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m 2 of sea o or surveyed i e 3 43 m 2 captured p er each s till image extracted from the video The light gray bars represent an approximate range of ROV altitudes that may b e encountered on a survey ranging 0 75 1 3 m ab ove the sea o or which c orres p onds to 1 93 5 8 m 2 of sea o or surveyed b The area of sea o or m 2 surveyed p er second y axis as a function of the ROV s altitude ab ove the sea o or via the Ping Sonar Altimeter values through time x axis across a transect The relatively tight grouping b etween 3 4 m 2 indicates go o d control over altitude ab ove the relatively at Magnolia site The spikes at the end of the time series is where an underwater pip e was encountered at Magnolia the lower spike is the pip e rst app earing b elow the sonar giving the impression the ROV is close to the sea o or then the upp er spike is the ROV op erator moving the ROV up and over the

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text:
pip e 3 4 Preliminary joint ROV SCUBA diver op erations On Novemb er 23 r d the Seattle Aquarium conduc ted its rst joint ROV diver overlap over the side of Pier 59 Fig 7 We had several ob jectives spread across the two participating Seattle Aquarium departments Conservation Programs Partnerships CPP and Visitor Engagement VE 1 obtain underwater imagery of ROV Nereo 2 investigate any p otential safety issues when overlap ping divers and the ROV concurrently 3 investigate any p otential acoustic interfe re nc e b etween a diver on underwater comms an acoustic system allowing a diver to talk to the surface and the ROV s Ping Sonar Altimeter and Underwater GPS systems b oth of which are acoustic systems 7 and nally 4 run ROV Nereo ab ove a meter tap e Fig 7 to provide an empirical test of our sea o or area c alc ulations We are pleased to rep ort this rst joint ROV diver day in the eld was a c omple te succe ss The divers rep orted that it was easy to dive alongside the ROV and no issues around acoustic interference were detected In e arly

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text:
2023 we will rep eat this ROV diver overlap with the additional layer of s ending the audio from the diver and the video from the ROV to Puget Sound Hall to test the p otential using ROV diver overlap as a novel dive show Furthermore our empirical measurements of ROV height and sea o or area aligned with those predicted by our calculations a b c d e f Figure 7 a b ROV Nereo with b oth the b enthic and forward facing light arrays p owe re d on c d ROV Nereo and CPP VE diver Alex Tanz establishing c ontact to simulate an interpretation dive e ROV Nereo obtaining b enthic facing imagery ab ove a meter tap e in order to empirically measure eld of view width f A slightly cropp ed to t within this gure shot of the meter tap e from the downward facing view at an altitude of approximately 0 5 m with sea o or width corresp onding to our calculated exp ectations 8 3 5 Preliminary outreach and engagement ROV Nereo s charisma paired with a mission of exploration into the unknown are ideally suited to create comp

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text:
elling outreach and education We have exp erimented with multiple di erent mo dalities of outreach ranging from classro om visits to hands on student interactions with the ROV b oth at the Se attle Aquarium and out at sea We have teamed up the Sea Potential LLC whose mission is to connect Black and Indigenous People of Color with maritime careers opp ortunities Sp eci cally on Septemb er 29 th Eb ony Welb orn Director of Corp orate Advanc ement and Savannah Smith Director of Youth Engagement joine d Seattle Aquarium and Port of Se attle p ersonnel in the eld to exp erience Urban Kelp ROV surveys at Site 3 Novemb er 19 th we again teame d up with the Port this time hosting Sea Pote ntial youth at the Seattle Aquarium b oth ROV Nereo and Rin go the Port s ROV were set up deployed o the side of Pier 59 and the youth learned ab out ROV research and had a turn op erating b oth ROVs Fig 8 Note that we have a prop osal in with the National Science Foundation and Paul G Allen Family Foundation that in addition to ramping

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text:
up our Urban Kelp Research Project ROV surveys would als o supp ort Eb ony and Savannah s work by providing funds to hire two Sea Potential summer interns to work alongside Randell and Williams in the course of their ROV research and conservation a b c d Figure 8 a Ringo the Port s ROV b eing readied for launch by Randy Edwards b Randell intro ducing Sea Potential youth to ROV Nereo c Ringo b eing op erated by one of the youth d ROV Nereo s Xb ox game controller is always a hit with the youth 9 4 Summer 2022 site summaries 4 1 Site overview transect survey parameters Summer 2022 we surveyed eight sites throughout Elliott Bay Fig 9 each comprised of four transects totaling 32 separate ROV surveys All together these 32 surveys lmed 6727 m 2 of sea o or along a cumulative linear 2142 3 m The 32 transects totaled 285 minutes and generated 202 GB of 4 K 30 f ps video and 2143 still image s These cumulative ROV survey parameters are broken down into frequency histograms of the 32 transects in Fig 10 Figure 9 Elliott Bay with our

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text:
eight ROV sites delineated with red dots The Elliott Bay Marina and Centennial Park lo cations s upp orted larger b eds enabling replication at the s ite level in order to statistically di erentiate the two Magnolia and the East Waterway b eds were much smaller hence the single site at each Figure 10 Frequency histograms of the 32 Urban Kelp transects with survey and ROV parameters such as transect length m time required min ROV sp eed m sec total area lmed m 2 and survey rate the area of sea o or lmed p er unit time m 2 second The red vertical line delineates the median value of each parameter Individual transect parameters are listed in table form b e low 10 Broadly sp eaking we intended to conduct 100 m transects though often we fell s hort of this distance with median transect length 67 m There were several reasons for this 1 Our GPS has a 100 m range enco ded into the software For 2800 we can purchase an upgrade where up on downloading the purchased up dated for our GPS system we could unlo ck 300 m functioning The consequence of the

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text:
current 100 m range is that in instances where the start of our transe ct is some distance away from the vessel e g the ROV initiates a survey 20 m away from the vessel the transect could at most last 80 m b efore we exceed the GPS s range 2 As outlined in section 2 1 there were multiple instances where we lost communic ation b etween the GPS and ROV which will b e xed by hardwiring that connection as also discussed ab ove When that communication loss manifested in the eld the prevailing and uncomfortable uncertainty ab out the ROV s p osition often resulted in ROV retrieval at transect distances 100 m Finally note that when our ROV laptop has a SIM card we will manually enter p oints of interest way p oints which means we can enter transect start and end co ordinate s this will greatly aid our navigational capability and the spatial consistency of our trans ects Otherwise in te rm s of ROV survey parameters ROV Nereo surveyed at an average sp eed of 0 124 m second enabling a average survey e ort sea o or area lmed p

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text:
er unit time of 0 39 m 2 second or equivalently 23 4 m 2 minute These values can b e scaled in order to estimate the time required to reach area based ob jectives or to forecast how much area could b e surveyed given certain parameters such as p ersonnel or ve ssel availability days in the eld etc Zo oming out from the ne sc ale ROV survey rates note that our 32 trans ects were conducted across s ix days in the eld thanks to vessel supp ort from the Port of Seattle an average of 5 3 transects p er day We conducted either 4 6 or 8 transects p er day and while we did not explicitly record how much time on the water was sp ent completing 4 8 transects required approximately 3 5 hours The numb er of transects p er day we complete in the future will vary dep ending up on ease of surface b ottom conditions thickness of kelp and time required to extricate the ROV following each transect distance b etween transects vessel travel time etc Thus far this rep ort has largely dealt with high level Q

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text:
3 Q 4 metho ds development up dates We now switch gears to rep ort up on the four sample lo cations surveyed in 2022 Site 1 at Magnolia Sites 2 4 along the Elliott Bay Marina Sites 5 7 along Centennial Park and Site 8 at the Coast Guard Station in the East Waterway Our AI analyse s are still in the training phase where we manually annotate im ages to train the algorithms thus we do not rep ort quantitative community metrics here Rather we provide a qualitative overview of the underlying substrate the predominant community structure patterns present approximate within vs b etween site variability and other notable features encounte red in the pro cess of conducting these surveys We do this through text maps of the sp eci c transe cts with underlying bathymetry overlaid using data from NOAA National Centers for Environme ntal Information NCEI a table listing transect survey parameters and four images from the downward and forward facing cameras Finally note that in the tables b elow you will nd links underlined for the individual transects e g T1 and around the numb er of still image s e g 62 that resp

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text:
ectively link to the b enthic facing video and extracted s till images We are still pro cessing the forward facing video and will share those videos and stills once nis he d 11 4 2 Site 1 Magnolia Figure 11 The four ROV transects surveyed o shore of Magnolia on Octob er 6 th Note that the starting GPS co ordinates of T 4 is incorrect i e it was recorded erroneously by the GPS system as T 4 overlapp ed with the underwate r pip e just as T 1 T 3 did We did not correct T 4 s starting co ordinates in order to illustrate how our simulation pro cedure can reconstruct the length and shap e of a transect but transect placement is still sub ject to the delity of the starting pair of lat lon co ordinates Table 1 Survey statistics for Site 1 Magnolia Transect ID contains a link to the downward facing video Stills list the numb er of extracted stills along with the asso ciated link Time lists the survey time asso ciated with each transect not including time motoring to or from the survey lo cation Length in meters was

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text:
calculated via either the real or simulated GPS co ordinates Area was calculated in QGIS and is the sum total m 2 area lmed p er transect Rate is an averaged metric of survey e ort i e area of s ea o or lmed p er unit time Site Transect Stills Time min sec Length m Area m 2 Rate m 2 sec 1 T1 62 08 11 56 6 167 8 0 35 1 T2 55 07 34 50 5 142 9 0 31 1 T3 48 06 19 44 2 130 4 0 35 1 T4 59 07 44 52 9 154 9 0 33 12 Logistically sp eaking Site 1 was simple to s urvey with the ROV The sea o or was a relatively homogenous mix of soft substrate with numerous ro cks 10 30 cm ideal for kelp recruitment These numerous ro cks are visible in our b enthic facing imagery and will b e re ected in our AI analyses This site was uniformly deep 5 5 m In comparison to all other sites Site 1 exhibited the least amount of verticality the one exception b eing an underwater pip e at the

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text:
end of the transects visible on Fig 11 bathymetry which was found to b e covered in red algae and with which numerous p erch asso ciated In terms of community structure Site 1 was dominated by sugar kelp Saccharina latissima intersp ersed with bull kelp Nereocystis luetkeana and se a lettuce Ulva spp The sugar kelp was primarily coated in an unidenti ed white substance that is likely epiphytic growth from bacteria or some other organism Colonial bryozoans that often coat age d kelp fronds were also observed on the understory sugar kelp When bull kelp was e nc ountered it often had kelp crabs Pugettia producta on the stip es Ke lp crabs and red ro ck crabs Cancer productus were also observe d among the sugar kelp on the sea o or at tim es with their ye llow or dark green coloration matching the immediately surrounding vegetation The most com mon sea star sp ecies observed was the mottled sea star Evasterias troschelii with o chre sea stars Pisaster ochraceus infrequently e nc ountered Notably this site had a relatively low abundance and diversity of sh compared to other lo cations such as the Elliott Bay

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