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start to follow the tether back out of the b ed Maintain tight tether control by reeling up the slack as the ROV motors back towards the vessel 3 The ROV op erator will need to maneuver around ab ove or under e g bull kelp s tip es or tangles of stip es and blades Thanks to the buoyant tether these maneuvers are b est 1 conducted ne ar the surface and additional depth can b e utilized when necessary see the latter half of Fig 1 for the depth pro le while maneuvering out of a b ed 4 In instances where the tether has b een obstructed but not wrapp ed by e g a large mass of bull kelp fronds careful application of tension on b oth ends of the tether from 1 the te the r op erator and 2 the ROV by targeted thrust may pull the tether free 2 3 Acoustic GPS system These preliminary days with the Port enabled tes ting of our WaterLinked G2 Acoustic GPS system see here for details This system op erates with 1 an ac ous tic transmitter attached to the ROV 2 an acoustic antenna deployed

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text:
o of the vessel that receives communication from the acoustic transmitter and 3 a topside hub on the ve ssel that obtains a GPS x is connected to the ROV s laptop and integrates information from the acoustic system When all three comp onents are in place we can record and exp ort precise geospatial co ordinates of the ROV s p osition underwater see the lat and lon columns of this cleaned ROV telemetry le There are seven channels corresp onding to seven frequency bands for the acoustic transmitter and antenna s ee here for details We initially encountered acoustic interference along channels 1 and 3 along the 31 25 62 5 and 93 75 125 0 k H z bands resp ectively and eventually found that channel 5 156 25 187 5 k H z consistently worked 2 4 ROV survey methodology development Having develop ed the metho ds nece ssary to succes sfully op erate within canopy forests and with reliable ROV p osition information we exp erimented with di erent mo dalitie s of b enthic s urveys and landed up on a proto col tailored to the Port of Seattle kelp b eds The kelp

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text:
b eds around Elliot Bay Marina and along Centennial park are narrow down a depth gradient p erp endicular to shore and long parallel to shore We found it works well to run the ROV down a b ed i e parallel to shore and through the thick of the forest Given the narrow nature of the b eds p erp endicular to shore we can complete transects 1 within the b ed along the inside margin shallow relatively close to shore 2 down the middle of the b ed 3 within the b ed along the outer margin deep er relatively distanced from s hore and 4 just outside the b ed As the acoustic G PS has a 100 m range and as we have a 150 m tether we are successfully able to conduct 100 m transects Dep ending up on current and how hard the ROV motors need to work we can complete three or four transects on a single battery of the ROV we have three ROV batteries 2 5 ROV leak The ROV presented a leak at the end of August that necessitated rescheduling a couple days in the eld with Port Identifying the

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text:
source of this leak has b een a pro cess of trial and error and we have tackled multiple p otential fail p oints 1 we replaced the acrylic housing for the electronics compartment as there were small scratches running across the double O ring seal and 2 we replaced all the O rings in the ROV On August 7 th we de nitive ly identi ed a failed p ower cable as the source of a small leak and a new c able has b een ordered as have nume rous spare parts to ensure future leaks do not delay op erations Furthermore we are exploring the idea of purchasing a second ROV with a complete se t of hardware such that if one ROV go es down the sec ond can b e seamlessly rotated into the eld 2 3 Video and data management and analyses 3 1 Analytical work ow development We have develop ed an overarching work ow and the asso ciated details for the precise s teps and co de nec essary to p erform a variety of functions related to le management for the ROV telemetry les and 4 K 30 f ps video

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text:
and extracted stills All re quired steps are co di ed in our Overarch ing Work ow do cument linked here click e ither the view raw or download button as is a tracklog to monitor le status This do cument als o lays out le naming conventions le paths links to requisite op en source co de etc The steps are group e d as follows A Con gure a lo cal machine to access op en source CCR les conduct analyses and push edits to GitHub rep ository B Extract save and backup ROV telemetry csv and Ping Sonar Alitimeter bin les and b enthic and forward facing GoPro video mp4 C Work with and merge the csv and bin les to generate a dive log at the 1 s scale i e with one second intervals rows including latitude and longitude distance traveled b etween co ordinates ROV altitude ab ove the sea o or depth temp erature etc D Video pro cessing such as clipping the mp4 videos to the precise survey transects color matching if needed and extracting and saving stills from video E File management to save and back up cleaned pro cessed video

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text:
and stills and eventually delete older le versions F Upload image stills to CoralNet annotate imagery with p ercent cover categories review and correct if necessary algorithm predictions save and download the csv CoralNet le G Merge the CoralNet csv containing sp ecies and habitat data with the merged ROV te lemetry csv le to pro duce a nal combined ROV telemetry plus community and habitat data 3 2 Mapping Station at the Seattle Aquarium We are working with the Seattle Aquarium s IT department to develop a custom Mapping Station at the Market Square building This will include a computer optimized for pro cessing sp eed memory and intensive video analytical tasks such as the compilation of Arti cial Intelligence AI algorithms and pro cessing of 4 K imagery on 4 K computer screens This Mapping Station will provide an ons ite base for our pro ject and in addition to using it ourselves we envision it will provide an interface for volunteers and also Port of Seattle p ersonnel or asso ciates that want to b ecome familiar with video pro cessing AI analyses mapping etc We lo ok forward to opp ortunities to share our co de

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text:
video pro cessing approach AI metho ds and spatial analyses in p erson with interested parties 3 3 Open source resource development We are striving to maintain transparency and access ibility throughout this pro ject b oth with regards to hardware such as our customized ROV as well as software including maintaining a record of co de changes m ade to co de and the use of op en source programs where p ossible We currently have two public rep ositories on GitHub 3 Seattle Aquarium ROV development contains general information that may b e of interest to collab orators or memb ers of the public It provides a broad overview of our pro ject including links to s umm ary do cuments articles and interviews information ab out the ROV and links to its comp onents and links to photos and video from the ROV Seattle Aquarium ROV telemetry imagery analysis is more in the weeds and contains co de to convert and manage les extract stills from video create gures as well as links to co ding and analytical resources As it is public interested parties can clone i e download this rep ository to their lo cal

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text:
machine in order to conduct the same analyses le conversions and data management assuming they have the require d programs linked here installed 3 4 Video processing The only program we are currently using that is not freely op en source is Cyb erlink PowerDirector a subscription based video editing program With this program we can trim les down to sp eci c survey transects as well as color match to correct any instances in which the white balance deviates Furthermore we now have Python co de in place to extract stills from the 4 K 30 f ps GoPro video As we can easily control the interval at which stills are extracted e g take a still every 5 10 or 20 seconds we can ensure that for any give n ROV dive our stills do not overlap one another i e double count nor do they miss information in b etween stills i e under count 3 5 Telemetry les We have develop ed the steps and co de to work with and manage 1 the cs v telemetry le containing a record of the ROV s dive including latitude longitude information and the 2 Ping Sonar Altimeter

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text:
bin le containing a record of the ROV s height ab ove the se a o or The telemetry le required extensive pruning co de for which you can nd here The bin Ping le required conversion from bin to csv co de here The Ping data required a bit of massaging e g here as it samples many times p er second and we needed to merge it with the ROV telem etry le which is at the 1 s scale You c an see co de for merging these les here a Figure 1 a the depth log of one of the August 15 th surveys with the rst half recording a pro le of a survey and the latter half recording depth while navigating out of a kelp b ed You can see an example of a com ple te ly cleaned and pro cessed ROV telemetry le here with columns such as time in hh mm ss time a running tally of the ROV s ight time ight time depth compass heading heading battery remaining and geospatial information such as latitude 4 lat longitude lon and the distance in meters b etween each GPS p oint

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EucDIS The last two columns contain information from the Ping Sonar Altimeter such as the ROV s distance ab ove the sea o or avg dist and p ercent con de nc e avg conf 3 6 Preliminary CoralNet analyses We used the op en source AI web interface CoralNet to create a pro ject upload p e rc ent cover cate gories and annotate a preliminary set of images Fig 2 You can review the list of p e rc ent coverage categories for sp ecies as well as habitat typ e here click either the view raw or download but ton Once these categories were entered into CoralNet we uploaded extracted stills from our 4 K video from o s hore of Centennial Park and conducted a preliminary pro of of concept series of annotations Once the annotations were complete we exp orted the resulting csv les and merged them with the relevant rows from the ROV telemetry le What you see here click either the view raw or download button is the nal pro duct of our analytical work ow chain of events i e the complete record of our dive including depth latitude longitude Ping Altimeter

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text:
data as well as the corresp onding community structure identi ed at those precise seconds throughout the dive a b Figure 2 a b two di erent stills extracted from 4 K 30 f ps GoPro video uploaded and anno tated within Coral to calculate p ercent coverage of various sp e cies as well as substrate typ e 4 Next steps Our next steps in the eld include a urry of surveys in Septemb er to nis h our summer 2022 work in Elliot Bay along Centennial Park and in the East and West Waterways On the analytical side having develop ed our analytical work ow we will enact it through pro cessing full length ROV dives as well as initiate community habitat data visualization We will also simultaneously push to develop the mapping p ortion of this pro ject through using the latitude longitude co ordinates recorded by our GPS system In short we are on track and we lo ok forward to advancing this pro jec t with Port p ersonnel 5 1 No min a tio n fo r th e 2022 Susta ina bility Cent ury Awar d in the ca teg o ry o

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text:
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