Targeted sampling by autonomous underwater vehicles

© The Author(s), 2019. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Zhang, Y., Ryan, J. P., Kieft, B., Hobson, B. W., McEwen, R. S., Godin, M. A., Harvey, J. B., Barone, B., Bellingham, J. G., Birch, J. M., Scholin, C. A., & Chavez, F. P. Targeted sampling by autonomous underwater vehicles. Frontiers in Marine Science, 6 (2019): 415, doi:10.3389/fmars.2019.00415.In the vast ocean, many ecologically important phenomena are temporally episodic, localized in space, and move according to local currents. To effectively study these complex and evolving phenomena, methods that enable autonomous platforms to detect and respond to targeted phenomena are required. Such capabilities allow for directed sensing and water sample acquisition in the most relevant and informative locations, as compared against static grid surveys. To meet this need, we have designed algorithms for autonomous underwater vehicles that detect oceanic features in real time and direct vehicle and sampling behaviors as dictated by research objectives. These methods have successfully been applied in a series of field programs to study a range of phenomena such as harmful algal blooms, coastal upwelling fronts, and microbial processes in open-ocean eddies. In this review we highlight these applications and discuss future directions.This work was supported by the David and Lucile Packard Foundation. The 2015 experiment in Monterey Bay was partially supported by NOAA Ecology and Oceanography of Harmful Algal Blooms (ECOHAB) Grant NA11NOS4780030. The 2018 SCOPE Hawaiian Eddy Experiment was partially supported by the National Science Foundation (OCE-0962032 and OCE-1337601), Simons Foundation Grant #329108, the Gordon and Betty Moore Foundation (Grant #3777, #3794, and #2728), and the Schmidt Ocean Institute for R/V Falkor Cruise FK180310. Publication of this paper was funded by the Schmidt Ocean Institute

Autonomous tracking of salinity-intrusion fronts by a long-range autonomous underwater vehicle

© The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Zhang, Y., Yoder, N., Kieft, B., Kukulya, A., Hobson, B. W., Ryan, S., & Gawarkiewicz, G. G. Autonomous tracking of salinity-intrusion fronts by a long-range autonomous underwater vehicle. Ieee Journal of Oceanic Engineering, (2022): 1-9, https://doi.org/10.1109/JOE.2022.3146584.Shoreward intrusions of anomalously salty water along the continental shelf of the Middle Atlantic Bight are often observed in spring and summer. Exchange of heat, nutrients, and carbon across the salinity-intrusion front has a significant impact on the marine ecosystem and fisheries. In this article, we developed a method of using an autonomous underwater vehicle (AUV) to detect a salinity-intrusion front and track the front's movement. Autonomous front detection is based on the different vertical structures of salinity in the two distinct water types: the vertical difference of salinity is large in the intruding saltier water because of the salinity “tongue” at mid-depth, but is small in the nearshore fresher water due to absence of the salinity anomaly. Every time the AUV crosses and detects the front, the vehicle makes a turn at an oblique angle to cross the front, thus zigzagging through the front to map the frontal zone. The AUV's zigzags sweep back and forth to track the front as it moves over time. From June 25 to 30, 2021, a Tethys-class long-range AUV mapped and tracked a salinity-intrusion front on the southern New England shelf. The frontal tracking revealed the salinity intrusion's 3-D structure and temporal evolution with unprecedented detail.This work was supported in part by the National Science Foundation under Grant OCE-1851261 and in part by the David and Lucile Packard Foundation

The LatMix summer campaign : submesoscale stirring in the upper ocean

Author Posting. © American Meteorological Society, 2015. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Bulletin of the American Meteorological Society 96 (2015): 1257–1279, doi:10.1175/BAMS-D-14-00015.1.Lateral stirring is a basic oceanographic phenomenon affecting the distribution of physical, chemical, and biological fields. Eddy stirring at scales on the order of 100 km (the mesoscale) is fairly well understood and explicitly represented in modern eddy-resolving numerical models of global ocean circulation. The same cannot be said for smaller-scale stirring processes. Here, the authors describe a major oceanographic field experiment aimed at observing and understanding the processes responsible for stirring at scales of 0.1–10 km. Stirring processes of varying intensity were studied in the Sargasso Sea eddy field approximately 250 km southeast of Cape Hatteras. Lateral variability of water-mass properties, the distribution of microscale turbulence, and the evolution of several patches of inert dye were studied with an array of shipboard, autonomous, and airborne instruments. Observations were made at two sites, characterized by weak and moderate background mesoscale straining, to contrast different regimes of lateral stirring. Analyses to date suggest that, in both cases, the lateral dispersion of natural and deliberately released tracers was O(1) m2 s–1 as found elsewhere, which is faster than might be expected from traditional shear dispersion by persistent mesoscale flow and linear internal waves. These findings point to the possible importance of kilometer-scale stirring by submesoscale eddies and nonlinear internal-wave processes or the need to modify the traditional shear-dispersion paradigm to include higher-order effects. A unique aspect of the Scalable Lateral Mixing and Coherent Turbulence (LatMix) field experiment is the combination of direct measurements of dye dispersion with the concurrent multiscale hydrographic and turbulence observations, enabling evaluation of the underlying mechanisms responsible for the observed dispersion at a new level.The bulk of this work was funded under the Scalable Lateral Mixing and Coherent Turbulence Departmental Research Initiative and the Physical Oceanography Program. The dye experiments were supported jointly by the Office of Naval Research and the National Science Foundation Physical Oceanography Program (Grants OCE-0751653 and OCE-0751734).2016-02-0

Hovering-mode control of the glider-type unmanned underwater vehicle

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2011Includes bibliographical references (leaves: 104-107)Text in English; Abstract: Turkish and Englishxiii, 109 leavesResearch on the underwater robotics has attracted the interest of many researchers over the years. The primary reasons are the need to perform underwater intervention tasks that are dangerous for a diver and the need to perform underwater survey tasks that last for longer periods of time. Unmanned underwater vehicles can be divided into two categories. Most of the systems, today, that require a certain level of precision and dexterity are built as Remotely Operated Vehicles (ROV). On the other hand, the systems that perform repetitive tasks are configured as Autonomous Underwater Vehicles (AUV). The objective of the thesis is to design a novel, cost-efficient, and fault-tolerant ROV that can hover and be used for shallow water investigation. In order to reduce the cost, the numbers of thrusters are minimized and internal actuators are used for steering the vehicle and stability in hovering mode. Also, the design is planned to be open for modification for further improvements that will enable the use of the vehicle for intervention tasks and studies. In this work, previously developed unmanned underwater vehicles are reviewed. Following this, the conceptual designs are created for the underwater vehicle and internal actuator designs are developed. Designed mechanisms are modeled in SolidWorks© and transferred to MATLAB© Simulink for hovering-mode control studies. Afterwards, to verify the simulation results, experiments are conducted with a seesaw mechanism by using LabVIEW© programming. Finally, results are given, discussed and future works are addressed

Boundary tracking and source seeking of oceanic features using autonomous vehicles

The thesis concerns the study and the development of boundary tracking and source seeking approaches for autonomous vehicles, specifically for marine autonomous systems. The underlying idea is that the characterization of most environmental features can be posed from either a boundary tracking or a source seeking perspective. The suboptimal sliding mode boundary tracking approach is considered and, as a first contribution, it is extended to the study of three dimensional features. The approach is aimed at controlling the movement of an underwater glider tracking a three-dimensional underwater feature and it is validated in a simulated environment. Subsequently, a source seeking approach based on sliding mode extremum seeking ideas is proposed. This approach is developed for the application to a single surface autonomous vehicle, seeking the source of a static or dynamic two dimensional spatial field. A sufficient condition which guarantees the finite time convergence to a neighbourhood of the source is introduced. Furthermore, a probabilistic learning boundary tracking approach is proposed, aimed at exploiting the available preliminary information relating to the spatial phenomenon of interest in the control strategy. As an additional contribution, the sliding mode boundary tracking approach is experimentally validated in a set of sea-trials with the deployment of a surface autonomous vehicle. Finally, an embedded system implementing the proposed boundary tracking strategy is developed for future installation on board of the autonomous vehicle. This work demonstrates the possibility to perform boundary tracking with a fully autonomous vehicle and to operate marine autonomous systems without remote control or pre-planning. Conclusions are drawn from the results of the research presented in this thesis and directions for future work are identified

Seaglider observations of biogeochemical variability in the Iberian upwelling system.

Seasonal upwelling events along the Galician coastline of the North Atlantic furnish the upper watercolumn with nutrients, resulting in strong summer phytoplankton blooms and the sustenance of one of Europe’s largest fisheries. The episodic nature of these upwelling events result in considerable challenges studying the region using traditional shipboard observations. This thesis demonstrates an alternative sampling technique, providing high spatial and temporal resolution biogeochemical data through the use of an autonomous underwater gliderthe Seaglider. SG510 “Orca” was outfitted with sensors to measure dissolved oxygen, temperature, salinity, chlorophyll a (chl a), coloured dissolved organic material (CDOM) and optical backscatter. Deployed for 113 days over summer 2010, Orca completed 17 zonal transects across the shelf, continental slope and open ocean at 42.1° N. Data collected during the campaign was used to assess both the physics of the watercolumn, and the effect these physical processes have on the region’s biogeochemistry. As part of this biogeochemical study, a novel attempt at calculating net community production (NCP) was completed using an oxygen inventory technique. Two major phytoplankton bloom events occurred during the deployment period, with respective peak Chl a concentrations of 9.65 and 11.23 mg m3. During these bloom events, NCP varied between (net autotrophic) values of 25 and 123 (±17 ) mmol m2. d1. Negative values of NCP were only observed twice for 24 and 60 hours respectively, with a maximum heterotrophy of 44 (±17) mmol m2 d1. Overall, the summer season featured a net autotrophic metabolic balance of +27 mmol m2 d1 .thus highlighting the importance of the region for net carbon sequestration. Finally, this thesis also demonstrates the success of using autonomous glider platforms for sustained biogeochemical and physical observations within a highly dynamic and challenging operational environment with strong currents and considerable shipping traffic

Acoustic underwater target tracking methods using autonomous vehicles

Marine ecological research related to the increasing importance which the fisheries sector has reached so far, new methods and tools to study the biological components of our oceans are needed. The capacity to measure different population and environmental parameters of marine species allows a greater knowledge of the human impact, improving exploitation strategies of these resources. For example, the displacement capacity and mobility patterns are crucial to obtain the required knowledge for a sustainable management of fisheries. However, underwater localisation is one of the main problems which must be addressed in subsea exploration, where no Global Positioning System (GPS) is available. In addition to the traditional underwater localisation systems, such as Long BaseLine (LBL) or Ultra-Short BaseLine (USBL), new methods have been developed to increase navigation performance, flexibility, and to reduce deployment costs. For example, the Range-Only and Single-Beacon (ROSB) is based on an autonomous vehicle which localises and tracks different underwater targets using slant range measurements conducted by acoustic modems. In a moving target tracking scenario, the ROSB target tracking method can be seen as a Hidden Markov Model (HMM) problem. Using Bayes' rule, the probability distribution function of the HMM states can be solved by using different filtering methods. Accordingly, this thesis presents different strategies to improve the ROSB localisation and tracking methods for static and moving targets. Determining the optimal parameters to minimize acoustic energy use and search time, and to maximize the localisation accuracy and precision, is therefore one of the discussed aspects of ROSB. Thus, we present and compare different methods under different scenarios, both evaluated in simulations and field tests. The main mathematical notation and performance of each algorithm are presented, where the best practice has been derived. From a methodology point of view, this work advances the understanding of accuracy that can be achieved by using ROSB target tracking methods with autonomous vehicles. Moreover, whereas most of the work conducted during the last years has been focused on target tracking using acoustic modems, here we also present a novel method called the Area-Only Target Tracking (AOTT). This method works with commercially available acoustic tags, thereby reducing the costs and complexity over other tracking systems. These tags do not have bidirectional communication capabilities, and therefore, the ROSB techniques are not applicable. However, this method can be used to track small targets such as jellyfish due to the reduced tag's size. The methodology behind the area-only technique is shown, and results from the first field tests conducted in Monterey Bay area, California, are also presented.La biologia marina junt amb la importància que ha adquirit el sector pesquer, fa que es requereixin noves eines per a l’estudi dels nostres oceans. La capacitat de mesurar diferents poblacions i paràmetres ambientals d’espècies marines permet millorar el coneixement de l’impacte que l’ésser humà té sobre elles, millorant-ne els mètodes d’explotació. Per exemple, la capacitat de desplaçament i els patrons de moviment són crucials per obtenir el coneixement necessari per a una explotació sostenible de les pescaries involucrades. No obstant, la localització submarina és un dels principals problemes que s’ha de resoldre en l’explotació dels recursos submarins, on el sistema de posició global (GPS) no es pot utilitzar. A part dels mètodes tradicionals de posicionament submarí, com per exemple el Long Base-Line (LBL) o el Ultra-Short Base-Line (USBL), nous mètodes han estat desenvolupats per tal de millorar la navegació, la flexibilitat, i per reduir els costos de desplegament. Per exemple, el Range-Only and Single-Beacon (ROSB) utilitza un vehicle autònom per a localitzar i seguir diferents objectius submarins mitjançant mesures de rang realitzades a partir de mòdems acústics. En un escenari on l’objectiu a seguir és mòbil, el mètode ROSB de seguiment pot ser vist com a un problema de Hidden Markov Model (HMM). Aleshores, utilitzant la regla de Bayes, la funció de distribució de probabilitat dels estats del HMM pot ser solucionat utilitzant diferents mètodes de filtratge. Per tant, s’estudien diferents estratègies per millorar el sistema de localització i seguiment basat en ROSB, tant per objectius estàtics com mòbils. En aquesta tesis, presentem i comparem diferents mètodes utilitzant diferents escenaris, els quals s’han avaluat tant en simulacions com en proves de camp reals. A més, es presenten les principals notacions matemàtiques de cada algoritme i les millors pràctiques a utilitzar. Per tant, des d’un punt de vista metodològic, aquest treball fa un pas endavant en el coneixement de l’exactitud que es pot assolir utilitzant els mètodes de localització i seguiment d’espècies mitjançant algoritmes ROSB i vehicles autònoms. A més a més, mentre molts dels treballs realitzant durant els últims anys es centren en l’ús de mòdems acústics per al seguiment d’objectius submarins, en aquesta tesis es presenta un innovador mètode anomenat Area-Only Target Tracking (AOTT). Aquest sistema utilitza petites etiquetes acústiques comercials (tag), la qual cosa, redueix el cost i la complexitat en comparació amb els altres mètodes. Addicionalment, gràcies a l’ús d’aquests tags de dimensions reduïdes, aquest sistema permet seguir espècies marines com les meduses. La metodologia utilitzada per el mètode AOTT es mostra en aquesta tesis, on també es presenten els primers experiments realitzats a la badia de Monterey a Califòrnia

ASIRI : an ocean–atmosphere initiative for Bay of Bengal

Author Posting. © American Meteorological Society, 2016. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Bulletin of the American Meteorological Society 97 (2016): 1859–1884, doi:10.1175/BAMS-D-14-00197.1.Air–Sea Interactions in the Northern Indian Ocean (ASIRI) is an international research effort (2013–17) aimed at understanding and quantifying coupled atmosphere–ocean dynamics of the Bay of Bengal (BoB) with relevance to Indian Ocean monsoons. Working collaboratively, more than 20 research institutions are acquiring field observations coupled with operational and high-resolution models to address scientific issues that have stymied the monsoon predictability. ASIRI combines new and mature observational technologies to resolve submesoscale to regional-scale currents and hydrophysical fields. These data reveal BoB’s sharp frontal features, submesoscale variability, low-salinity lenses and filaments, and shallow mixed layers, with relatively weak turbulent mixing. Observed physical features include energetic high-frequency internal waves in the southern BoB, energetic mesoscale and submesoscale features including an intrathermocline eddy in the central BoB, and a high-resolution view of the exchange along the periphery of Sri Lanka, which includes the 100-km-wide East India Coastal Current (EICC) carrying low-salinity water out of the BoB and an adjacent, broad northward flow (∼300 km wide) that carries high-salinity water into BoB during the northeast monsoon. Atmospheric boundary layer (ABL) observations during the decaying phase of the Madden–Julian oscillation (MJO) permit the study of multiscale atmospheric processes associated with non-MJO phenomena and their impacts on the marine boundary layer. Underway analyses that integrate observations and numerical simulations shed light on how air–sea interactions control the ABL and upper-ocean processes.This work was sponsored by the U.S. Office of Naval Research (ONR) in an ONR Departmental Research Initiative (DRI), Air–Sea Interactions in Northern Indian Ocean (ASIRI), and in a Naval Research Laboratory project, Effects of Bay of Bengal Freshwater Flux on Indian Ocean Monsoon (EBOB). ASIRI–RAWI was funded under the NASCar DRI of the ONR. The Indian component of the program, Ocean Mixing and Monsoons (OMM), was supported by the Ministry of Earth Sciences of India.2017-04-2

ASIRI: An Ocean–Atmosphere Initiative for Bay of Bengal

Air–Sea Interactions in the Northern Indian Ocean (ASIRI) is an international research effort (2013–17) aimed at understanding and quantifying coupled atmosphere–ocean dynamics of the Bay of Bengal (BoB) with relevance to Indian Ocean monsoons. Working collaboratively, more than 20 research institutions are acquiring field observations coupled with operational and high-resolution models to address scientific issues that have stymied the monsoon predictability. ASIRI combines new and mature observational technologies to resolve submesoscale to regional-scale currents and hydrophysical fields. These data reveal BoB’s sharp frontal features, submesoscale variability, low-salinity lenses and filaments, and shallow mixed layers, with relatively weak turbulent mixing. Observed physical features include energetic high-frequency internal waves in the southern BoB, energetic mesoscale and submesoscale features including an intrathermocline eddy in the central BoB, and a high-resolution view of the exchange along the periphery of Sri Lanka, which includes the 100-km-wide East India Coastal Current (EICC) carrying low-salinity water out of the BoB and an adjacent, broad northward flow (∼300 km wide) that carries high-salinity water into BoB during the northeast monsoon. Atmospheric boundary layer (ABL) observations during the decaying phase of the Madden–Julian oscillation (MJO) permit the study of multiscale atmospheric processes associated with non-MJO phenomena and their impacts on the marine boundary layer. Underway analyses that integrate observations and numerical simulations shed light on how air–sea interactions control the ABL and upper-ocean processes