论文标题
可重新配置的机器人用于缩放礁石修复
Reconfigurable Robots for Scaling Reef Restoration
论文作者
论文摘要
珊瑚礁受到气候变化的影响的威胁越来越大。尽管当前的恢复方法是有效的，但它们需要大量的人类参与和设备，并且部署量表有限。从大规模产卵事件中收集野生珊瑚产卵，将其饲养到幼虫阶段并将幼虫释放到退化的礁石上，是一种新兴的珊瑚礁修复液，称为珊瑚恢复。本文提出了一个可重新配置的自动型地面车辆系统，可以消除风险的潜水，覆盖珊瑚幼虫的大区域，具有一个有感觉套件以进行其他数据测量，并且需要最少的非技术专家培训。一个关键特征是机上实时底栖底物分类模型，该模型预测何时释放幼虫以提高沉降率，并最终可生存。提出的机器人设计是可重构的，轻巧的，可扩展的，易于运输。蜥蜴岛恢复部署的结果表明，在适当的珊瑚底物上释放了珊瑚幼虫的改善，而与手动方法相比，面积覆盖率增加了21.8倍。
Coral reefs are under increasing threat from the impacts of climate change. Whilst current restoration approaches are effective, they require significant human involvement and equipment, and have limited deployment scale. Harvesting wild coral spawn from mass spawning events, rearing them to the larval stage and releasing the larvae onto degraded reefs is an emerging solution for reef restoration known as coral reseeding. This paper presents a reconfigurable autonomous surface vehicle system that can eliminate risky diving, cover greater areas with coral larvae, has a sensory suite for additional data measurement, and requires minimal non-technical expert training. A key feature is an on-board real-time benthic substrate classification model that predicts when to release larvae to increase settlement rate and ultimately, survivability. The presented robot design is reconfigurable, light weight, scalable, and easy to transport. Results from restoration deployments at Lizard Island demonstrate improved coral larvae release onto appropriate coral substrate, while also achieving 21.8 times more area coverage compared to manual methods.
