An ASV for coastal underwater archaeology: The Pladypos survey of Caesarea Maritima, Israel

Vasilijević, Antonio; Buxton, Bridget; Sharvit, Jacob; Stilinović, Nikola; Nađ, Ðula; Mišković, Nikola; Planer, Dror; Hale, J. R.; Vukić, Zoran

doi:10.1109/oceans-genova.2015.7271495

Cited by 14 publications

(11 citation statements)

References 7 publications

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“…This is one of the many application dependent versions of the so-called dynamic positioning platforms (PlaDyPos or H2Omni-X), see Figure 2a. The surface vehicle has been developed by LABUST and is used for a variety of applications, from support to underwater archaeology [5], as a dive monitoring platform that allows divers to navigate and monitor from the surface [28], as communication router between underwater and aerial vehicles [29], used in ASV swarms for long-term monitoring of the underwater environment [15], for mapping (obtaining photomosaic and bathymetry) of shallow water areas [2] and for mine countermeasures [30]. The ASV is fully actuated with four electric thrusters that make up the X configuration.…”

Section: Autonomous Surface Vehiclementioning

confidence: 99%

“…Methods for recording and documentation of underwater cultural heritage sites (UCH) have developed considerably over the last two decades. The combined use of optical and acoustic technologies makes it possible to provide a high-quality digital 3D reconstruction of large and complex underwater scenarios [1,2]. These technologies create the possibility to study the UCH in onshore laboratories in a non-intrusive way [3].…”

Section: Introductionmentioning

confidence: 99%

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Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

et al. 2020

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Underwater cultural heritage sites are subject to constant change, whether due to natural forces such as sediments, waves, currents or human intervention. Until a few decades ago, the documentation and research of these sites was mostly done manually by diving archaeologists. This paper presents the results of the integration of remote sensing technologies with autonomous marine vehicles in order to make the task of site documentation even faster, more accurate, more efficient and more precisely georeferenced. It includes the integration of multibeam sonar, side scan sonar and various cameras into autonomous surface and underwater vehicles, remotely operated vehicle and unmanned aerial vehicle. In total, case studies for nine underwater cultural heritage sites around the Mediterranean region are presented. Each case study contains a brief archaeological background of the site, the methodology of using autonomous marine vehicles and sensors for their documentation, and the results in the form of georeferenced side-scan sonar mosaics, bathymetric models or reconstructed photogrammetric models. It is important to mention that this was the first time that any of the selected sites were documented with sonar technologies or autonomous marine vehicles. The main objective of these surveys was to document and assess the current state of the sites and to establish a basis on which future monitoring operations could be built and compared. Beyond the mere documentation and physical preservation, examples of the use of these results for the digital preservation of the sites in augmented and virtual reality are presented.

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Section: Autonomous Surface Vehiclementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

et al. 2020

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“…This is one of the many application-dependent versions of the so-called Dynamic Positioning Platforms (PlaDyPos or H2Omni-X), called Dynamic Bathymetric Imaging Platform (PlaDyBath), which is shown in Figure 4. The surface vehicle was developed by the Laboratory for Underwater Systems and Technologies (LABUST), Faculty of Electrical Engineering and Computing, University of Zagreb (UNIZG-FER), Croatia, and is used for a variety of applications, from support to underwater archeology [20], as a dive monitoring platform, which enables the navigation and monitoring of divers from the surface [36], as a communication router between underwater and aerial vehicles [37], which is used in ASV swarms for long-term monitoring of the underwater environment [21], for mapping (extraction of photomosaic and bathymetry) of shallow water areas [38] and for mine countermeasures [39].…”

Section: Autonomous Surface Vehiclementioning

confidence: 99%

Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia

et al. 2020

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Plitvice Lakes National Park is the largest national park in Croatia and also the oldest from 1949. It was added to the UNESCO World Natural Heritage List in 1979, due to the unique physicochemical and biological conditions that have led to the creation of 16 named and several smaller unnamed lakes, which are cascading one into the next. Previous scientific research proved that the increased amount of dissolved organic matter (pollution) stops the travertine processes on Plitvice Lakes. Therefore, this complex, dynamic but also fragile geological, biological and hydrological system required a comprehensive limnological survey. Thirteen of the sixteen lakes mentioned above were initially surveyed from the air by an unmanned aircraft equipped with a survey grade GNSS and a full frame high-resolution full-screen camera. From these recordings, a georeferenced, high-resolution orthophoto was generated, on which the following surveys by a multibeam sonar depended. It is important to mention that this was the first time that these lakes had ever been surveyed both with the multibeam sonar technique and with such a high-resolution camera. Due to the fact that these thirteen lakes are difficult to reach and often too shallow for a boat-mounted sonar, a special autonomous surface vehicle was developed. The lakes were surveyed by the autonomous surface vehicle mounted with a multibeam sonar to create detailed bathymetric models of the lakes. The missions were planned for the surface vehicle based on the orthophoto from the preliminary studies. A detailed description of the methodology used to survey the different lakes is given here. In addition, the resulting high-resolution bathymetric maps are presented and analysed together with an overview of average, maximum depths and number of data points. Numerous interesting depressions, which are phenomena consistent with previous studies of Plitvice Lakes, are noted at the lake beds and their causes are discussed. This study shows the huge potential of remote sensing technologies integrated into autonomous vehicles in terms of much faster surveys, several orders of magnitude more data points (compared to manual surveys of a few decades ago), as well as data accuracy, precision and georeferencing.

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“…It is actuated by four thrusters positioned in such a way that they form an X-shaped configuration ( Figure 3) which allows movement in every direction while maintaining arbitrary desired heading. The ASV [15] and down looking high definition (HD) camera for diver tracking [16] or shallow water mosaicking [17]. RTK GPS uses two GPS antennas; one is on the ASV (rover), while the other is ground-based station (base).…”

Section: The Autonomous Surface Vehicle -Pladyposmentioning

confidence: 99%

Mechanical Design of an Autonomous Marine Robotic System for Interaction With Divers

Stilinović

Marković

Mišković

et al. 2016

Brod

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SummarySCUBA diving, professional or recreational, remains one of the most hazardous activities known by man, mostly due to the fact that the human survival in the underwater environment requires use of technical equipment such as breathing regulators. Loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis are just a few problems which can occur during an ordinary dive and result in injuries, long-term illnesses or even death. Most common way to reduce the risk of diving is to dive in pairs, thus allowing divers to cooperate with each other and react when uncommon situation occurs. Having the ability to react before an unwanted situation happens would improve diver safety. This paper describes an autonomous marine robotic system that replaces a human dive buddy. Such a robotic system, developed within an FP7 project "CADDY -Cognitive Autonomous Diving Buddy" provides a symbiotic link between robots and human divers in the underwater. The proposed concept consists of a diver, an autonomous underwater vehicle (AUV) Buddy and an autonomous surface vehicle (ASV) PlaDyPos, acting within a cooperative network linked via an acoustic communication channel. This is a first time that an underwater human-robot system of such a scale has ever been developed. In this paper, focus is put on mechanical characteristics of the robotic vehicles.

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An ASV for coastal underwater archaeology: The Pladypos survey of Caesarea Maritima, Israel

Cited by 14 publications

References 7 publications

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia

Mechanical Design of an Autonomous Marine Robotic System for Interaction With Divers

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