ENGINEERING HYBRID UNMANNED AERIAL/SURFACE VEHICLE SYSTEMS FOR AQUACULTURAL AND AQUATIC APPLICATIONS

As marine aquaculture moves further offshore, many operations traditionally handled by humans become more problematic.  Feeding, cleaning, assessing fish stocks, health related interventions, harvesting and other activities are more difficult both due to distance from human habitation; and  safety concerns associated with high energy  n the open ocean.  This project looks toward this era, and is focused on developing a hybrid system that includes smaller and larger surface vehicles, as well as rotor and fixed wing vehicles for application to aquacultural and related aquatic enterprises.

Specifically, this project will test these in simulated and nearshore applications (specifically bivalve culture operations), with an eye to future far offshore and more highly automated systems. Focus areas include software for both "digital twin" modeling in different s ituations; open source code including enhanced learning and use of automated systems; and testing of specific monitoring, mapping and aquaculture management techniques.  In particular, sensors to assess location, time, dissolved oxygen, pH, temperature and other relevant parameters have been or are in development.  A system to manage floating cages (e.g. to image and manipulate cages) will reduce a difficult and potentially dangerous operation; while providing humans with improved information to help make better decisions.  These have been deployed in nearshore water bodies and will be tested with collaborators in near shore oyster leases to assess effectiveness, speed, accuracy and improve understanding of limits to autonomy and human-robot interfaces.

Previous work focused on ponds and other onshore applications, and/or single vehicle deployments nearshore.  This expands on both of these, testing multiple different vehicles in the nearshore/offshore environment; and studying interactions between vehicles; and  with humans. The coastal environment is dynamic and subject to high energy events, but is also an extremely productive zone.  These systems should enhance sustainability, improve monitoring and productivity, and may be able to provide improved information on coastal water quality, biological and ecological conditions, thus allowing improved decision making.

This paper documents applications of individual and hybrid systems to date in aquatic and aquaculture applications; and outlines needs for future research.