TECHNICAL FIELD

The present disclosure relates enabling self determination of location or position in an underwater environment and more particularly to self-localizing systems and methods in an underwater environment.

BACKGROUND

Many devices can determine their location or localize using Global Positioning System (GPS) data. For example, the GPS devices determine their position by receiving signals from a constellation of satellites arranged in different orbital planes. When a receiver of the device locks on four or more of the signals, Time Of Arrival (TOA) techniques are used to estimate the distance of the transmitting satellites. The devices can then use a multi -alteration algorithm to compute its location or position on the earth’s surface and report the result to the user. However, GPS is not suitable for indoor localization or underwater environments. The GPS signals do not propagate sufficiently in underwater areas to enable them to be used for accurate determination of a position or location.

SUMMARY

Systems and methods described herein relate to localization of objects in an underwater environment, for example, using optical signals, acoustic signals, or a combination of optical signals and acoustic signals. Localization (or geo-location, and location sensing) refers to the process of computing the physical position of an object or device.

Underwater environments provide a greater challenge as different types of signals, including GPS signals and radio signals, do not propagate well or efficiently underwater. Thus, the systems and methods discussed herein enable self-localization in underwater environments to accurately monitor and understand the respective underwater environments, climate changes, and objects in the underwater environments, such as sea animal life. In embodiments, the systems and methods discussed herein provide for selflocalization and position determination in underwater environments using optical signals, acoustic signals and a combination of beam steering of optical signals and acoustic signals. The system can include surface nodes positioned along a surface of the water that localize according to a determined schedule or per request, for example, using GPS signals. The system can further include reference nodes positioned within the underwater environment (e.g., positioned at a particular depth in the water) that localize using the position data of at least one surface node and a distance between the reference node and the surface node.

The reference nodes can include multiple components or nodes to generate and transmit optical signals and acoustic signals and enable self-localization of any object in an underwater environment. For example, the reference nodes can include luminaire nodes, anchor nodes, and acoustic signal generators. The luminaire nodes can generate and transmit optical signals to a target area within the underwater environment and the optical signals can be received by one or more anchor nodes. The acoustic signal generators can generate and transmit acoustic signals to a target area within the underwater environment and the acoustic signals can be received by one or more anchor nodes. The anchor nodes can localize and determine their respective coordinate data using properties of the received optical signals, including but not limited to, a center of gravity value of the optical signals. The anchor nodes can localize and determine their respective coordinate data using properties of the received optical signals and acoustic signals, including but not limited to, a center of gravity value of the optical signals and a center of gravity value of the acoustic signals. The anchor nodes can localize objects or determine a location of an object within the underwater environment using interleaving coordinate data of the nearest anchor nodes. Thus, the systems and methods provided herein can enable the localization of objects within an underwater environment based in part on optical signals, acoustic signals or a combination of optical signals and acoustic signals.

At least one aspect is a system for self-localizing in an underwater environment is provided. The system includes a plurality of surface nodes positioned along a surface of the underwater environment and a plurality of reference nodes positioned at one or more depths within the underwater environment. In embodiments, each reference node of the plurality of reference nodes includes a luminaire node and an anchor node. In embodiments, each of the reference nodes are configured to determine respective position data using the position data for at least one surface node and a distance between the respective reference node and the at least one surface node. In embodiments, the anchor nodes are configured to determine respective coordinate data using an optical signal received from at least one luminaire node. In embodiments, the anchor nodes are configured to determine a location of an object within the underwater environment using coordinate data for two or more other anchor nodes.

In some embodiments, each of the reference nodes can include an acoustic signal generator. The anchor nodes can determine the respective coordinate data using the optical signal received from the at least one luminaire node and an acoustic signal received from the acoustic signal generator. The luminaire nodes can include one or more radiators. In some embodiments, the luminaire nodes are configured to steer one or more optical signals to a target area within the underwater environment using a phase of excitation signals from the one or more radiators of the respective luminaire node. In embodiments, the plurality of reference nodes can continuously determine the position data at different time periods using a detected difference in the distance from the at least one surface node during the different time periods. In embodiments, at least one reference node of the plurality of reference nodes is configured to determine the position data for the at least one reference node using a first distance value between the at least reference node and the at least one surface node, a second distance value between the at least reference node and the at least one surface node, and a third distance value between the at least one reference node and the at least one surface node.

In at least one aspect, a method for self-localizing in an underwater environment is provided. The method can include determining position data for a plurality of surface nodes using position signals. The method can include determining position data for a plurality of reference nodes using the position data for at least one surface node of the plurality of surface nodes and a distance between a respective reference node and the at least one surface node. In embodiments, each reference node of the plurality of reference nodes can include a luminaire node and an anchor node. The method can include transmitting, by the luminaire nodes, optical signals to the anchor nodes. The method can include determining, by the anchor nodes, coordinate data respectively for the respective ones of the anchor nodes using the optical signals transmitted by the luminaire nodes. The method can include determining, by the anchor nodes, a location of an object in the underwater environment using coordinate information for two or more other anchor nodes.

In embodiments, the method can include determining the position data for the plurality of surface nodes according to a schedule or in response to a request. The determined schedule can include predetermined intervals. The request can be generated due to a change in a condition of the of the underwater environment. The method can include determining, by at least one reference node of the plurality of reference nodes, the position data for the at least one reference node using a first distance value between the at least reference node and the at least one surface node, a second distance value between the at least reference node and the at least one surface node, and a third distance value between the at least one reference node and the at least one surface node.

In some embodiments, the method can include modifying, by at least one luminaire node, a phase of excitation signals from one or more radiators of the at least one luminaire node to direct a beam from the at least one luminaire node to a target area within the underwater environment. The method can include determining, by at least one anchor node, a center of gravity value for the one or more optical signals received from one or more of the luminaire nodes and determining, by the at least one anchor node, the coordinate data for the at least one anchor node using the center of gravity value for the one or more optical signals. The method can include determining, by the at least one anchor node, a center of gravity value for one or more acoustic signals received from one or more acoustic signal generators and determining, by the at least one anchor node, the coordinate data for the at least one anchor node using the center of gravity value for the one or more optical signals and the center of gravity value for one or more acoustic signals.

In some embodiments, the method can include determining, by the at least one anchor node, that a center of gravity value for the one or more optical signals received from at least one luminaire node and a center of gravity value for one or more acoustic signals received from at least one acoustic signal generator is within a threshold range. The method can include selecting, by the at least one anchor node responsive to the determination, a reference node that includes the at least one luminaire node and the at least one acoustic signal generator to use for determining the coordinate data for the at least one anchor node. The method can include determining, by the anchor nodes, the coordinate data using a magnitude and a phase of the one or more optical signals received at the respective one of the anchor nodes.

In some embodiments, the method can include determining, by at least one anchor node, a distance value between the at least one anchor node and at least one other anchor node using a strength of signal value for the one or more optical signals. The method can include determining, by at least one anchor node, the coordinate data for the at least one other anchor node using the distance value. The method can include determining, by the at least one anchor node, the location of the object within the underwater environment using a linear combination of the coordinate data for the at least one anchor node and the at least one other anchor node in a first direction and a second direction. These and other aspects and implementations are discussed in detail below.

The foregoing information and the following detailed description include illustrative examples of various aspects and implementations, and provide an overview or framework for understanding the nature and character of the claimed aspects and implementations. The drawings provide illustration and a further understanding of the various aspects and implementations, and are incorporated in and constitute a part of this specification.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are not intended to be drawn to scale. Like reference numbers and designations in the various drawings indicate like elements. For purposes of clarity, not every component can be labeled in every drawing. In the drawings:

Fig. l is a block diagram depicting a system for self-localizing in an underwater environment, according to an illustrative implementation;

Fig. 2 is a block diagram depicting a spatial relationship between surface nodes and reference nodes and localization of reference nodes in an underwater environment, according to an illustrative implementation;

Fig. 3 is a block diagram depicting beam steering performed by one or more luminaire nodes, according to an illustrative implementation;

Fig. 4A is a diagram depicting center of gravity determination of optical signals received at an anchor node, according to an illustrative implementation;

Fig. 4B is a diagram depicting center of gravity determination of acoustic signals and acoustic signals received at an anchor node, according to an illustrative implementation;

Fig. 4C is a diagram depicting a center of gravity determination, according to an illustrative implementation;

Fig. 4D is a diagram depicting a center of gravity determination at an anchor node, according to an illustrative implementation;

Fig. 5 is a diagram depicting localization of an object in an underwater environment, according to an illustrative implementation;

Fig. 6 is a flow diagram of an example method of self-localizing in an underwater environment according to an illustrative implementation; and

Fig. 7 is a block diagram illustrating an architecture for a surface node to implement elements of the systems and methods described and illustrated herein, including, for example, the system depicted in FIGS. 1-5, and the methods depicted in FIG. 6; Fig. 8 is a block diagram illustrating an architecture for a reference node to implement elements of the systems and methods described and illustrated herein, including, for example, the system depicted in FIGS. 1-5, and the methods depicted in FIG. 6.

Fig. 9A is a block diagram illustrating an architecture for a luminaire node to implement elements of the systems and methods described and illustrated herein, including, for example, the system depicted in FIGS. 1-5, and the methods depicted in FIG. 6.

Fig. 9B is a block diagram illustrating an architecture for an anchor node to implement elements of the systems and methods described and illustrated herein, including, for example, the system depicted in FIGS. 1-5, and the methods depicted in FIG. 6; and

Fig. 9C is a block diagram illustrating an architecture for an acoustic signal generator to implement elements of the systems and methods described and illustrated herein, including, for example, the system depicted in FIGS. 1-5, and the methods depicted in FIG. 6.

DETAILED DESCRIPTION

Following below are more detailed descriptions of various concepts related to, and implementations of self-localization of objects in an underwater environment, for example, using optical signals, acoustic signals or a combination of optical signals and acoustic signals. The various concepts introduced above and discussed in greater detail below can be implemented in any of numerous ways.

Systems and methods described herein relate to localization of objects in an underwater environment, for example, using optical signals, acoustic signals, or a combination of optical signals and acoustic signals. Localization (or geo-location, and location sensing) refers to the process of computing the physical position of an object or device. For example, devices and localization systems can use global positioning system (GPS) data to localize and determine a current position. Underwater environments provide a greater challenge as different types of signals, including GPS signals and radio signal, do not propagate well or efficiently underwater. Thus, the systems and methods discussed herein enable self-localization in underwater environments to accurately monitor and understand the respective underwater environments, climate changes, and objects in the underwater environments, such as sea animal life.

In embodiments, the systems and methods discussed herein provide for selflocalization and position determination in underwater environments using optical signals, acoustic signals and a combination of beam steering of optical signals and acoustic signals. The system can include surface nodes positioned along a surface of the water that localize according to a determined schedule or per request, for example, using GPS signals. The system can further include luminaire nodes positioned within the underwater environment (e.g., positioned at a particular depth in the water) that localize using the position data of at least one surface node and a distance between the luminaire node and the surface node. The luminaire nodes can generate and transmit optical signals to a target area within the underwater environment and the optical signals can be received by one or more anchor nodes. The anchor nodes can localize and determine their respective coordinate data using properties of the received optical signals, including but not limited to, a center of gravity value of the optical signals. The anchor nodes can localize objects or determine a location of an object within the underwater environment using interleaving coordinate data of the nearest anchor nodes. Thus, the systems and methods provided herein can enable the localization of objects within an underwater environment based in part on optical signals, acoustic signals or a combination of optical signals and acoustic signals. Each of the nodes of the self-localize system can determine their own respective position and location data. In embodiments, the nodes can continuously self-localize or update position, location and/or coordinate data to monitor changes due to drift, current, weather and/or other types of conditions in the water and/or underwater environment.

The surface nodes can continuously self-localize and determine position data to track and monitor changes in position due to, for example, drift along the surface of the water. The reference nodes can continuously self-localize and determine position data to track and monitor changes in position due to, for example, drift within the underwater environment. The luminaire nodes continuously self-localize and determine position data to track and monitor position and changes in position within the underwater environment that may impact a target area the respective luminaire node is attempting to beam steer optical signals towards. The anchor nodes can continuously self-localize and determine coordinate data to track and monitor position and changes in position within the underwater environment due to drift, current, weather and/or other types of conditions in the water and/or underwater environment.

The system can use the location information for an object or multiple objects to detect or identify any abnormalities in the behavior of the respective object (e.g., fish), abnormalities or issues in the operation of the system (e.g., luminaire malfunction), and/or abnormalities or issues in the underwater environment (e.g., predators, weather conditions). The location information for an object or multiple objects can indicate issues with the object(s), including but not limited to, feeding, feeding schedule, health and/or issues with the underwater environment impacting the respective object(s). to detect or identify any abnormalities in the behavior of the respective object (e.g., fish). For example, the position or location data of objects can indicate of the objects are congregating at the correct depth in the underwater environment, feeding at the correct times (e.g., fish), if a total number or the population of the objects has changed from a previous time, and/or a health of the objects. In embodiments in which the objects include fish, the location or position data can indicate that the fish are not congregating at the correct depth in the underwater environment which can indicate a health issue or other factor causing the fish to exhibit abnormal behavior. The location or position data can indicate that the fish are feeding at different times that expected or otherwise deviating from a predicted feeding schedule, which can further indicate a health issue or other factor causing the fish to exhibit abnormal behavior.

The position or location data of the objects can be used to detect a hardware failure or operating issues with the system and/or other systems within the underwater environment. For example, the position or location data of the objects can be used to detect if a luminaire node has malfunction, not working, producing less light and/or is obstructed and thus, providing less light to a target area. In embodiments, the position or location data of the objects can be used to detect issues within the underwater environment, such as environmental conditions (e.g., storm) that is disrupting the behavior of the objects and/or a predator within the underwater environment that is disrupting the behavior of the objects. Thus, the systems and methods provided herein can enable self-localization of objects within an underwater environment and abnormality detection for species and systems within the underwater environment.

Referring now to FIG. 1, a system 100 for self-localizing in an underwater environment 102 (e.g., water environment 102) is depicted. The system 100 includes a plurality of surface nodes 110 positioned along a surface 104 of the water and a plurality of reference nodes 112 positioned at a depth 132 within the underwater environment 102. Each of the reference nodes 112 can include a luminaire node 114, an anchor node 116 and an acoustic signal generator 118. The system 100 including the surface nodes 110, reference nodes 112, luminaire nodes 114, anchor nodes 116, and acoustic signal generators 118 can determine a position or location of an object 120 within the underwater environment 102. It should be appreciated, that the underwater environment 102 can include or refer to an area, position, location, coordinates or environment that includes underwater, under the surface 104 of the water and/or along the surface of the water. The underwater environment 102 can include, but is not limited to, an open water environment (e.g., ocean, lake, stream, etc.), a pool environment, a tank, a fishery, and/or a fish harvesting type environment. For example, in some embodiments, the underwater environment 102 can include a shrimp farm, fishery or fish harvesting type environment and the luminaire nodes 114 can include luminaires configured to provide light over varying wavelengths and intensities to aid the development and growth of the respective fish.

The surface nodes 110 can include an electronic device or circuit that transmits and receives signals and/or positional data. The surface nodes 110 can include a transceiver, a receiver, a transmitter, a sensor for receiving position signals, a global positioning signal (GPS) device and/or device for receiving Low Earth Orbit (LEO) communications. The surface nodes 110 can be positioned along the surface 104 of the water or underwater environment 102 such that the surface nodes 110 float, drift or move along the surface 104 in relation to a current of the water or environmental conditions (e.g., wind, storm, undercurrent, other objects moving within the underwater environment, and/or along the surface 104) impacting the water and/or underwater environment 102. The surface nodes 110 can be positioned on the surface 104 of the water. The surface nodes 110 can be partially submerged within the underwater environment 102 such that a portion of the surface node 104 is above the surface 104 and a portion of the surface node 110 is below the surface 104. The surface nodes 110 can be positioned at a depth 132 within the underwater environment such that the surface node 104 is able to receive position data and/or signals (e.g., GPS signals, LEO signals)

The surface 104 of the water and/or underwater environment 102 can include or refer to a top portion or top layer of the water, or a top portion or top layer of the underwater environment 102. In embodiments, the system 100 can include a single surface node 110 or a plurality of surface nodes 110. The number of surface nodes 110 can be selected based at least in part on the properties and size of the underwater environment 102, environmental conditions of the underwater environment 102 and/or a number of objects 120 within the underwater environment 102.

The reference nodes 112 can include an electronic device positioned can be positioned at a determined depth 132 within the underwater environment 102. The reference node 112 can operate as a reference point within the underwater environment 102 to enable self-localization of objects 120 within the underwater environment 102. The depth 132 or positioning for a specific reference node 112 can be selected based at least in part on the properties and size of the underwater environment 102, environmental conditions of the underwater environment 102, a number of objects 120 within the underwater environment 102, and/or a depth 132 the respective objects 120 are positioned, congregate, feed and/or typically within a defined range of. For example, the reference nodes 112 can be positioned within the underwater environment 102 to monitor the behavior of objects 120 within a target area 134 of the underwater environment 102. In embodiments, the reference nodes 112 can be positioned with respect to at least to one surface node 110 or multiple surface nodes 110. The reference nodes 112 can be initially positioned a known or determined distance 136 from a single surface node 110 or multiple surface nodes 110.

In some embodiments, the reference nodes 112 can be connected to a cable 130 for maintaining a relative position of the reference node 112 within the underwater environment 102. The cable 130 can include, but is not limited to, a wire, string, tether, line, rope or other form of connector for maintaining the relative position of the reference node 112 within the underwater environment 102. However, it should be appreciated that the reference node 112 can change or deviate causing the reference node 112 to change position or drift within the underwater environment 102 while connected to the cable 130 due to a current, environmental conditions and/or contact with an object 120 or structure within the underwater environment 102 and based in part on a tension level of the cable 120. In embodiments, the cable 130 can be attached to a device positioned on a surface 104 of the water. For example, the cable 130 can be attached to a surface buoy, a drifting buoy, a vessel, an oceanographic vessel, a cage, an ocean farm or any form of buoy, vessel, or structure operable to maintain a position along the surface 104 of the water or drift along the surface 104 of the water.

The reference node 112 can include a circuit to receive and transmit data and information and to receive and transmit signals. In embodiments, a reference node 112 can include a luminaire node 114, an anchor node 116, and an acoustic signal generator 118. For example, the luminaire node 114, anchor node 116 and acoustic signal generator 118 can be components of a reference node 112. In some embodiments, the luminaire node 114, the anchor node 116, and the acoustic signal generator 118 can be separate devices from the reference node 112 such that each of the luminaire node 114, the anchor node 116, and the acoustic signal generator 118 are individual devices and separately positioned within the underwater environment 102.

The luminaire nodes 114 can include lighting devices, luminaires, lighting fixtures or devices capable of generating optical signals (e.g., light signals, light) to a target area 134 of the underwater environment 102. The luminaire nodes 114 can be positioned at a determined depth 132 within the underwater environment 102. The depth 132 for a specific luminaire node 114 can be selected based at least in part on the properties and size of the underwater environment 102, environmental conditions of the underwater environment 102, a number of objects 120 within the underwater environment 102, and/or a depth 132 the respective objects 120 are positioned, congregate, feed and/or typically within a defined range of. For example, the luminaire nodes 114 can be positioned within the underwater environment 102 to provide light to a target area 134 for one or more objects 120 within the respective target area 134.

The luminaire node 114 can be positioned with respect to at least to one surface node 110 or multiple surface nodes 110. The luminaire nodes 114 can be initially positioned a known or determined distance (as shown in FIG. 2) from a single surface node 110 or multiple surface nodes 110. In some embodiments, a luminaire node 114 can connected, for example, through a tether or cable 130 to at least one surface node 110.

The acoustic signal generator 118 can include an electronic device or circuit for generating and transmitting acoustic signals. The acoustic signal generator 118 can be a component of the reference node 112 or a separate component positioned at a depth 132 within the underwater environment 102. The anchor nodes 116 can include an electronic device or circuit for receiving and transmitting positional data and information and receiving and processing optical signals and acoustic signals. The anchor nodes 116 can be a component of the reference node 112 or a separate component positioned at a depth 132 within the underwater environment 102.

The object 120 can include, but is not limited to, fish, mammal, shrimp, salmon, crustacean, shellfish, reptile, a person, a structure, and/or a boat. In embodiments, the object 120 can include any object, structure, fish, mammal, species and/or wildlife within the underwater environment 102.

Referring now to FIG. 2, a diagram 200 includes the system 100 and depicts a spatial relationship between the surface nodes 110 and the reference nodes 112 with the reference nodes 112 including a luminaire node 114 and an acoustic signal generator 118. The spatial relationship between the surface nodes 110 and the reference nodes 112 can enable each of the reference nodes 112 to self-localize using a surface node 112. For example, the surface nodes 110 can localize using determined position data that is determined using information and signals received from one or more difference sources, including but not limited, positional sensors, GPS signals and/or LEO satellite data. The reference nodes 112 can localize based in part on the spatial relation between at least one surface node 110 and the determined position data (e.g., coordinates, GPS data, LEO data) of the surface node 110. The localization of the surface nodes 110 and reference nodes 112 can occur at scheduled time periods, time intervals, in response to a request or a detected environmental condition that may cause a surface node 110 and/or reference node 112 to drift or change position. In embodiments, the localization of the surface nodes 110 and reference nodes 112 according to the same schedule, at the same time intervals, in response to the same requests and/or same environmental conditions. In some embodiments, the localization of the surface nodes 110 and reference nodes 112 according to a different schedule or different time intervals or in response to different requests and/or environmental conditions.

In embodiments, FIG. 2 can correspond to an initial time period or initial arrangement of the surface nodes 110 and the reference nodes 112. The distance from a surface node 110 to a reference node 112 can be initially known, fixed or set, for example, at installation time or initial positioning of the surface nodes 110 along the surface 104 of the water and the reference nodes 112 within the underwater environment 102. A reference node 112 can self-localize using the position data of at least one surface node 110 and one or more distance values 202 between the at least one surface node 110 and the respective reference node 112.

The reference node 112 can determine one or more distance values 202 from the at least one surface node 110 to the reference node 112 to localize with respect to the surface node 110. The determination of the distance values 202 can occur according to a schedule, at regular time intervals, in response to a request and/or in response to an environmental conditions. For example, the reference node 112 can determine one or more distance values 202 from a surface node 112 at the same schedule, at the same time intervals, in response to the same request and/or in response to the same environmental conditions that causes the respective surface node 110 to perform localization.

The reference node 112 can use a single distance value 202, two distance values 202, three distance values 202 or more than three distance values 202 to self-localize. In embodiments, the reference system 100 can determine a first distance 202a (e.g., du) from the at least one surface node 110 to at least one reference node 112, a second distance 202b (e.g., d 12) from the at least one surface node 110 to the at least one reference node 112, and a third distance 202c (e.g., dis) from the at least one surface node 110 to at least one reference node 112. In one embodiment, the first distance value 202a may refer to a horizontal distance across the surface 104 of the water, the second distance value 202b may refer to an angled distance (e.g., hypotenuse portion of a triangle formed using the respective distance values, slanted distance) from the surface node 110 to the reference node 112, and the third distance value 202c may refer to a vertical distance value from the from the surface node 110 to the reference node 112. The actual positioning and orientation (e.g., vertical, angled, horizontal) may change based at least in part on drift of the surface node 110 and/or reference node 112 and/or environmental conditions of the underwater environment 102. In some embodiments, the distance values 202 can be transmitted or provided to the reference nodes 112, for example, from a surface node 110 or a control device.

The reference node 112 can execute a positioning algorithm using the determined distance values 202 to localize and determine position data for itself, the respective reference node 112. In embodiments, the reference node 112 can execute the positioning algorithm to determine the second distance value 202b (e.g., dn) corresponding to an angled or direct line from the surface node 110 to the reference node 110 that corresponds or indicates the depth and position of the respective reference node 112 within the underwater environment 102. The positioning algorithm may include, but is not limited to Pythagorean theorem and equation 1 provided below: d _i2 = 7 d^ + d ₃ (1)

Wherein second distance value 202b (e.g., dn) can correspond to position data for the reference node 112 and/or the depth of the reference node 112 within the underwater environment 102. The reference node 112 can compare the determined position data to verify if the reference node 112 is at the correct position and/or depth within the underwater environment 102, within an acceptable range (e.g., an expected range allowing some drift or movement) of positions and/or depths within the underwater environment 102 or if the reference node 112 is out of position and/or at the wrong depth, or not within an acceptable range of positions and/or depths within the underwater environment 102.

Referring now to FIG. 3, a diagram 300 showing beam steering performed by a luminaire node 114. The luminaire nodes 114 can include a phased array antenna and can include one or more radiators 302. The radiators 302 can include a passive radiator, element or conductive element. The luminaire nodes 114 can control and steer or direct optical signals 304 (e.g., beams) to a target area 134 of an underwater environment 102 by adjusting or modifying a phase of excitation signals of the individual radiators 302. As illustrated in FIG. 3, the radiators 302 of the luminaire node 114 can be oriented in a linear spatial configuration. The position of an optical signal 304 is controlled by using the phase and/or magnitude, adjusting the phase and/or magnitude or otherwise modifying the phase and/or magnitude of the excitation signals of the individual radiators 302 such that the optical signals 304 are provided to a specific target area 134. In embodiments, the position of an optical signal 304 can be controlled electronically by adjusting the phase of the excitation signals of the individual radiators 302. In embodiments, the luminaire node 114 directs or steers a beam including multiple optical signal 304 from multiple radiators 302 when each of the multiple optical signals 304 from multiple, different radiators 302 arrive at the target area or desired destination having the same phase. It should be appreciated that the radiators 302 can be oriented in other spatial configuration besides a linear spatial configuration based in part on the size and shape of the respective luminaire node 114.

To direct optical signals 304 and/or the beam to the target area or desired direction with angle of 0 as shown in FIG. 3, the phase shifter (Acp) between each radiator 302 can be expressed as: where is the wavelength of radiated micro wave and L is the distance between each radiator 302. FIG. 3 shows the pattern of the phased array antenna with two radiators (e.g., ideal omni directional antennas) with different phase shifts in between. In embodiments, FIG. 3 illustrates that the direction of beam main lobes changes when the phase shift changes.

In embodiments, an acoustic signal generator 118 can control and steer or direct acoustic signals 306 to a target area 134 of an underwater environment 102 by adjusting or modifying one or more properties (e.g., phase, magnitude) of the individual radiators 302. The direction or target area for acoustic signals 306 is controlled by using the phase and/or magnitude, adjusting the phase and/or magnitude or otherwise modifying the phase and/or magnitude of the excitation signals of the individual radiators 302. In embodiments, the position of an acoustic signal 306 can be controlled electronically by adjusting the phase of the excitation signals of the individual radiators 302. In embodiments, the acoustic signal generator 118 directs or steers acoustic signals 306 from multiple radiators 302 when each of the multiple acoustic signals 306 from the multiple, different radiators 302 arrive at the target area or desired destination having the same phase.

To direct acoustic signals 306 to the target area or desired direction with angle of 9 as shown in FIG. 3, the phase shifter (Acp) between each radiator 302 can be expressed as: where is the wavelength of radiated micro wave and L is the distance between each radiator 302. FIG. 3 shows the pattern of the phased array antenna with two radiators (e.g., ideal omni directional antennas) with different phase shifts in between. In embodiments, FIG. 3 illustrates that the direction of beam main lobes changes when the phase shift changes.

Referring now to FIGs. 4A and 4B, diagram 400 and 450 illustrate center of gravity determinations of optical signals 402 received at a reference node 112 and/or anchor node 116 and acoustic signals 406 received at a reference node 112 and/or anchor node 116, respectively. It should be appreciated that while FIGs. 4A and 4B are discussed from the viewpoint of an anchor node 116, the anchor node 116 can be a component of, portion of or part of a reference node 112 and the description of FIGs. 4 A and 4B, including any properties, determinations, steps and/or actions performed by an anchor node 116 can be performed by and/or described from the viewpoint of the reference node 112 that the respective anchor node 116 is a component of, portion of or part of.

Properties of the optical signals 402 and/or acoustic signals 406 received at an anchor node 116 from one or more other reference nodes 112 and/or luminaire nodes 114 can be used by the receiving anchor node 116 to self-localize and determine which reference nodes 112 (including luminaire nodes) are within a defined range of the receiving anchor node 116, closest to the receiving anchor node 116 and/or nearest to the receiving anchor node 116. In embodiments, properties including, but not limited to, a center of gravity value 404 for an optical signal 402, multiple optical signals 404, an acoustic signal 406, and/or multiple acoustic signals 406 can be used by an anchor node 116 to self-localize and determine the one or more reference nodes 112 (including luminaire nodes) that are within a defined range of the receiving anchor node 116, closest to the receiving anchor node 116 and/or nearest to the receiving anchor node 116. The anchor nodes 116, reference nodes 112 and luminaire nodes 114 can communicate via wireless communication and through optical signals 402 and/or acoustic signals 406 due to the nature of the underwater environment 102. For example, in the underwater environment 102, signals can be scattered and blocked by other objects within the underwater environment 102 such as, but not limited to, fish, biota, and/or terrain. The anchor nodes 116, reference nodes 112 and luminaire nodes 114 can communicate via wireless communication and through optical signals 402 and/or acoustic signals 406 to determine position data from one or more sources. In embodiments, the anchor nodes 116 can receive optical signals 402 and/or acoustic signals 406 from multiple reference nodes 112 and/or luminaire nodes 114 in case signals from one or more other reference nodes 112 and/or luminaire nodes 114 are blocked, scattered or weak and to enable the respective anchor node 116 to determine position data using multiple sources.

As illustrated in FIGs. 4A and 4B, a set of anchor nodes 116 (e.g., reference nodes 112), here three reference nodes 112 are positioned within a range of a receiving anchor node 116. While FIGs. 4A and 4B, show a receiving anchor node 116 using optical signals 402 and/or acoustic signals 406 from three references nodes to self-localize, it should be appreciated that the receiving anchor node 116 can use properties of optical signals 402 and/or acoustic signals 406 from a single reference node 112 or multiple reference nodes 112 (e.g., two reference nodes 112, more than three reference nodes 112) based in part on the number of reference nodes 112 within the underwater environment 102 and/or the size of the underwater environment 102.

The set of reference nodes 112 (A = {a ₁₍ . . . , a _n }) can be positioned at known location (x ₍ ,y ₇ , z _k ), where i,j, k = {1, .. , , n) and a set of measurements, M _p . The reference nodes 112 and luminaire nodes 114 can localize periodically, according to a determined schedule, at time intervals or in response to a request such that the locations and coordinate information (e.g., is known for the respective reference nodes 112. The set, AT, contains the measurements available between pairs of reference nodes 112 in a network or underwater environment 102. In embodiments, the set of measurements, AT, includes x, y, and z coordinates and time value corresponding to a time the respective positional information is determined or obtained. In embodiments, M can include luminaire related information such as, but not limited to, a luminaire identifier (ID), an intensity level, a phase, and acoustic information. Where M = {mij : a measurement between a first reference node z and a second reference node j is available}. In embodiments, each measurement m _y contains information about the relative position of the first reference node z and the second reference node j.

The receiving anchor node 116 can perform localization by computing the center of gravity of light signals (e.g., center of gravity values 404) and/or acoustic signals 406 (e.g., center of gravity values 404) from neighboring reference nodes 112 and/or luminaire nodes 114. As the beam steering provides strong optical signals 402 and/or acoustic signals 406 to a target area where the receiving anchor node 116 is positioned, the center of gravity values 404 can be determined. For example, and now referring to FIGs. 4C and 4D, diagrams 460 and 470, respectively, illustrate center of gravity determinations at an anchor node 116. In particular, FIG. 4C and diagram 460 illustrate a center of gravity determination using at least three points. FIG. 4D and diagram 470 illustrates a comparison of a center of gravity of light signals (e.g., optical signals 402) and acoustic signals 406 with respect to a threshold 410. In embodiments, the center of gravity values 404 can be determined or computed by averaging the values in the x, y, and z-coordinates. For example, in an embodiment having three center points Pl (0,0,1), P2(0,l,0) and P3(l,0,0), the center of gravity (e.g., center of gravity values) of the three center points is (1/3, 1/3, 1/3) = (0.333... , 0.333..., 0.333...). In embodiments, the center of gravity values 402 can be determined using the formula provided below:

In embodiments, the receiving anchor node 116 can determine a center of gravity value 404 for an optical signal 402 and a center of gravity value 404 for an acoustic signal 406. The anchor node 116 can use the properties of the optical signal 402 and the acoustic signal 406, for example, when a strength of the optical signals is low or less than a threshold value 410. The strength of the optical signal can be impacted by environmental conditions of the underwater environment 102, including but not limited to, a storm, turbid conditions, strong under current, other species in the underwater environment 102, surfaces and/or structures in the underwater environment 102. The anchor node 116 can determine that the strength of the one or more optical signals 402 are less than a determined strength level or signal strength threshold 410 and determine to use a combination of the properties of optical signals 402 and acoustic signals 406 to perform self-localization. The anchor node 116 can determine the center of gravity values 404 for the optical signals 402 and determine the center of gravity values 404 for the acoustic signals 406. In embodiments, the anchor node 116 can determine which reference node 112 (e.g., luminaire node, acoustic signal generator) the optical signals 402 and acoustic signals 406 originated from using the center of gravity values 404 for the respective signals. For example, the center of gravity values 404 of optical signals 402 and acoustic signals 404 originating from the same reference node 112 via a luminaire node 114 and acoustic signal generator 118 of the respective reference node 112 can have the same center of gravity value 404, center of gravity values 404 less than a threshold value 410 or center of gravity values 404 less within a defined range indicating that the respective signals originated from a common reference node 112. In embodiments, the anchor node 116 can compare the center of gravity values 404 of optical signals 402 and acoustic signals 404 to a predefined threshold 410 (|G - | < th where G represents the COG of optical signals 402 and Cj represents the COG of acoustic signals 406) or within a defined range, (thi < |G - Q| - thi where thi represents a first threshold value 410 of the defined range and th2 represents a second threshold value 410 of the defined range). In embodiments, the predetermined threshold 410 can vary based in part on a size of an environment size, area size, size of the underwater environment 102 and/or a size of the area the center of gravity values 404 are being determined. If the center of gravity values 404 of optical signals 402 and acoustic signals 404 are less than the define threshold 410 or within the defined range, the anchor node 116 can determine the optical signals 402 and acoustic signals 406 are from the same reference node 112 and merge or combine the center of gravity values 404 to indicate the signals are from the same reference node 112.

The anchor node 116 can merge or combine center of gravity values 404 to group signals and determine the different reference nodes 112 transmitting optical signals 402 and acoustic signals 406. Localization of the anchor node 116 is then performed using the combination of the center of gravity values 404 for the optical signals 402 and acoustic signals 406. In embodiments, an average or mean of the coordinates for the estimated location of the receiving anchor node 116.

Localization: (Lu _g ht + L acoustic ) / 2 (5)

Where Lught represents the coordinates of the optical signal 402 and L _acO ustic represents the coordinates of the acoustic signal 406.

Referring now to FIG. 5, a diagram 500 depicting localization of an object 120 in an underwater environment 102 is provided. In embodiments, having the coordinate information for one or more anchor nodes 116 in the underwater environment 102, an object 120 between multiple anchor nodes 116 or within a defined range of one or more anchor nodes 116 can be localized and the objects 120 position or location (e.g., coordinates, depth) within the underwater environment 102 can be determined. For example, an object 120 between multiple anchor nodes 116 can be localized by interleaving or interpolation of the coordinate data of the respective anchor nodes 116.

The localization can be performed using one or more anchor nodes 116 within a defined range or distance from the object 120. In embodiments using multiple anchor nodes 116, the set of anchor nodes 116 can be selected to localize an object 120 based in part on the respective anchor nodes 116 distance from the object 120 and the distance from one or more other anchor nodes 116. For example, the closest anchor nodes 116, neighboring anchor nodes 116 and/or the one or more anchor nodes 116 within the defined range of the object 120 and the other anchor nodes 116 can be selected to localize the object 120. The nearest neighboring anchor nodes 116 can be determined by measuring a strength of signal from the respective anchor nodes 116. In an ideal space, an optical signal or acoustic signal 1 decays at a ratio of — (d. distance). Thus, the separation distance between two anchor nodes 116 (or reference nodes 112, luminaire nodes 114) can be estimated if the strength of the signal or power of the signal at the receiving anchor node 116 is determined. For example, the receiving anchor node 116 can measure the strength of the received optical signal and/or acoustic signal from a reference node 112 and determine the distance between the respective anchor node 116 and the transmitting reference node 112. The distance between the anchor nodes 116 can vary and be based at least in part on a number of anchor nodes 116 deployed in a particular area, a size of the area or environment the anchor nodes 116 are deployed.

The distances between multiple anchor nodes 116 and the distance from the respective anchor nodes 116 to the object is determined and then a set or group of anchor nodes 116 is selected from the multiple anchor nodes 116 based in part on the distances between each of the anchor nodes 116 and from the object 120. For example, the distance values between anchor nodes 116 and from the object 120 can be compared to a distance threshold and if a distance value is less than the threshold value, the anchor node 116 can be selected for localizing an object 120. In some embodiments, the distance values between anchor nodes 116 and from the object 120 can be compared to a distance range and if a distance value is within the distance range, the anchor node 116 can be selected for localizing an object 120.

Each of the selected anchor nodes 116 in the set of anchor nodes 116 can have determined coordinate data or location information determined during the respective anchor nodes 116 self-localization and illustrated in FIG. 5 as A (x, y, z, 1). The coordinate data for the set of anchor nodes 116 is used to localize the object 120. The object 120 can include an object 120 between the selected set of anchor nodes 116. For example, to localize the object 120 and determine coordinate data for the object 120, the x, y-coordinate data of the object 120 is determined using a linear combination of coordinates of two or more anchor nodes 116 from the selected set of anchor nodes 116 (e.g., neighboring anchor nodes) in a first direction (e.g., horizontal) direction and a second (e.g., vertical) direction. As illustrated in FIG. 5, a and b are both in the range [0, 1],

Referring now to FIG. 6, a flow diagram of a method 600 of self-localizing in an underwater environment 102 is provided. In brief overview, the method 600 can include scheduling localization of surface nodes and/or reference nodes (602), localizing surface nodes (604), localizing reference nodes (606), transmitting optical signals (608), determining a strength of the optical signals (610), transmitting acoustic signals (612), localization of anchor nodes (614) and localization of an object (616), and determining a status of the object or underwater environment (618).

At operation 602, and in embodiments, scheduling of the localization of surface nodes 110 and/or reference nodes 112 can be performed. A schedule can be generated indicating particular time periods or time intervals for the localization of one or more surface nodes 110 and/or one or more reference nodes 112 of a self-localization system 100. The surface nodes 110 included in the system 100 can have the same schedule such that the surface nodes 110 are localized at the same or similar times or according to the same or similar schedule. In embodiments, the schedule can indicate an order to localize the surface nodes 110, for example, but not limited to, a sequential order, one by one or groups of surface nodes 110 (e.g., a set of surface nodes 110 within a range of each other). In some embodiments, the surface nodes 110 included in the system 100 can have different schedules such that one or more surface nodes 110 are localized at different times or according to a different schedule than one or more other surface nodes 110.

The reference nodes 112 included in the system 100 can have the same schedule such that the reference nodes 110 are localized at the same or similar times or according to the same or similar schedule. In embodiments, the schedule can indicate an order to localize the reference nodes 112, for example, but not limited to, a sequential order, one by one or groups of reference nodes 112 (e.g., a set of reference nodes 112 within a range of each other). In some embodiments, the schedule for localizing the reference nodes 112 can be determined using the schedule for the surface nodes 110. For example, the schedule can indicate that the references nodes 112 are localized after the surface nodes 110. In some embodiments, reference nodes 112 and surface nodes 110 can be paired and the schedule can indicate that a pair including a reference node 112 and a surface node 110 are localized at the same or similar times, according to the same or similar schedule or in sequential order such that the surface node 110 is localized first and then the reference node 112 of the pair is localized. In some embodiments, the reference nodes 112 included in the system 100 can have different schedules such that one or more reference nodes 112 are localized at different times or according to a different schedule than one or more other reference nodes 112.

In some embodiments, the localization of the surface nodes 110 and/or reference nodes 112 can occur in response to a request or in response to a detected environmental condition that may cause a surface node 110 and/or reference node 112 to drift or change position (e.g., increased current, storm conditions, turbid conditions). The system 100 can update a schedule to indicate the request to localize the one or more surface nodes 110 and/or one or more reference nodes 112. The request can be generated in response to an environmental condition in the underwater environment 102, a malfunction of a surface node 110, malfunction of a reference node 112 and/or to verify position data for a surface node 110 and/or reference node 112.

In embodiments, the localization of the surface nodes 110 and reference nodes 112 according to the same schedule, at the same time intervals, in response to the same requests and/or same environmental conditions. In some embodiments, the localization of the surface nodes 110 and reference nodes 112 according to a different schedule or different time intervals or in response to different requests and/or environmental conditions.

At operation 604, and in embodiments, localization of the surface nodes 110 can be performed. A surface node 110 can perform self-localization to determine its position data (e.g., coordinates, location). The surface nodes 110 can perform the self-localization according to a schedule or in response to a request. The localization can include GPS based localization and/or localization using LEO satellite communication. For example, a surface node 110 can receive or request location signals from one or more different sources, including, GPS data from a GPS source (e.g., GPS satellite) or LEO data from one or more LEO satellites or LEO satellite communication systems. In some embodiments, the surface nodes 110 can include a sensor for detecting or receiving location signals or positional data, such as but not limited to, a GPS sensor or a sensor for detecting LEO signals. The surface node 110 can receive the location signals and determine its own position data and/or coordinates. In embodiments, the position data can identify a position along the surface of water, a positioned partially submerged in the water and/or a positioned at a depth within the water or underwater environment. In some embodiments, the surface node 110 can determine a change in position from an initial position of the respective surface node 110 or a change from a previous position determined from one or more previous localizations performed by the surface node 110.

It should be appreciated that the localization of surface nodes 110 can occur, in addition to times indicated by a schedule or instead of according to the times indicated by the scheduled, per request, for example, in response to a detected environmental condition in the underwater environment 102. In embodiments, in response to a storm or rough seas, a request can be generated by the system 100 and localization of one or more surface nodes 110 can occur to verify the position data of the one or more surface nodes 110 or to detect a change in the position data of the one or more surface nodes 110 from an initial position or previous position (e.g., determined from a previous localization). At operation 606, and in embodiments, localization of the reference nodes 112 can be performed. The reference nodes 112 can localize using the position data from at least one surface node 110 and a distance between the respective reference node 112 and the at least one surface node 110. The reference nodes 112 can be, at least initially, positioned a determined distance from one or more surface nodes 110 and the determined distance can be known. The reference nodes 112 can drift or otherwise change position in the underwater environment 102 due to various factors (e.g., weather, fish, current). Thus, in embodiments, the reference nodes 112 can continuously, per a schedule or per request verify or detect changes in a distance from one or more surface nodes 110. For example, during the localization, a reference node 112 can verify the distance between the respective reference node 112 and at least one surface node 112, determine a new distance between the respective reference node 112 and at least one surface node 112 and/or determine a change in a distance between the respective reference node 112 and at least one surface node 112. The reference nodes 112 can use the distance to the surface node 110 to select a closest surface node 110 or surface node 110 within a range (e.g., compare distances from one or more surface nodes 110 and select the closest) and use the selected surface node 110 to localize. In some embodiments, the reference nodes 112 can be paired with a surface node 110 and the reference nodes 112 can use the surface node 110 it is paired with to localize.

In embodiments, the reference node 112 can request or receive the position data from a surface node 110. For example, the reference node 112 can transmit a request to the surface node 110 for the position data of the surface node 110 and the surface node 110 can transmit a response that includes the position data. The position data can include the position or location of the surface node 110 determined during the most recent or previous localization performed by the surface node 110. Having received the most recent or current position data of the surface node 110 and the distance from the surface node 110 to the reference node 112, the reference node 112 can localize and determine its own position data within the underwater environment 102. In embodiments, the position data of the reference node 112 can identify a location or coordinates of the reference node 112 within the underwater environment 102 and/or a depth of the reference node 112 in the underwater environment 102.

The reference nodes 112 can perform the self-localization according to a schedule or in response to a request. For example, in addition to times indicated by a schedule or instead of according to the times indicated by the scheduled, reference nodes 112 can localize per request in response to a detected environmental condition in the underwater environment 102. In embodiments, in response to a storm or rough seas, a request can be generated by the system 100 and localization of one or more reference nodes 112 can occur to verify the position data of the one or more reference nodes 112 or to detect a change in the position data of the one or more reference nodes 112 from an initial position or previous position (e.g., determined from a previous localization).

At operation 608, and in embodiments, optical signals 402 can be transmitted. Reference nodes 112 or luminaire nodes 114 of reference nodes 112 can transmit optical signals 402 to a target area 134 within the underwater environment 102. The target area 134 can be selected for the luminaire node 114 or selected in response to a detected condition within the underwater environment 102 (e.g., presence of wildlife, fish, etc.). For example, the reference node 112 and/or luminaire node 114 can receive a command or instruction identifying the target area 134, properties (e.g., phase, magnitude) of radiators 302 of the luminaire node 114 and properties (e.g., strength, wavelength) of the optical signals 402 to be provided. The luminaire nodes 114 can perform beam steering or otherwise direct optical signals (e.g., light signals) to the target area 134 and the target area 134 may include one or more anchor nodes 116 or other reference nodes 112 having anchor nodes 116. In embodiments, the optical signals can be transmitted according to the beam steering discussed above with respect to FIG. 3. The luminaire nodes 114 can set, adjust or otherwise modify the phase of excitation signals from one or more radiators 302 of the respective luminaire node 114 to direct the optical signals 402 or a beam including one or more optical signals 402 to the target area 134.

At operation 610, and in embodiments, a strength of the optical signals can be determined. The strength of the optical signal can be impacted by environmental conditions of the underwater environment 102, including but not limited to, a storm, turbid conditions, strong under current, other species in the underwater environment 102, surfaces and/or structures in the underwater environment 102. Thus, the anchor node 116 or reference node 112 receiving the optical signals 402 can determine if the optical signals 402 are strong enough to use for a self-localization.

The optical signals 402 can be received at an anchor node 116 or a reference node 112 having an anchor node 116 and positioned within the target area 134 of the underwater environment 102. The anchor node 116 can determine a strength of signal value (e.g., power level) of the received one or more optical signals 402 and compare the strength of signal value to a signal strength threshold value. If the strength of signal values of the one or more optical signals 402 are less than signal strength threshold value, the method 800 can move to operation (812) to request acoustic signals 404 or use acoustic signals 404 in combination with the received optical signals 402 to perform self-localization. If the strength of signal values of the one or more optical signals 402 is greater than or equal to the signal strength threshold value, the method 800 can move to operation (814) and the anchor node 116 can use the optical signals 402 to perform self-localization.

At operation 612, and in embodiments, acoustic signals 406 can be transmitted. In response to determining that the optical signals 402 are less than a signal strength threshold value, the anchor node 116 or reference node 112 can request acoustic signals 406 from one or more reference nodes 112 or acoustic signals generators 118 to aid in performing self-localization. In some embodiments, the acoustic signals 406 are transmitted by one or more other reference nodes 112 when the reference nodes 112 transmit optical signals 402 and the receiving anchor node 116 can determine to use the acoustic signal 406 in combination with the optical signals 402 to perform self-localization.

An acoustic signal generator 118 can generate and transmit acoustic signals to the target area 134 including the anchor node 116. In embodiments, the target area 134 can be selected for the acoustic signal generator 118, for example, and correspond to the same target area a luminaire node 114 of the same reference node 112 is providing optical signals 402. In some embodiments, the target area 134 can be selected for the acoustic signal generator 118 in response to a detection of weak optical signals 402 or a detected condition within the underwater environment 102 (e.g., presence of wildlife, fish, etc.). The acoustic signal generator 118 can receive a command or instruction identifying the target area 134 and properties (e.g., strength, frequency) of the acoustic signals 406 to be provided. The acoustic signal generator 118 steer or direct the acoustic signals 406 to the target area 134 and the target area 134 may include one or more anchor nodes 116 or other reference nodes 112 having anchor nodes 116. In embodiments, the acoustic signals 406 can be transmitted according to the beam steering discussed above with respect to FIG. 3. The acoustic signal generator 118 can set, adjust or otherwise modify properties of the acoustic signals to transmit the acoustic signals to the target area 134 at a desired strength or power level.

At operation 614, and in embodiments, localization of anchor nodes can be performed. An anchor node 116 can self-localize and/or determine coordinate data using the received optical signals 402, received acoustic signals 406, or a combination of optical signals 402 and acoustic signals 406. The anchor node 166 can use the optical signals 402, acoustic signals 406, or a combination of optical signals 402 and acoustic signals 406 from one or more neighboring (e.g., closest, nearest, shortest distance) reference nodes 112 (e.g., luminaire nodes 114, acoustic signal generators 118) and/or one more reference nodes 112 within a defined range or distance of the anchor node. In some embodiments, the anchor node 166 can select one or more reference nodes 112 (e.g., luminaire nodes 114, acoustic signal generators 118) within a defined range or distance from the anchor node 116 and use the optical signals 402, acoustic signals 406, or a combination of optical signals 402 and acoustic signals 406 received from selected one or more reference nodes to perform selflocalization. The anchor nodes 116 can perform localization as discussed above with respect to FIGs. 4A-4D.

The anchor node 116 can determine whether to use the optical signals 402, acoustic signals 406, or a combination of optical signals 402 and acoustic signals 406 to localize based in part on the signal strength value of the optical signals 402. If the signal strength value of the optical signals 402 is greater than or equal to a signal strength threshold value, the anchor node 116 can determine to use the optical signals 402 to localize.

For example, the anchor node 116 can determine center of gravity values 404 of optical signals 402 received from the reference nodes 112 (e.g., luminaire nodes 114 of the reference nodes 112). In some embodiments, the center of gravity values 404 of multiple optical signals 402 received from multiple, different reference nodes 112 can correspond to the coordinate data for the anchor node 116. The anchor node 116 is positioned within the target area 134 the optical signals 402 are directed to and, using the center of gravity values 404 of optical signals directed to the target area 134, the anchor node 116 can determine its own location and coordinate data within the underwater environment 102.

If the signal strength value of the optical signals 402 is less than a signal strength threshold value, the anchor node 116 can determine to use the optical signals 402 and acoustic signals 406 to localize. The anchor node 116 can determine center of gravity values 404 of optical signals 402 and center of gravity values 404 of acoustic signals 406 received from the reference nodes 112 (e.g., luminaire nodes 114 of the reference nodes 112, acoustic signal generators 118 of the reference nodes 112). The optical signals 402 and acoustic signals 406 from the same reference node 112 can be merged or combined to enable the anchor node 116 to self-localize. To determine which reference node 112 the optical signals 402 and acoustic signals 406 are provided from, the anchor node 116 can compare the center of gravity values 404 of the optical signals 402 and acoustic signals 406. The center of gravity values 404 of optical signals 402 and acoustic signals 404 originating from the same reference node 112 can have the same center of gravity value 404, center of gravity values 404 less than a threshold value or center of gravity values 404 less within a defined range. The anchor node 116 can compare the center of gravity values 404 of optical signals 402 and acoustic signals 404 to a predefined threshold (|G - | < th where G represents the COG of optical signals 402 and Cj represents the COG of acoustic signals 406) or within a defined range, (thi < |G - Qj - thi where thi represents a first threshold value of the defined range and th2 represents a second threshold value of the defined range). If the center of gravity values 404 of optical signals 402 and acoustic signals 404 are less than the define threshold or within the defined range, the anchor node 116 can determine the optical signals 402 and acoustic signals 406 are from the same reference node 112 and merge or combine the center of gravity values 404 to indicate the signals are from the same reference node 112.

The merged or combined signals are then used by the anchor node 116 to selflocalize. In embodiments, the anchor node 116 can determine the average or mean of the signals to localize and determines its own coordinate information or location (e.g., position, depth) within the underwater environment 102.

At operation 616, and in embodiments, localization of an object 120 can be performed. A location of an object within the underwater environment 102 can be determined by the anchor nodes 16 using coordinate information for two or more anchor nodes 116. For example, two or more anchor nodes 116 can use their own determined coordinate data and distance values between them to localize any object 120 within the underwater environment 102 that may be between the respective anchor nodes 116 or within a defined range or distance. The localization of the object 120 can be performed as discussed above with respect to FIG. 5.

In embodiments, an object 120 between multiple anchor nodes 116 can be localized by interleaving or interpolation of the coordinate data of the respective anchor nodes 116. In embodiments, a set of anchor nodes 116 can be selected to perform the localization of the object 120 (or multiple objects 120). In some embodiments, an anchor node 116 can select one or more other anchor nodes 116 to aid in performing the localization of the object 120 (or multiple objects 120). For example, the set of anchor nodes 116 can be selected to localize the object 120 based in part on the respective anchor nodes 116 distance from the object 120 and the distance from one or more other anchor nodes 116. The closest anchor nodes 116, neighboring anchor nodes 116 and/or the one or more anchor nodes 116 within the defined range of the object 120 and the other anchor nodes 116 can be selected. The nearest neighboring anchor nodes 116 can be determined by measuring a strength of signal from the respective anchor nodes 116. The determined coordinate information of the anchor nodes 116 can be used to determine the location (e.g., position, coordinates, depth) within the underwater environment 102. For example, to localize the object 120 and determine coordinate data for the object 120, the x, y-coordinate data of the object 120 is determined using a linear combination of coordinates of two or more anchor nodes 116 from the selected set of anchor nodes 116 in a first direction (e.g., horizontal) direction and a second (e.g., vertical) direction.

At operation 618, and in embodiments, a status of the object 120 and/or underwater environment 102 can be determined. The location of the object 120 can be used to determine a status of the respective object 120 and/or a status of the underwater environment. For example, the coordinate information or location of an object 120 can indicate if the object 120 is in an expected or intended location within the underwater environment 102 or if some condition of the object or underwater environment 102 is causing the object 120 to be in unexpected location.

The system 100 can use the location information for an object or multiple objects to detect or identify any abnormalities in the behavior of the respective object 120 (e.g., fish), abnormalities or issues in the operation of the system 100 (e.g., luminaire 114 malfunction), and/or abnormalities or issues in the underwater environment 102 (e.g., predators, weather conditions). The status can include issues with the object(s) 120, including but not limited to, feeding, feeding schedule, health and/or issues with the underwater environment 102 impacting the respective object(s) 120.

In embodiments, the system 100 can determine if the object 120 or multiple objects 120 are congregating at the correct depth in the underwater environment 102, feeding at the correct times (e.g., fish), if a total number or the population of the objects 120 has changed from a previous time, and/or a health of the objects 120. The system 100 can use the coordinate information to determine that the object 120 (e.g., fish, crustacean) is not congregating at the correct depth in the underwater environment 102 which can indicate a health issue or other factor causing the object 120 to exhibit abnormal behavior. The system 100 can use the coordinate information to determine that the object 120 is feeding at different times that expected or otherwise deviating from a predicted feeding schedule, which can further indicate a health issue or other factor causing the object 120 to exhibit abnormal behavior.

In embodiments, the system 100 can determine use the location data for the object 120 to determine or detect a hardware failure or operating issues with the system 100, a surface node 110, reference node 112, luminaire node 114, anchor node 116 and/or acoustic signal generator 118 and/or other systems within the underwater environment 102. For example, the position or location data of the objects 120 can be used to detect if a luminaire node 114 has malfunctioned, stopped working, is producing less light and/or is obstructed and thus, providing less light to the target area 134. The system 100 can generate an alert to indicate a status of the respective component having the issue. The alert can identify the component (e.g., a surface node 110, reference node 112, luminaire node 114, anchor node 116, acoustic signal generator 1180, the detected issue (e.g., malfunction, low light level), abnormality detected or indicate that the system 100 and components are functioning normal.

In embodiments, the system 100 can determine use the location data for the object 120 to detect issues within the underwater environment 102, such as environmental conditions (e.g., storm) that is disrupting the behavior of the objects 120 and/or a predator within the underwater environment 102 that is disrupting the behavior of the objects 102. The system 100 can generate an alert to indicate the issue within the underwater environment 102. The alert can identify the object 120 impacted by the issue, an area or region of the underwater environment 102 where the issue is occurring or occurred, abnormality detected or indicate that no issues were detected in the underwater environment 102.

In embodiments, the system 100 can transmit an alert to a computing device or central system to alert one or more users or administrators of the potential issues with the object 120, components of the system 100, the underwater environment 102 and/or to indicate no issues with the object 120, components of the system 100, and/or the underwater environment 102, for example, as part of a status check.

Referring now to FIG. 7, a block diagram of a surface node 110 is provided.

The surface node 110 can include an electronic device, computing device and/or computing system for transmitting and/or receiving position signals, including but not limited to, GPS signals and communications from LEO satellite systems. The surface node 110 can include circuitry to perform or implement the method 600 discussed above with respect to FIG. 6.

In embodiments, the surface node 110 can be implemented or include multiple computing devices or be implemented with distributed computing devices. In embodiments, the surface node 110 can include conventional computer components such as processors 716, storage device 718, network interface 720, input device 722, and output device 724.

Network interface 720 can provide a connection to a wide area network (e.g., the Internet) to which WAN interface of a remote server system is also connected. Network interface 720 can include a wired interface (e.g., Ethernet) and/or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, 5G, 60 GHz, LTE, etc.). The Network interface 720 can be configured to transmit and/or receive position signals, including but not limited to, GPS signals and communications from LEO satellite systems.

Input device 722 can include any device (or devices) via which a user (e.g., administrator, control device) can provide signals to the surface node 110; surface node 110 can interpret the signals as indicative of particular user requests or information (e.g., request to localize, command to localize). Input device 722 can include any or all of a keyboard, touch screen, pointing device, dial, button, switch, keypad, microphone, sensors (e.g., a motion sensor, GPS sensor, LEO sensor, etc.), and so on.

Output device 724 can include any device via which the surface node 110 can provide information to a user, other surface node 110 and/or one or more reference nodes 112. For example, the output device 724 can include a display-to-display data (e.g., position data) generated by or delivered to the surface node 110. The display can incorporate various image generation technologies, e.g., a liquid crystal display (LCD), light-emitting diode (LED) including organic light-emitting diodes (OLED), projection system, cathode ray tube (CRT), or the like, together with supporting electronics (e.g., digital-to-analog or analog-to- digital converters, signal processors, or the like). A device such as a touchscreen that function as both input and output device can be used. Output devices 724 can be provided in addition to or instead of a display. Examples include indicator lights, speakers, tactile “display” devices, and so on.

Some implementations include electronic components, such as microprocessors, storage and memory that store computer program instructions in a computer readable storage medium (e.g., non-transitory computer readable medium). Many of the features described in this specification can be implemented as processes that are specified as a set of program instructions encoded on a computer readable storage medium. When these program instructions are executed by one or more processors, they cause the processors to perform various operation indicated in the program instructions. Examples of program instructions or computer code include machine code, such as is produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter. Through suitable programming, processor 716 can provide various functionality for the surface node 110, including any of the functionality described herein as being performed by the surface node 110 to implement method 600 discussed above with respect to FIG. 6. Storage device 718 can include a database and/or memory for storing and retrieving position data, commands and/or instructions for one or more other surface nodes 110 and/or one or more reference nodes. The storage device 718 can include a volatile memory (e.g., RAM), non-volatile memory (e.g., one or more hard disk drives (HDDs) or other magnetic or optical storage media, one or more solid state drives (SSDs) such as a flash drive or other solid state storage media, one or more hybrid magnetic and solid state drives, and/or one or more virtual storage volumes, such as a cloud storage, or a combination of such physical storage volumes and virtual storage volumes or arrays thereof).

Referring now to FIG. 8, a block diagram of a refence node 112 is provided. The reference node 112 can include an electronic device, computing device and/or computing system for determining, transmitting and/or receiving position signals, optical signals 402 and/or acoustic signals 406. The reference node 112 can include circuitry to perform or implement the method 600 discussed above with respect to FIG. 6.

In embodiments, the reference node 112 can include a luminaire node 114, an anchor node 116, and acoustic signal generator. In embodiments, the reference node 112 can include conventional computer components such as processors 816, storage device 818, network interface 820, input device 822, and output device 824.

Network interface 820 can provide a connection to a wide area network (e.g., the Internet) to which WAN interface of a remote server system is also connected. Network interface 820 can include a wired interface (e.g., Ethernet) and/or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, 5G, 60 GHz, LTE, etc.). The Network interface 820 can be configured to transmit and/or receive position signals, including but not limited to, position signals, GPS signals and communications from LEO satellite systems.

Input device 822 can include any device (or devices) via which a user (e.g., administrator, control device, surface node 110) can provide signals to the reference node 112; the reference node 112 can interpret the signals as indicative of particular user requests or information (e.g., request to localize, command to localize). Input device822 can include any or all of a receiver, transceiver, dial, button, switch, keypad, microphone, sensors (e.g., a motion sensor, GPS sensor, LEO sensor, etc.), and so on.

Output device 824 can include any device via which the reference node 112 can provide information to a user, one or more surface nodes 110 and/or one or more reference nodes 112. For example, the output device 824 can include a transmitter, transceiver, display to display data (e.g., position data) generated by or delivered to the reference node 112. The display (e.g., water-proof display) can incorporate various image generation technologies, e.g., a liquid crystal display (LCD), light-emitting diode (LED) including organic light-emitting diodes (OLED), projection system, cathode ray tube (CRT), or the like, together with supporting electronics (e.g., digital-to-analog or analog-to-digital converters, signal processors, or the like). Output devices 824 can be provided in addition to or instead of a display. Examples include indicator lights, speakers, tactile “display” devices, and so on.

Some implementations include electronic components, such as microprocessors, storage and memory that store computer program instructions in a computer readable storage medium (e.g., non-transitory computer readable medium). Many of the features described in this specification can be implemented as processes that are specified as a set of program instructions encoded on a computer readable storage medium. When these program instructions are executed by one or more processors, they cause the processors to perform various operation indicated in the program instructions. Examples of program instructions or computer code include machine code, such as is produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter. Through suitable programming, processor 816 can provide various functionality for the reference node 112, including any of the functionality described herein as being performed by the reference node 112 to implement method 600 discussed above with respect to FIG. 6.

Storage device 818 can include a database and/or memory for storing and retrieving position data, commands and/or instructions for one or more surface nodes 110 and/or one or more reference nodes 112. The storage device 818 can include a volatile memory (e.g., RAM), non-volatile memory (e.g., one or more hard disk drives (HDDs) or other magnetic or optical storage media, one or more solid state drives (SSDs) such as a flash drive or other solid state storage media, one or more hybrid magnetic and solid state drives, and/or one or more virtual storage volumes, such as a cloud storage, or a combination of such physical storage volumes and virtual storage volumes or arrays thereof).

Referring now to FIG. 9 A, a block diagram of a luminaire node 114 is provided. The luminaire node 114 can include an electronic device, computing device and/or computing system for generating and transmitting optical signals 402 or beams including optical signals 402. The luminaire node 114 can include circuitry to perform or implement the method 600 discussed above with respect to FIG. 6. In embodiments, the luminaire node 114 can include a processor 916, storage device 918, network interface 920, and a light device 930. Network interface 920 can provide a connection to a wide area network (e.g., the Internet) to which WAN interface of a remote server system is also connected. Network interface 920 can include a wired interface (e.g., Ethernet) and/or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, 5G, 60 GHz, LTE, etc.). The Network interface 920 can be configured to transmit and/or receive position signals, including but not limited to, position signals, GPS signals and communications from LEO satellite systems.

The luminaire node 114 can include processor 916 for generating and transmitting optical signals 402 via the light device 930. The processor 916 can be configured to steer or direct beams to a target area 134 of an underwater environment 102 as discussed above with respect to FIG. 3. The processor 916 of the luminaire node 114 can receive instructions or commands and execute the instructions or commands to cause the luminaire node 114 to self-localize and/or transmit optical signals having desired properties. The processor 916 can include electronic components, such as microprocessors, storage and memory that store computer program instructions in a computer readable storage medium (e.g., non-transitory computer readable medium). Many of the features described in this specification can be implemented as processes that are specified as a set of program instructions encoded on a computer readable storage medium. When these program instructions are executed by one or more processors, they cause the processors to perform various operation indicated in the program instructions. Examples of program instructions or computer code include machine code, such as is produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter. Through suitable programming, processor 916 can provide various functionality for the luminaire node 114, including any of the functionality described herein as being performed by the luminaire node 114 to implement method 600 discussed above with respect to FIG. 6.

Storage device 918 can include a database and/or memory for storing and retrieving position data, commands and/or instructions for one or more surface nodes 110 and/or one or more reference nodes 112. The storage device 918 can include a volatile memory (e.g., RAM), non-volatile memory (e.g., one or more hard disk drives (HDDs) or other magnetic or optical storage media, one or more solid state drives (SSDs) such as a flash drive or other solid state storage media, one or more hybrid magnetic and solid state drives, and/or one or more virtual storage volumes, such as a cloud storage, or a combination of such physical storage volumes and virtual storage volumes or arrays thereof).

The light device 930 can include a luminaire, lamp, light fixture, electric light unit for generating and transmitting light signals and/or optical signals 402 and/or one or more electrical elements for generating and transmitting light signals and/or optical signals 402.

Referring now to FIG. 9B, a block diagram of an anchor node 116 is provided. The anchor node 116 can include an electronic device, computing device and/or computing system for receiving and processing optical signals 402 and acoustic signals 406, selflocalization and/or determining a location of one or more objects 120 in an underwater environment 102. The anchor node 116 can include circuitry to perform or implement the method 600 discussed above with respect to FIG. 6.

In embodiments, the anchor node 116 can include a processor 916, storage device 918, and a network interface 920. Network interface 920 can provide a connection to a wide area network (e.g., the Internet) to which WAN interface of a remote server system is also connected. Network interface 920 can include a wired interface (e.g., Ethernet) and/or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, 5G, 60 GHz, LTE, etc.). The Network interface 920 can be configured to transmit and/or receive position signals, including but not limited to, position signals, GPS signals and communications from LEO satellite systems. The Network interface 920 can be configured to receive optical signals 402 and/or acoustic signals 406.

The anchor node 116 can include a processor 916 for receiving and processing optical signals 402 and/or acoustic signals 406. The anchor node 116 can include the processor 916 for performing localization and/or determining a location of one or more objects 120 in an underwater environment 102. The processor 916 of the anchor node 116 can be configured to self-localize and determine coordinate information of an anchor node 116 as discussed above with respect to FIGs. 4A-4D. The processor 916 of the anchor node 116 can be configured to determine a location or one or more objects 120 as discussed above with respect to FIG. 5. The processor 916 can include electronic components, such as microprocessors, storage and memory that store computer program instructions in a computer readable storage medium (e.g., non-transitory computer readable medium). Many of the features described in this specification can be implemented as processes that are specified as a set of program instructions encoded on a computer readable storage medium. When these program instructions are executed by one or more processors, they cause the processors to perform various operation indicated in the program instructions. Examples of program instructions or computer code include machine code, such as is produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter. Through suitable programming, processor 916 can provide various functionality for the anchor node 116, including any of the functionality described herein as being performed by the anchor node 116 to implement method 600 discussed above with respect to FIG. 6.

Storage device 918 can include a database and/or memory for storing and retrieving position data, commands and/or instructions for one or more surface nodes 110 and/or one or more reference nodes 112. The storage device 918 can include a volatile memory (e.g., RAM), non-volatile memory (e.g., one or more hard disk drives (HDDs) or other magnetic or optical storage media, one or more solid state drives (SSDs) such as a flash drive or other solid state storage media, one or more hybrid magnetic and solid state drives, and/or one or more virtual storage volumes, such as a cloud storage, or a combination of such physical storage volumes and virtual storage volumes or arrays thereof).

Referring now to FIG. 9C, a block diagram of an acoustic signal generator 118 is provided. The acoustic signal generator 118 can include an electronic device, computing device and/or computing system for generating and transmitting acoustic signals 406. The acoustic signal generator 118 can include circuitry to perform or implement the method 600 discussed above with respect to FIG. 6.

In embodiments, the acoustic signal generator 118 can include a processor 916, storage device 918, network interface 920, and an acoustic generator 940. Network interface 920 can provide a connection to a wide area network (e.g., the Internet) to which WAN interface of a remote server system is also connected. Network interface 920 can include a wired interface (e.g., Ethernet) and/or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, 5G, 60 GHz, LTE, etc.). The Network interface 920 can be configured to transmit and/or receive position signals, including but not limited to, position signals, GPS signals and communications from LEO satellite systems. The Network interface 920 can be configured to transmit acoustic signals 406.

The acoustic signal generator 118 can include a processor 916 for generating and transmitting acoustic signals 406. The processor 916 can be configured to steer or direct acoustic signals 406 to a target area 134 of an underwater environment 102 as discussed above with respect to FIG. 3. The processor 916 can include electronic components, such as microprocessors, storage and memory that store computer program instructions in a computer readable storage medium (e.g., non-transitory computer readable medium). Many of the features described in this specification can be implemented as processes that are specified as a set of program instructions encoded on a computer readable storage medium. When these program instructions are executed by one or more processors, they cause the processors to perform various operation indicated in the program instructions. Examples of program instructions or computer code include machine code, such as is produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter. Through suitable programming, processor 916 can provide various functionality for the acoustic signal generator 118, including any of the functionality described herein as being performed by the acoustic signal generator 118 to implement method 600 discussed above with respect to FIG. 6.

Storage device 918 can include a database and/or memory for storing and retrieving position data, commands and/or instructions for one or more surface nodes 110 and/or one or more reference nodes 112. The storage device 918 can include a volatile memory (e.g., RAM), non-volatile memory (e.g., one or more hard disk drives (HDDs) or other magnetic or optical storage media, one or more solid state drives (SSDs) such as a flash drive or other solid state storage media, one or more hybrid magnetic and solid state drives, and/or one or more virtual storage volumes, such as a cloud storage, or a combination of such physical storage volumes and virtual storage volumes or arrays thereof).

The acoustic generator 940 can include a signal generator, audio generator, microphone, and/or an electron device for generating electronic signals (e.g., acoustic signals 406) with set properties, including but not limited, amplitude, frequency, and/or wave shape.

It will be appreciated that computing system 514 is illustrative and that variations and modifications are possible. Computer systems used in connection with the present disclosure can have other capabilities not specifically described here. Further, while computing system 514 is described with reference to particular blocks, it is to be understood that these blocks are defined for convenience of description and are not intended to imply a particular physical arrangement of component parts. For instance, different blocks can be located in the same facility, in the same server rack, or on the same motherboard. Further, the blocks need not correspond to physically distinct components. Blocks can be configured to perform various operations, e.g., by programming a processor or providing appropriate control circuitry, and various blocks might or might not be reconfigurable depending on how the initial configuration is obtained. Implementations of the present disclosure can be realized in a variety of apparatus including electronic devices implemented using any combination of circuitry and software.

Having now described some illustrative implementations, it is apparent that the foregoing is illustrative and not limiting, having been presented by way of example. In particular, although many of the examples presented herein involve specific combinations of method acts or system elements, those acts and those elements can be combined in other ways to accomplish the same objectives. Acts, elements and features discussed in connection with one implementation are not intended to be excluded from a similar role in other implementations or implementations.

The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device, etc.) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit and/or the processor) the one or more processes described herein. The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine- readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including” “comprising” “having” “containing” “involving” “characterized by” “characterized in that” and variations thereof herein, is meant to encompass the items listed thereafter, equivalents thereof, and additional items, as well as alternate implementations consisting of the items listed thereafter exclusively. In one implementation, the systems and methods described herein consist of one, each combination of more than one, or all of the described elements, acts, or components.

Any references to implementations or elements or acts of the systems and methods herein referred to in the singular can also embrace implementations including a plurality of these elements, and any references in plural to any implementation or element or act herein can also embrace implementations including only a single element. References in the singular or plural form are not intended to limit the presently disclosed systems or methods, their components, acts, or elements to single or plural configurations. References to any act or element being based on any information, act or element can include implementations where the act or element is based at least in part on any information, act, or element.

Any implementation disclosed herein can be combined with any other implementation or embodiment, and references to “an implementation,” “some implementations,” “one implementation” or the like are not necessarily mutually exclusive and are intended to indicate that a particular feature, structure, or characteristic described in connection with the implementation can be included in at least one implementation or embodiment. Such terms as used herein are not necessarily all referring to the same implementation. Any implementation can be combined with any other implementation, inclusively or exclusively, in any manner consistent with the aspects and implementations disclosed herein.

Where technical features in the drawings, detailed description or any claim are followed by reference signs, the reference signs have been included to increase the intelligibility of the drawings, detailed description, and claims. Accordingly, neither the reference signs nor their absence have any limiting effect on the scope of any claim elements.

Systems and methods described herein may be embodied in other specific forms without departing from the characteristics thereof. References to “approximately,” “about” “substantially” or other terms of degree include variations of +/-10% from the given measurement, unit, or range unless explicitly indicated otherwise. Coupled elements can be electrically, mechanically, or physically coupled with one another directly or with intervening elements. Scope of the systems and methods described herein is thus indicated by the appended claims, rather than the foregoing description, and changes that come within the meaning and range of equivalency of the claims are embraced therein.

The term “coupled” and variations thereof includes the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly with or to each other, with the two members coupled with each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled with each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic.

References to “or” can be construed as inclusive so that any terms described using “or” can indicate any of a single, more than one, and all of the described terms. A reference to “at least one of ‘A’ and ‘B’” can include only ‘A’, only ‘B’, as well as both ‘A’ and ‘B’. Such references used in conjunction with “comprising” or other open terminology can include additional items.

Modifications of described elements and acts such as variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations can occur without materially departing from the teachings and advantages of the subject matter disclosed herein. For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of discrete elements or positions can be altered or varied. Other substitutions, modifications, changes and omissions can also be made in the design, operating conditions and arrangement of the disclosed elements and operations without departing from the scope of the present disclosure.

References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. The orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.