters from experimentally generated plumes. The comparison validates
that the simulated plumes exhibit fine-scale qualitative and quantitative characteristics similar to experimental plumes. The ROS plume simulator facilitates future evaluations of environmental monitoring strategies by marine robots, and is made available for community use.
Type
Article
Description
The article of record as published may be found at http://dx.doi.org/10.3389/frobt.2018.00052
Series/Report No
Organization
Identifiers
NPS Report Number
Sponsors
US National Science Foundation
Funding
IIS-1218155 and CMMI-1527016
Format
14 p.
Citation
Fahad, Muhammad, Yi Guo, and Brian Bingham. "Simulating Fine-Scale Marine Pollution Plumes for Autonomous Robotic Environmental Monitoring." Frontiers in Robotics and AI 5 (2018): 52.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.