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This paper presents a behavior-based adaptive mission planner (AMP)to trace a chemical plume to its source and reliably declare the source location. The proposed AMP is implemented on a REMUS autonomous underwater vehicle (AUV)equipped with multiple types of sensors that measure chemical concentration,the flow velocity vector, and AUV position, depth,(More)
This paper addresses the problem of mapping likely locations of a chemical source using an autonomous vehicle operating in a fluid flow. The paper reviews biological plume-tracing concepts, reviews previous strategies for vehicle-based plume tracing, and presents a new plume mapping approach based on hidden Markov methods (HMM). HMM provide efficient(More)
—Olfactory-based mechanisms have been hypothesized for biological behaviors including foraging, mate-seeking, homing, and host-seeking. Typically, olfactory-based mechanisms proposed for biological entities combine a large-scale orientation behavior based in part on olfaction with a multisensor local search in the vicinity of the source. Long-range(More)
We present a compressive video microscope based on structured illumination with incoherent light source. The source-side illumination coding scheme allows the emission photons being collected by the full aperture of the microscope objective, and thus is suitable for the fluorescence readout mode. A 2-step iterative reconstruction algorithm, termed BWISE,(More)
This paper describes an optofluidic droplet interrogation device capable of counting fluorescent drops at a throughput of 254,000 drops per second. To our knowledge, this rate is the highest interrogation rate published thus far. Our device consists of 16 parallel microfluidic channels bonded directly to a filter-coated two-dimensional Complementary(More)
An Adaptive Mission Planner (AMP) was developed for the REMUS Unmanned Underwater Vehicle (UUV) in order to have the vehicle react to real-time sensor data and alter course for the purpose of chemical plume tracing. In order for a UUV to track a plume autonomously, it must implement search strategies in an intelligent manner as dictated by environmental(More)
A compressive video microscope based on structured illumination is built. The source-side illumination coding scheme allows the emission photons being collected by the full aperture of the microscope objective, and thus is suitable for the fluorescence readout mode. A block-wise total variation algorithm has been proposed to address the mismatch between the(More)