Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which, unlike ground robots, are significant in water and cannot be ignored. The problem is especially challenging for small AUVs for which the dynamics can change significantly with payload changes and deployments under different water conditions. The common approach to AUV control is a combination of passive stabilization with added buoyancy on top and weights on the bottom, and a PID controller tuned for simple and smooth motion primitives. However, the approach comes at the cost of sluggish controls and often the need to re-tune controllers with configuration changes. We propose a fast (trainable in minutes), reinforcement learning based approach for full 6 degree of freedom (DOF) control of an AUV, enabled by a new, highly parallelized simulator for underwater vehicle dynamics. We demonstrate that the proposed simulator models approximate hydrodynamic forces with enough accuracy that a zero-shot transfer of the learned policy to a real robot produces performance comparable to a hand-tuned PID controller. Furthermore, we show that domain randomization on the simulator produces policies that are robust to small variations in vehicle's physical parameters.

The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full variation and complexity of interactions between different reef organisms and their habitat. The CUREE platform presented in this paper provides a unique set of capabilities in the form of robot behaviors and perception algorithms to enable scientists to explore different aspects of an ecosystem. Examples of these capabilities include low-altitude visual surveys, soundscape surveys, habitat characterization, and animal following. We demonstrate these capabilities by describing two field deployments on coral reefs in the US Virgin Islands. In the first deployment, we show that CUREE can identify the preferred habitat type of snapping shrimp in a reef through a combination of a visual survey, habitat characterization, and a soundscape survey. In the second deployment, we demonstrate CUREE's ability to follow arbitrary animals by separately following a barracuda and stingray for several minutes each in midwater and benthic environments, respectively.

Tom Curee, vice president of strategic development for Kingsgate Logistics, spoke about the company's use of artificial intelligence on Aug. 27 at the McLeod user conference. All transportation and logistics companies have data challenges, but not from the lack of it. The greater problem is what to do with all of it? A speaker at the McLeod Software user conference in Dallas on Aug. 27, discussed artificial intelligence (AI) as the solution. Tom Curee, vice president of strategic development at Kingsgate Logistics, shared how the company uses AI to stay on top of its ever-expanding data assets.