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Underwater Target Detection Software Demonstration on the RivGen Turbine
This repository includes data, object detection models, and processing scripts necessary to evaluate the accuracy of the object detection models created for the underwater target detection software demonstration on the RivGen turbine project and to reproduce the performance metrics (precision, recall, mAP50, mAP50-95) presented in the report. - Contents - The included data consist of "images" and "labels". Images and labels were curated from 2021 and 2024 smolt outmigration periods at the project site in Igiugig, AK. Images are monochrome 8-bit images of objects (smolt, debris, and other) passing through the field of view of the deployed cameras during various operational stages of the RivGen turbine. Labels are text files indicating the class and bounding polygon of each object in an image. The provided labels use the "YOLO" label format, described in detail here: https://docs.ultralytics.com/datasets/detect/. Each image has an associated label with the same time string in its file name (e.g., 2024_05_25_09_01_57.98.jpg and 2024_05_25_09_01_57.98.txt). Time strings have the format %yyyy_%mm_%dd_%HH_%MM_%SS.%3f. The 2021 and 2024 test datasets are included. These data were used to evaluate the accuracy of models version 1 (V1), V2, and V3, as described in the report. These data are organized into test directories found in the 2021 and 2024 directories, e.g., /data/2021/test/. The "train" and "val" directories are also present as the presence of these directories is necessary for the included script to run successfully, though the associated data is not included. The model weights files are included for models V1, V2, and V3 in the models directory, e.g., /models/v1_model_train_2021_val_2021_test_2021.pt. Finally, the python script "test_models.py" is included, which loads each model and tests it against the associated test dataset. The resulting accuracy metrics are saved to figures in a ./runs/detect/ directory, which will be created when the script is run on the user's machine. Instructions for installing and using the python script are included in the README. - Requirements - All instructions assume the user is using a computer using Ubuntu Linux 20.04+ with Python3.8+. Operation on other operating systems may require some modification to these instructions. Models will run on your computer's CUDA-capable NVIDIA GPU if one is available. The README.md provides instruction for installing the requirements from the requirements.py file. The included data was revised/updated to reflect the post-access report for the project. Resource titles and descriptions were updated to reflect the most up-to-date resources. The file names were updated by adding a "_Ver1" to the end of the outdated file and a "_Ver2" to the end of the revised file.
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The PNNL-TUNAMELT Dataset for Automated Detection Around Marine Energy Devices
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This labeled dataset contains 107,451 acoustic camera video frames capturing marine life interactions around an underwater tidal turbine. Each frame is annotated with bounding boxes identifying marine life objects as labeled by a fish biologist. Created to support research into automated target detection around underwater turbines, this dataset aims to advance capabilities that enable the safe deployment and operation of marine energy devices. No collisions were observed with the turbine while labeling and analyzing this dataset, and a publication detailing this new work will be added once available. The video data was originally collected in 2010 around Ocean Renewable Power Company's (ORPC) tidal turbine deployment in Cobscook Bay, Maine, USA, with results published in Viehman and Zydlewski (2015) Estuaries and Coasts 38: 241-252 (linked below). Code, software tools, and a baseline automated detection approach developed for this effort are available in the PNNL-TUNAMELT GitHub repository, which also provides guidance for getting started with this dataset. For further information, please refer to the GitHub repository, the associated publication, or contact the authors.
Fish Detection AI, sonar image-trained detection, counting, tracking models
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The Fish Detection AI project aims to improve the efficiency of fish monitoring around marine energy facilities to comply with regulatory requirements. Despite advancements in computer vision, there is limited focus on sonar images, identifying small fish with unlabeled data, and methods for underwater fish monitoring for marine energy. A Faster R-CNN (Region-based Convolutional Neural Network) was developed using sonar images from Alaska Fish and Games to identify, track, and count fish in underwater environments. Supervised methods were used with Faster R-CNN to detect fish based on training using labeled data of fish. Customized filters were specifically applied to detect and count small fish when labeled datasets were unavailable. Unsupervised Domain Adaptation techniques were implemented to enable trained models to be applied to different unseen datasets, reducing the need for labeling datasets and training new models for various locations. Additionally, elastic shape analysis (ESA), hyper-image analysis, and various image preprocessing methods were explored to enhance fish detection. In this research we achieved: 1. Faster R-CNN for Sonar images - Applied Faster R-CNN reached > 0.85 average precision (AP) for large fish detection, providing robust results for higher-quality sonar images. - Integrated Norfair tracking to reduce double-counting of fish across video frames, enabling more accurate population estimates. 2. Small Fish Identification - Established customized filtering methods for small, often unlabeled fish in noisy acoustic images. This submission of data includes several sub-directories: - FryCounting: contains information on how to count small fish (i.e., fry) in the sonar image data - SG_aldi_addons: contains additions to the ALDI code (SG = Steven Gutstein, primary author) such as the trained models used in this experiment, which should match the models achieved when the training instructions are followed, and code for how to make the sonar images into movies - Summaries_Dir: contains information on how to set up the foundation to perform these experiments, such as installing all required packages and versions, and creating the PyTorch and ALDI environments These experiments boil down to a 2-part structure as described in the uploaded readme file: Part I: Installing and Using ALDI & Norfair Code - This is used for tracking and counting fish, and is a replication of the article that is linked, namely the Align and Distill (Aldi) work done by Justin Kay and others - This part relates to the Summaries_Dir subfolder, and the SG_aldi_addons sub-folder Part II: Installing and Using Fry Code - This is used to track and count smaller fish (aka fry) - This relates to the FryCounting sub-directory Also included here are links to the downloadable sonar data and the article that was replicated in this study.
Multibeam sonar bathymetric data for the Miami Pockmark and Key Biscayne Pockmark
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Multibeam sonar data showing the bathymetric survey of two offshore submarine sinkholes, Miami Sinkhole and Key Biscayne Sinkhole. A series of dives were performed to produce the bathymetric surveys using an autonomous underwater vehicle (AUV) with a multibeam-sonar. These data were collected between May 5-8, 2016 using a Bluefin B12 AUV equipped with a Imagenex MBDelta and an onboard calibrated Kearfott T-24 Inertial Navigation System (INS) aided by a (WAAS), 600 kHz RDI Doppler Velocity Log (DVL) and a Valeport sound velocity meter.
ALFA Station Keeping Results for Seabotix vLBV300 Underwater Vehicle near Newport, OR
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This data set presents results testing the station keeping abilities of a tethered Seabotix vLBV300 underwater vehicle equipped with an inertial navigation system. These results are from an offshore deployment on April 20, 2016 off the coast of Newport, OR (44.678 degrees N, 124.109 degrees W). During the mission period, the sea state varied between 3 and 4, with an average significant wave height of 1.6 m. The vehicle utilizes an inertial navigation system based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation.
TEAMER: Electrically Engaged Undulation System for Unmanned Underwater Vehicles
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This TEAMER RFTS 1 (Request for Technical Support) project supported the flume tank testing of a long range, high endurance unmanned underwater vehicle (UUV) to monitor maritime space. Today, battery-powered remotely operated vehicles (ROVs) lack the duration to make persistent, wide-area data collection possible.The proposed solution, an Electrically Engaged UnduLation (EEL) drone, can sustain missions for longer duration through hydrodynamic energy harvesting. Power is provisioned via the piezoelectric effect, a material-led phenomenon that converts applied stress into electricity. The EEL subsystems include power, propulsion, navigation, ballast, telemetry, and instrumentation. By mimicking the gait of aquatic eels, EEL can counter currents during maneuvering and level-flight. The identified opportunity is in the future capability of extreme endurance UUVs in swarms. The specific goal for the EEL development is to expand the spatio-temporal coverage of the existing ocean observation mission by overcoming significant challenges of autonomous robotics. Some of the challenges presented include novel compliant mechanism for robust actuation, bio-inspired design to emulate efficient locomotion, smart material-based energy harvesting for sustained power, and swarming architecture through enabled autonomy.
TEAMER: Electrically Engaged Undulation System for Unmanned Underwater Vehicles
공공데이터포털
This TEAMER RFTS 1 (Request for Technical Support) project supported the flume tank testing of a long range, high endurance unmanned underwater vehicle (UUV) to monitor maritime space. Today, battery-powered remotely operated vehicles (ROVs) lack the duration to make persistent, wide-area data collection possible.The proposed solution, an Electrically Engaged UnduLation (EEL) drone, can sustain missions for longer duration through hydrodynamic energy harvesting. Power is provisioned via the piezoelectric effect, a material-led phenomenon that converts applied stress into electricity. The EEL subsystems include power, propulsion, navigation, ballast, telemetry, and instrumentation. By mimicking the gait of aquatic eels, EEL can counter currents during maneuvering and level-flight. The identified opportunity is in the future capability of extreme endurance UUVs in swarms. The specific goal for the EEL development is to expand the spatio-temporal coverage of the existing ocean observation mission by overcoming significant challenges of autonomous robotics. Some of the challenges presented include novel compliant mechanism for robust actuation, bio-inspired design to emulate efficient locomotion, smart material-based energy harvesting for sustained power, and swarming architecture through enabled autonomy.
Acoustic detection performance of gliding robotic fish in Higgins Lake, Michigan, USA, 2016-2018
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An acoustic telemetry receiver was mounted on a gliding robotic fish, a novel type of autonomous underwater vehicle (AUV) during a series of field trials in a freshwater lake. Like underwater gliders, gliding robotic fish (dubbed GRACE, for Gliding-Robot-ACE) achieve locomotion primarily through buoyancy-driven gliding or spiraling. They are also equipped with an active tail fin that can provide extra propulsion (e.g., “swimming” against current), act as a rudder to improve steering during glide/spiral, and improve maneuverability via asymmetrical flapping (e.g., tight turns on the surface or during gliding). Consequently, gliding robotic fish combine the energy-efficient nature of underwater gliders with the high-maneuverability of robotic fish (a type of bio-inspired surface robots) and hence hold great potential in long-duration monitoring of a broad spectrum of aquatic environments. Data are comprised of characteristics of the receivers, transmitters, mobile platform (gliding robotic fish), and environment at time when each tag signal was emitted.
Acoustic detection performance of gliding robotic fish in Higgins Lake, Michigan, USA, 2016-2018
공공데이터포털
An acoustic telemetry receiver was mounted on a gliding robotic fish, a novel type of autonomous underwater vehicle (AUV) during a series of field trials in a freshwater lake. Like underwater gliders, gliding robotic fish (dubbed GRACE, for Gliding-Robot-ACE) achieve locomotion primarily through buoyancy-driven gliding or spiraling. They are also equipped with an active tail fin that can provide extra propulsion (e.g., “swimming” against current), act as a rudder to improve steering during glide/spiral, and improve maneuverability via asymmetrical flapping (e.g., tight turns on the surface or during gliding). Consequently, gliding robotic fish combine the energy-efficient nature of underwater gliders with the high-maneuverability of robotic fish (a type of bio-inspired surface robots) and hence hold great potential in long-duration monitoring of a broad spectrum of aquatic environments. Data are comprised of characteristics of the receivers, transmitters, mobile platform (gliding robotic fish), and environment at time when each tag signal was emitted.
Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data
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Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions.
Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data
공공데이터포털
Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions.