Autonomous sampling of ocean submesoscale fronts with ocean gliders and numerical model forecasting

Submesoscale fronts arising from mesoscale stirring are ubiquitous in the ocean and have a strong impact on upper-ocean dynamics. This work presents a method for optimizing the sampling of ocean fronts with autonomous vehicles at meso- and submesoscales, based on a combination of numerical forecast and autonomous planning. This method uses a 48-h forecast from a real-time high-resolution data-assimilative primitive equation ocean model, feature detection techniques, and a planner that controls the observing platform. The method is tested in Monterey Bay, off the coast of California, during a 9-day experiment focused on sampling subsurface thermohaline-compensated structures using a Seaglider as the ocean observing platform. Based on model estimations, the sampling “gain,” defined as the magnitude of isopycnal tracer variability sampled, is 50% larger in the feature-chasing case with respect to a non-feature-tracking scenario. The ability of the model to reproduce, in space and time, thermohaline submesoscale features is evaluated by quantitatively comparing the model and glider results. The model reproduces the vertical (~50–200 m thick) and lateral (~5–20 km) scales of subsurface subducting fronts and near-bottom features observed in the glider data. The differences between model and glider data are, in part, attributed to the selected glider optimal interpolation parameters and to uncertainties in the forecasting of the location of the structures. This method can be exported to any place in the ocean where high-resolution data-assimilative model output is available, and it allows for the incorporation of multiple observing platforms

Time-optimal path planning in dynamic flows using level set equations: realistic applications

The level set methodology for time-optimal path planning is employed to predict collision-free and fastest-time trajectories for swarms of underwater vehicles deployed in the Philippine Archipelago region. To simulate the multiscale ocean flows in this complex region, a data-assimilative primitive-equation ocean modeling system is employed with telescoping domains that are interconnected by implicit two-way nesting. These data-driven multiresolution simulations provide a realistic flow environment, including variable large-scale currents, strong jets, eddies, wind-driven currents, and tides. The properties and capabilities of the rigorous level set methodology are illustrated and assessed quantitatively for several vehicle types and mission scenarios. Feasibility studies of all-to-all broadcast missions, leading to minimal time transmission between source and receiver locations, are performed using a large number of vehicles. The results with gliders and faster propelled vehicles are compared. Reachability studies, i.e., determining the boundaries of regions that can be reached by vehicles for exploratory missions, are then exemplified and analyzed. Finally, the methodology is used to determine the optimal strategies for fastest-time pick up of deployed gliders by means of underway surface vessels or stationary platforms. The results highlight the complex effects of multiscale flows on the optimal paths, the need to utilize the ocean environment for more efficient autonomous missions, and the benefits of including ocean forecasts in the planning of time-optimal paths.United States. Office of Naval Research (Grant N00014-09-1-0676 (Science of Autonomy - A-MISSION))United States. Office of Naval Research (Grant N00014-07-1-0473 (PhilEx))United States. Office of Naval Research (Grant N00014-12-1-0944 (ONR6.2))United States. Office of Naval Research (Grant N00014-13-1-0518 (Multi-DA)

Assessing the potential of autonomous submarine gliders for ecosystem monitoring across multiple trophic levels (plankton to cetaceans) and pollutants in shallow shelf seas

A combination of scientific, economic, technological and policy drivers is behind a recent upsurge in the use of marine autonomous systems (and accompanying miniaturized sensors) for environmental mapping and monitoring. Increased spatial–temporal resolution and coverage of data, at reduced cost, is particularly vital for effective spatial management of highly dynamic and heterogeneous shelf environments. This proof-of-concept study involves integration of a novel combination of sensors onto buoyancy-driven submarine gliders, in order to assess their suitability for ecosystem monitoring in shelf waters at a variety of trophic levels. Two shallow-water Slocum gliders were equipped with CTD and fluorometer to measure physical properties and chlorophyll, respectively. One glider was also equipped with a single-frequency echosounder to collect information on zooplankton and fish distribution. The other glider carried a Passive Acoustic Monitoring system to detect and record cetacean vocalizations, and a passive sampler to detect chemical contaminants in the water column. The two gliders were deployed together off southwest UK in autumn 2013, and targeted a known tidal-mixing front west of the Isles of Scilly. The gliders’ mission took about 40 days, with each glider travelling distances of >1000 km and undertaking >2500 dives to depths of up to 100 m. Controlling glider flight and alignment of the two glider trajectories proved to be particularly challenging due to strong tidal flows. However, the gliders continued to collect data in poor weather when an accompanying research vessel was unable to operate. In addition, all glider sensors generated useful data, with particularly interesting initial results relating to subsurface chlorophyll maxima and numerous fish/cetacean detections within the water column. The broader implications of this study for marine ecosystem monitoring with submarine gliders are discussed

Three-Dimensional Characterization of a Coastal Mode-Water Eddy from Multiplatform Observations and a Data Reconstruction Method

Coastal mesoscale eddies are important oceanic structures partially responsible for regulating ocean-shelf exchanges. However, their description and characterization are challenging; observations are often too scarce for studying their physical properties and environmental impacts at the required spatio-temporal resolution. Therefore, models and data extrapolation methods are key tools for this purpose. Observations from high-frequency radar, one satellite and two gliders, are used here to better characterize the three-dimensional structure of a coastal mode-water eddy from a multiplatform approach in the southeastern Bay of Biscay in spring 2018. After the joint analysis of the observations, a three-dimensional data reconstruction method is applied to reconstruct the eddy current velocity field and estimate the associated water volume transport. The target eddy is detected by surface observations (high-frequency radar and satellite) for two weeks and presents similar dimensions and lifetimes as other eddies studied previously in the same location. However, this is the first time that the water column properties are also observed for this region, which depicts a mode-water eddy behavior, i.e., an uplift of the isopycnals in the near-surface and a downlift deeper in the water column. The reconstructed upper water column (1–100 m) eddy dynamics agree with the geostrophic dynamics observed by one of the gliders and result in cross-shelf inshore (offshore) volume transports between 0.04 (−0.01) and 0.15 (−0.11) Sv. The multiplatform data approach and the data reconstruction method are here highlighted as useful tools to characterize and three-dimensionally reconstruct coastal mesoscale processes in coastal areas.En prensa0,64

A revised ocean glider concept to realize Stommel's vision and supplement Argo floats

This paper revisits Stommel's vision for a global glider network and the Argo design specification. A concept of floats with wings, so-called slow underwater gliders, is explored. An analysis of the energy or power consumption shows that, by operating gliders with half the vehicle volume at half the speed compared to present gliders, the energy requirements for long-duration missions can be met with available battery capacities. Simulation experiments of slow gliders are conducted using the horizontal current fields from an eddy-permitting ocean reanalysis product. By employing a semi-Lagrangian, streamwise navigation whereby the glider steers at right angles to ocean currents, we show that the concept is feasible. The simulated glider tracks demonstrate the potential for efficient coverage of key oceanographic features and variability.publishedVersio

Marine Vehicle Sensor Network Architecture and Protocol Designs for Ocean Observation

The micro-scale and meso-scale ocean dynamic processes which are nonlinear and have large variability, have a significant impact on the fisheries, natural resources, and marine climatology. A rapid, refined and sophisticated observation system is therefore needed in marine scientific research. The maneuverability and controllability of mobile sensor platforms make them a preferred choice to establish ocean observing networks, compared to the static sensor observing platform. In this study, marine vehicles are utilized as the nodes of mobile sensor networks for coverage sampling of a regional ocean area and ocean feature tracking. A synoptic analysis about marine vehicle dynamic control, multi vehicles mission assignment and path planning methods, and ocean feature tracking and observing techniques is given. Combined with the observation plan in the South China Sea, we provide an overview of the mobile sensor networks established with marine vehicles, and the corresponding simulation results