On-Line Planning and Mapping for Chemical Plume Tracing

Abstract

The objective of this project was to research, develop, and implement on-vehicle planning and mapping theory and software to find, trace, and map chemical plumes. This objective included accurate declaration of chemical source locations. Our planning methodologies demonstrated successful chemical plume tracing in four separate sets of in-water tests in two distinct locations with a variety of environmental conditions. The final test in June 2003 test at Duck NC demonstrated chemical plume tracing over a distance of 975 m between first detection and declared source location. Average source declaration accuracy was on the order of l3m. The plume and source likelihood mapping theory and methods developed under this project have utility in chemical transport applications in both oceanic and atmospheric environments. Chemical plume tracing capabilities, such as those demonstrated for the first time on this project, have utility in searching for environmentally interesting phenomena, unexploded ordinance, undersea wreckage, and sources of hazardous chemicals or pollutants.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2004
Accession Number
ADA437508

Entities

People

  • Jay A Farrell

Organizations

  • University of California, Riverside

Tags

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Demonstrations
  • Electrical Engineering
  • Engineering
  • Environment
  • Fluid Mechanics
  • Hidden Markov Models
  • Markov Models
  • Mechanics
  • Transport Ships
  • Underwater Vehicles
  • Unexploded Ammunition
  • Unmanned Underwater Vehicles
  • Vehicles

Readers

  • Coastal Oceanography
  • Computer Vision.
  • Environmental Engineering.