WO2018158740A1 - System and method of detection and localization of animal plankton - Google Patents
System and method of detection and localization of animal plankton Download PDFInfo
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- WO2018158740A1 WO2018158740A1 PCT/IB2018/051342 IB2018051342W WO2018158740A1 WO 2018158740 A1 WO2018158740 A1 WO 2018158740A1 IB 2018051342 W IB2018051342 W IB 2018051342W WO 2018158740 A1 WO2018158740 A1 WO 2018158740A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/12—Generating the spectrum; Monochromators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
- G01J3/42—Absorption spectrometry; Double beam spectrometry; Flicker spectrometry; Reflection spectrometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
- G01N21/274—Calibration, base line adjustment, drift correction
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N2021/1793—Remote sensing
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/4738—Diffuse reflection, e.g. also for testing fluids, fibrous materials
Abstract
The present invention relates to a system for detecting and locating biomass of animal plankton in a body of water, where the system comprises at least one radio spectrometer, where the radio spectrometer comprises at least one first eye/first sensor adapted to receive a signal from the atmosphere and at least one second eye/second sensor that is adapted to receive a signal reflected from the body of water. The present invention also relates to a method of use with the system, as well as the use of a radio spectrometer for detecting and locating a biomass of animal plankton in a body of water.
Description
SYSTEM AND METHOD OF DETECTION AND LOCALIZATION OF ANIMAL PLANKTON
The present invention relates to a system and a method for detection and
localization of biomass of animal plankton in a body of water, as respectively set forth in the preamble of independent claims 1 and 10, as well as an use of a system for detection and localization of biomass of animal plankton in a body of water as specified by the independent claim 14.
Throughout history, fishermen, that being anglers, recreational fishermen or professional fishermen, have been looking for ways to improve their chances of catching fish. Over the last few decades, fishing systems with sonar and echo sounder have become increasingly accessible, not only for commercial fishing but also for anglers and recreational fishermen.
It is known that fish can be located by using equipment such as echo sounder or sonar. Likewise, it is known that the depth at which a towed fishing net is used can be varied, to catch fish at the depth indicated by such equipment. However, such equipment has so far been connected to a vessel. However, sensors are located on an underside of a hull of the vessel, whereby such a solution is often subjected to disturbances from the vessel. In this way, propeller vibrations, engine noise and the like could often create a noise area during fishing operations that reduced the efficiency of the equipment. Furthermore, also the ability to distinguish a shoal of fish, especially a shoal of fish near the seabed, was directly affected by the distance between the sensor and the seabed.
Equipment like echo sounder or sonar function by sending out a sound signal towards the seabed and which is reflected as an echo when it hits the seabed, fish or other objects in the water. One or more sensors will be able to register the reflections and these registrations could be further processed to provide an echogram of the water below the vessel.
US 5.201.884 A relates to a remote-controlled, aquatic locator apparatus, where the apparatus includes a base unit comprising detector controls, steering controls and propulsion controls, and a mobile unit comprising a transducer, a steering
mechanism and a propulsion mechanism. The detector, steering and propulsion controls communicate with a transducer and the steering and propulsion mechanism, respectively, by a buoyant multiconductor cable connecting the base unit to the mobile unit. A first modified apparatus includes two transducers, one directed generally downwardly and the other directed generally laterally to simultaneously
provide different views. A second modified apparatus provides a base unit and a mobile unit which communicate wirelessly by a pair of transceivers, one in the base unit and the other in the mobile unit. A third modified apparatus includes an extendable rod for maneuvering a mobile unit toward and away from a base unit near a user.
US 4.697.371 A relates to a method and apparatus for locating and catching fish, where a pH measuring device is lowered from the surface of a body of water constituting a fish habitat. During the lowering of the device, the depth at which the device is located is measured periodically, and the pH of the water at the several measured depths is determined. The several measured depths and the corresponding pH values are compared to determine the rate of change of pH per unit of depth. One or more discrete intervals of depth of the water over which the greatest rates of change of pH occur are identified. Upon completion of the lowering, the pH measuring device is removed from the water. A fish catching device is lowered in the water to a point located from about one to eight feet above a depth interval at which a marked increase in the rate of change of pH in the water has been identified as occurring.
US 6.304.664 B l relates to a system and method for separating ocean surface reflected light, atmosphere and ocean scattered light, and anomalous objects in multispectral ocean imagery. The method begins with input image data including a plurality of pixels. The pixels are analyzed and exceptionally "red" pixels are eliminated from further processing. A processed image is produced by subtracting the estimated reflected and scattered light. The output image can then be provided for human analysis or further automated computer processing to locate anomalous objects on or below the ocean surface.
It is further known that one or more satellites may be used in connection with mapping and monitoring of algae bloom in the ocean. Satellite observations, a numerical ocean model and some field observations could then be used to follow the development of the blossom and possibly also to prepare a forecast for algae distribution.
The faculty of vision of aquatic animals is generally thought to be adapted to their habitat and ecology, as the intensity and spectral composition of the radiation in their environment tend to be relatively predictable. Light is relatively limited in the marine environment, except in the upper parts, as the irradiance is rapidly dimmed with depth. The available waveband of the downwardly directed irradiation from the sun becomes continuously narrower with increasing depth.
Another light source in the ocean is bioluminescence, which is largely used by marine organisms. Bioluminescence is widespread at all depths, but generally higher in deep-living and planktonic species than in benthic or shallow water species.
Bioluminescence is the only light source available at large depths (deeper than 1000 meters in the clearest ocean areas). Most organisms, especially in the pelagic environment, have a maximum bioluminescence emission of between 450 nm and 490 nm, which means that sensitivity in this area is important for visual predators.
The existing technologies are not sufficient for the detection of animal plankton in a body of water, and it must be sought to exploit optical properties of these organisms (for example Calanus finmarchicus), including the radiance.
The object of the present invention is to provide a system and a method for detecting and locating of biomass of animal plankton in a body of water, as well as using at least one radio spectrometer for detecting and locating biomass of animal plankton in a body of water.
A further object of the present invention is to provide a system and method for detecting and locating biomass of animal plankton in a body of water which is easy to use, easy to maintain and which is cost-saving.
These objects are achieved according to the present invention with a system, a method and a use as defined in the independent claims. Further embodiments of the invention are defined in the dependent claims.
Harvesting of animal plankton, for example Calanus finmarchius, is a relatively new activity and sets new demands on the technology which is used, as this technology is not yet understood and formulated by the commercial users. Sensors which are mounted in today' s satellites are not sufficiently sensitive to distinguish forms as, for example, plant eating crustaceans from signatures to, for example, algae in the surface of the sea. However, such crustaceans have a lot of the astaxanthin pigment which can be used as an optical property.
The present invention thus relates to a system for detecting and locating a biomass of animal plankton in a body of water, where the system comprises at least one radio spectrometer, where the radio spectrometer comprises at least a first "eye" or a first sensor adapted to receive a signal from the atmosphere (irradiance) and at least one other "eye" or other sensor adapted to receive a signal reflected from a body of water (radiance).
Animal plankton according to the present invention is to be understood as mesozooplankton (such as calanoid copepods, Calanus spp.) and macrozooplankton (such as krill, j ellyfish, wing snail, fish larvae).
The at least one radio spectrometer according to the present invention may be arranged in connection with a vessel, for instance a trawler, parent vessel, or the like, or the at least one radio spectrometer may be arranged in an autonomous vessel.
If the radio spectrometer is arranged onboard a vessel, the radio spectrometer may be arranged in a rig or the like on board the vessel suitably connected to an outside of the hull of the vessel, preferably on one of the longitudinal sides of the vessel. According to the invention it is further conceivable that the radio spectrometer is arranged on either side of the longitudinal sides of the vessel.
The radio spectrometer may also be arranged in an autonomous vessel, where such an autonomous vessel may be an AUV (Autonomous Underwater Vehicle), USV (Unmanned Surface Vessel) or UAV (Unmanned Aerial Vehicle). In an embodiment of the system according to the present invention a plurality of radio spectrometers may be arranged in each autonomous vessel or craft, where the vessel or craft may be only AUV' s, only UAV' s, only USV' s, or a combination of two or more of these. An autonomous vessel craft includes a body and a propulsion and control device. A person with skill in the art will know how to design such an autonomous craft, and therefore it is not described further herein.
When one or more of the autonomous vessels are used collect data, the at least first eye/the at least first sensor will be arranged so that signals from the atmosphere (irradiance) can be received substantially vertically, while the at least second eye/the at least second sensor will be arranged so that signals reflected from the body of water (radiance) can be received substantially vertically.
An autonomous craft will, through the at least one radio spectrometer itself, be able to conduct data collection independently of a parent vessel that can be used in connection with the harvesting of the animal plankton. If the autonomous craft is a UAV, the UAV may include a body and a steering and propulsion device in the form of one or more propellers, one or more rudders/flaps or the like. If the autonomous vehicle is an AUV or USV, it may include a body, a propulsion device and one or more control surfaces/steering devices.
Each radio spectrometer which arranged on the vessel or in each autonomous craft may be arranged to collect electromagnetic radiation in a wavelength interval of 270
nm to 1200 nm, more preferably in a wavelength interval of 300 nm to 1 150 nm, and most preferably in a wavelength interval of 400 nm - 750 nm.
According to the present invention, the wavelength interval can be divided into a number of channels or bands (e.g. 256 channels/bands) where a typical channel width or bandwidth may be 3.33 nm.
The at least one first eye/the at least one first sensor in the radio spectrometer which is adapted to receive a signal from the atmosphere (irradiance), can retrieve data once for a predetermined time interval, where the time interval, for instance, may be 1.5 s - 2.5 s, while the at least one second eye/the at least one second sensor arranged to receive a signal reflected from the mass of water (the radiance) can retrieve data once for a predetermined time interval, where this time interval, for instance, may be as for the at least one first eye/the at least one first sensor, or this time interval may be another time interval, for example a time interval of 2.5 s - 5.0 s.
The system for detecting and locating biomass of animal plankton according to the present invention may further comprise at least one storage medium for received signals/data from the atmosphere (irradiance) and received signals/data reflected from the body of water (radiance). A person with skill in the art will know how such a storage medium can be designed, and it is therefore not described any further herein.
The present invention also relates to a method for detecting and locating a biomass of animal plankton in a body of water, where the method comprises the following steps: a) receiving a signal for each of the at least one first and second eye/the at least one first and the second sensor for data from the atmosphere (irradiance) and data reflected from the body of water (radiance) once every time interval, b) to store data for each data set (a data set from the atmosphere and a data set reflected from the body of water) on a storage medium and c) to process the stored data to detect and locate surface deposits of the biomass of animal plankton in the mass of water.
The method of the present invention may in one embodiment further comprise the step d) during step c) dividing a wavelength interval between 300 nm - 1 150 nm in, for example, 256 channels or bands, where a typically channel width, for example, may be 3.33 nm.
Further, the method may comprise a step e) during step d) calculating an average for a time period of, for example, 10 minutes for each of the sets of data from the atmosphere and reflected from the body of water.
The method may also comprise a step f) where the collected data sets are
normalized by dividing the data set reflected from the body of water (radiance) with the data set from the atmosphere (irradiance), for each channel or each band, so as to provide a measurement series for a period of time of, for example, 10 minutes.
The system for detecting and locating biomass of animal plankton in a body of water may in one embodiment comprise a harvesting vessel in which at least one radio spectrometer is mounted on an outer side of the hull of the vessel and where the radio spectrometer through the at least one first and second eye/the at least one first and second sensors are adapted to receive signal from the atmosphere
(irradiance) and signal reflected from the body of water (radiance) in which the vessel is located. The received data from the atmosphere and reflected from the body of water may then be stored on a storage medium aboard the vessel and then processed to detect and locate surface deposits in real time, after which the harvesting vessel will begin harvesting the animal plankton. Alternatively, the radio spectrometer may be arranged aboard a parent vessel, after which the parent vessel after detection and location of the animal plankton will be able to control a harvesting vessel to the harvesting site.
In an alternative embodiment, the system for detecting and locating biomass of animal plankton in a body of water may include a harvesting vessel and a number of autonomous vessels equipped with at least one radio spectrometer where the autonomous vessels will then provide the acquisition of data for transmission to the harvesting vessel, after which the harvesting vessel will be able to be controlled to the relevant locality for harvesting. Such autonomous vessels can be selected from a group consisting of AUV, USV and/or UAV. A person with skill in the art will know how such autonomous vessel can be designed for this purpose and thus is not described any further herein.
Other advantages and features of the invention will become apparent from the following detailed description, the accompanying drawings and the following claims
Figure 1 shows a system for detecting and locating biomass of animal plankton in a mass of water according to the present invention, viewed in perspective,
Figure 2 shows the result of backbreaking from a radio spectrometer between areas of low and high biomass of Calanus finmarchicus, and
Figure 3 shows the normalized radius (radius divided by irradiance) for a wave spectrum in an interval between 500 nm - 700 nm.
Figure 1 shows a plurality of embodiments of a system 1 for detecting and locating a biomass of animal plankton in a body of water W, where the system 1 according to a first embodiment can only comprise a harvesting vessel 2 in which a radio spectrometer 3 is mounted on an outside of the hull of the vessel 2, in a rig (not shown) or the like.
The radio spectrometer 3 comprises at least one first eye adapted to receive a signal from the atmosphere (irradiance) and at least one second eye adapted to receive a signal reflected from the mass W (radiance). The at least one first and second eyes are arranged such that the signals are received substantially vertically, as shown by arrows.
In a second embodiment of the system 1 for detecting and locating a biomass of animal plankton in a body of water W, the system 1 comprises a harvesting vessel 2 and a number of autonomous vessels 4 (only one is shown) where the autonomous vessels 4 may all be AUVs, UAVs, USVs, or a combination of these. In each of the autonomous vessels 4 there is provided a radio spectrometer 3, where the radio spectrometer comprises at least one first eye adapted to receive a signal from the atmosphere (irradiance) and at least one second eye adapted to receive a signal reflected from the mass of water W (radiance). The radio spectrometer 3 is further arranged so that it can receive signals substantially vertically.
Each autonomous vessel 4 may further be connected to the harvesting vessel 2 through a wireless system so that received signals from each autonomous vehicle 4 can be transmitted to the harvesting vessel 2 for further preparing and processing of the received signals. The wireless system can also be designed to control the autonomous vehicles 4. A person with skill in the art will know how such a wireless system can be designed, and is it therefore not described any further herein.
In one embodiment, for example, the autonomous vessels 4 may be sent out from and retrieved to land stations independently of vessel. It is also conceivable that the harvesting vessel 2 will be able to receive and ship out the autonomous vessels 4.
Through the method of detecting and locating a biomass of animal plankton in a body of water according to the present invention, at least one radio spectrometer in the system of figure 1 will receive a signal for each of the at least one first and second eye/the at least one first and second sensors for data from the atmosphere (irradiance) and data reflected from the body of water (radiance) once every time interval, transfer and save data for each data set (a data set from the atmosphere and a data set reflected from the body of water) on a storage medium and to process the stored data to detect and locate surface deposits of the biomass of animal plankton in the body of water.
The wavelength interval between 300 nm - 1 150 nm will then be divided into a number of channels or bands, for example 256 channels or bands, where a typical channel width may be, for example, 3.33 nm.
To reduce the amount of data and to eliminate noise, an average is calculated for a period of time of, for example, 10 minutes for each channel and for each of the data sets from the atmosphere and reflected from the body of water (irradiance and radiance).
The amount of reflected light from the sea will depend on the radiant light from the atmosphere. To remove this effect, the procedure involves a "normalization" of the data sets by dividing the data set reflected from the body of water (radiance) with the data set from the atmosphere (irradiance) for each channel. This will provide a dimensionless number between 0 and 1 for each channel and a measurement series for each period of time. The dimensionless number shows the amount of radiant sunlight that is reflected from the ocean.
Calanus Finmarchicus, which is red of color, will then reflect light in the red wavelength range. Astaxanthin is known to be a powerful antioxidant and belongs to a group of natural pigments called carotenoids. Carotenoids are a collective term on natural fat-soluble, yellow, orange, brown or red pigments found in animal and plant kingdom.
According to the method, it is seen at the wavelength range between 500 nm - 700 nm, as visible light is present here, including the reddish color of astaxanthin.
Figure 2 shows backscatter from the radio spectrometer between areas with low and high biomass of Calanus finmarchicus, where the plot of intensity of the backscatter is shown as mWsr^m^nm"1 as a function of wavelength indicated in nm, where these data are obtained from completed experiments for two different dates. If the catch specified in kilograms for these two dates is compared with the two periods presented in Figure 2, it will be a surprising relationship between the volume of harvested Calanus Finmarchicus (in kg) and reflection (mWsr^m^nm"1). The panel on the left of the figure covers measurements in a harvest area with particularly little Calanus finmarchicus. The panel to the right of the figure has approximately four times greater deflection in reflection, while the catches from the area were approximately 8-10 times higher.
The above is surprising and new, since no one has been able to show that there is a quantitative relationship between animal plankton (in this case Calanus
finmarchicus) and associated backscattering.
In Figure 3, normalized radiance (radiance divided by irradiance) is displayed for a wave spectrum in a range between 500 nm - 700 nm on four occasions (conducted attempts for four different dates), showing how much is trapped each hour (rate of catch). For each of these occasions, the normalized curve with the highest value within the wavelength range of 500 nm to 700 nm has been picked out and these are further compared to the rate of catch, which shows that the curves with the highest values coincide with the high catch rate.
The invention is now explained with several non-limiting exemplary embodiments. One skilled in the art will appreciate that a variety of variations and modifications may be made to the system and the methods for detecting and locating biomass of animal plankton in a body of water that are within the scope of the invention as defined in the following claims.
Claims
1. A system (1) for detection and localization of biomass of animal plankton in a body of water (W), characterized in that the system (1) comprises at least one radio spectrometer (3), where the radio spectrometer (3) comprises at least one first eye/first sensor adapted to receive a signal from atmosphere and at least one second eye/second sensor adapted to receive a signal reflected from the body of water (W).
2. A system (1) according to claim 1, characterized in that the radio
spectrometer (3) is arranged aboard a vessel (2).
3. A system (1) according to claim 1, characterized in that the radio
spectrometer (3) is arranged in an autonomous vessel (4).
4. A system (1) according to claim 3, characterized in that the autonomous vessel (4) is selected from a group of Autonomous Underwater Vehicle (AUV), USV (Unmanned Surface Vessel) and/or UAV (Unmanned Aerial Vessel).
5. A system (1) according to one or more of the preceding claims, characterized in that the radio spectrometer (3) is arranged to collect electromagnetic radiation in a wavelength interval of 270 nm to 1200 nm, more preferably in a wavelength interval of 300 nm to 1 150 nm, most preferably in a
wavelength interval of 400 nm to 750 nm.
6. A system (1) according to claim 5, characterized in that the wavelength
interval comprises a number of channels, where a typical channel width is 3.33 nm.
7. A system (1) according to claim 1 , characterized in that the at least one first eye/the at least one first sensor, which is adapted to receive a signal from the atmosphere, collects data once every time interval, the time interval being 1.5 s - 2.5 s, while the at least one second eye/the at least one second sensor, which is adapted to receive a signal reflected from the body of water, collects data once every time interval, the time interval being 2.5 s - 5.0 s.
8. A system (1) according to one or more of the preceding claims, characterized in that the system (1) further comprises at least one storage medium for
received signals/data from the atmosphere and received signals/data reflected from the body of water.
9. A system (1) according to one or more of the preceding claims 3-4,
characterized in that the autonomous vessel (4) comprises a control and propulsion device.
10. A method for detection and localization of biomass of animal plankton in a body of water, where a system (1) comprises at least one radio spectrometer, where the radio spectrometer comprises at least one first eye/first sensor adapted to collect data from atmosphere and at least one second eye/second sensor adapted to collect data reflected from the body of water, characterized in that the method comprises the following steps: a) receiving a signal for each of the at least one first and second eye/the least one first and second sensor for data from the atmosphere and reflected from the body of water once every time interval, b) storing data for each data set (a data set from the atmosphere and a data set reflected from the body of water) on a storage medium and c) processing the stored data to detect and locate surface deposits of animal plankton in the body of water.
1 1. The method according to claim 10 characterized in that the method further comprises the following step: d) during step c) dividing a wavelength interval between 300 nm - 1 150 nm in, for example, 256 channels, where channel width can be 3.33 nm.
12. A method according to claim 1 1, characterized in that the method further comprises the following step: e) during step d) calculating an average for a period of time of, for example, 10 minutes for each of the sets of data from the atmosphere and reflected from the body of water.
13. A method according to claim 12, characterized in that the method further comprising the steps of: f) normalizing the data sets by dividing the data set reflected from the body of water with the data set from the atmosphere for each channel so as to provide a measurement series for a period of time of, for example, 10 minutes.
14. Use of a system according to one or more of claims 1-9 for detection and localization of biomass of animal plankton in a body of water.
15. Use of a method according to one or more of claims 10-13 for the detection and localization of biomass of animal plankton in a body of water.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20170321A NO20170321A1 (en) | 2017-03-03 | 2017-03-03 | System and method for detecting and locating zooplankton |
| NO20170321 | 2017-03-03 |
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| Publication Number | Publication Date |
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| WO2018158740A1 true WO2018158740A1 (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/IB2018/051342 WO2018158740A1 (en) | 2017-03-03 | 2018-03-02 | System and method of detection and localization of animal plankton |
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| NO (1) | NO20170321A1 (en) |
| WO (1) | WO2018158740A1 (en) |
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| CA2547359C (en) * | 2003-11-26 | 2012-11-27 | Florida Environmental Research Institute, Inc. | Spectral imaging system |
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| NO20170321A1 (en) | 2018-09-04 |
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