Review of existing and operable observing systems and sensors

Deliverable 1.4 is aimed at identification of existing and operable observing systems and sensors which are relevant to COMMON SENSE objectives. Report aggregates information on existing observing initiatives, programmes, systems, platforms and sensors. The Report includes: • inventory of previous and current EU funded projects. Some of the them, even if started before 2007, were aimed at activities which are relevant or in line with those stemming from MSFD in 2008. The ‘granulation’ of the contents and objectives of the projects varies from sensors development through observation methodologies to monitoring strategies, • inventory of research infrastructure in Europe. It starts from an attempt to define of Marine Research Infrastructure, as there is not a single definition of Research Infrastructure (RI) or of Marine Research Infrastructure (MRI), and there are different ways to categorise them. The chapter gives the categorization of the MRI, together with detailed description and examples of MRI – research platforms, marine data systems, research sites and laboratories with respect of four MSFD descriptors relevant to COMMON SENSE project, • two chapters on Research Programs and Infrastructure Networks; the pan-European initiatives aimed at cooperation and efficient use of infrastructural resources for marine observation and monitoring and data exchange are analysed. The detailed description of observing sensors and system are presented as well as frameworks for cooperation, • information on platforms (research vessels) available to the Project for testing developed sensors and systems. Platforms are available and operating in all three regions of interest to the project (Mediterranean, North Sea, Baltic), • annexed detailed description of two world-wide observation networks and systems. These systems are excellent examples of added value offered by integrated systems of ocean observation (from data to knowledge) and how they work in practice. Report concludes that it is seen a shortage of new classes of sensors to fulfil the emerging monitoring needs. Sensors proposed to be developed by COMMON SENSE project shall answer to the needs stemmed from introduction of MSFD and GES descriptors

Potential for an underwater glider component as part of the Global Ocean Observing System

The contributions of autonomous underwater gliders as an observing platform in the in-situ global ocean observing system (GOOS) are investigated. The assessment is done in two ways: First, the existing in-situ observing platforms contributing to GOOS (floats, surface drifters, moorings, research/commercial ships) are characterized in terms of their current capabilities in sampling key physical and bio-geochemical oceanic processes. Next the gliders’ capabilities are evaluated in the context of key applications. This includes an evaluation of 140 references presented in the peer-reviewed literature. It is found that GOOS has adequate coverage of sampling in the open ocean for several physical processes. There is a lack of data in the present GOOS in the transition regions between the open ocean and shelf seas. However, most of the documented scientific glider applications operate in this region, suggesting that a sustained glider component in the GOOS could fill that gap. Glider data are included for routine product generation (e.g. alerts, maps). Other noteworthy process-oriented applications where gliders are important survey tools include local sampling of the (sub)mesoscale, sampling in shallow coastal areas, measurements in hazardous environments, and operational monitoring. In most cases, the glider studies address investigations and monitoring of processes across multiple disciplines, making use of the ease to implement a wide range of sensors to gliders. The maturity of glider operations, the wide range of applications that map onto growing GOOS regional needs, and the maturity of glider data flow all justify the formal implementation of gliders into the GOOS. Remaining challenges include the execution of coordinated multinational missions in a sustained mode as well as considering capacity-building aspects in glider operations as well as glider data use

Persistent ocean monitoring with underwater gliders: Adapting sampling resolution

Ocean processes are dynamic and complex and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dynamic data acquisition approach. However, we still do not utilize the full capabilities of these vehicles. Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses a pressing need among ocean scientists to efficiently and effectively collect high-value data. More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor a patch of ocean. We optimize a cost function that blends two competing factors: maximize the information value along the path while minimizing deviation from the planned path due to ocean currents. Speed is controlled along the planned path by adjusting the pitch angle of the underwater glider, so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long-term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California, as well as in Monterey Bay, California. The experimental results show improvements in both data resolution and path reliability compared to previously executed sampling paths used in the respective regions.United States. National Oceanic and Atmospheric Administration. Monitoring and Event Response for Harmful Algal Blooms (NA05NOS4781228)National Science Foundation (U.S.). Center for Embedded Networked Sensing (CCR-0120778)National Science Foundation (U.S.). (Grant number CNS-0520305)National Science Foundation (U.S.). (Grant number CNS-0540420)United States. Office of Naval Research. Multidisciplinary University Research Initiative (N00014-09-1-1031)United States. Office of Naval Research. Multidisciplinary University Research Initiative (N00014-08-1-0693)United States. Office of Naval Research. Service-Oriented Architectur

Gliders metadata

Report on the progress of the EuroSea project on glider network metadata management in Europe and globall

Autonomous multi-platform observations during the Salinity Processes in the Upper-ocean Regional Study

Author Posting. © The Oceanography Society, 2017. This article is posted here by permission of The Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 30, no. 2 (2017): 38–48, doi:10.5670/oceanog.2017.218.The Salinity Processes in the Upper-ocean Regional Study (SPURS) aims to understand the patterns and variability of sea surface salinity. In order to capture the wide range of spatial and temporal scales associated with processes controlling salinity in the upper ocean, research vessels delivered autonomous instruments to remote sites, one in the North Atlantic and one in the Eastern Pacific. Instruments sampled for one complete annual cycle at each of these two sites, which are subject to contrasting atmospheric forcing. The SPURS field programs coordinated sampling from many different platforms, using a mix of Lagrangian and Eulerian approaches. This article discusses the motivations, implementation, and first results of the SPURS-1 and SPURS-2 programs.SPURS is supported by multiple NASA grants, with important additional contributions from the US National Science Foundation, NOAA, and the Office of Naval Research, as well as international agencies. SVP drifters are deployed with support from NASA and the NOAA funded Global Drifter Program at the Lagrangian Drifter Laboratory of the Scripps Institution of Oceanography. SVP-S2 drifters are provided by NOAA-AOML and NASA. PRAWLER mooring development is supported by NOAA’s Office of Oceanic and Atmospheric Research, Ocean Observing and Monitoring Division, and by NOAA/PMEL

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

Augmented Terrain-Based Navigation to Enable Persistent Autonomy for Underwater Vehicles in GPS-Denied Environments

Aquatic robots, such as Autonomous Underwater Vehicles (AUVs), play a major role in the study of ocean processes that require long-term sampling efforts and commonly perform navigation via dead-reckoning using an accelerometer, a magnetometer, a compass, an IMU and a depth sensor for feedback. However, these instruments are subjected to large drift, leading to unbounded uncertainty in location. Moreover, the spatio-temporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. To add to this, the interesting features are themselves spatio-temporally dynamic, and effective sampling requires a good understanding of vehicle localization relative to the sampled feature. Therefore, our work is motivated by the desire to enable intelligent data collection of complex dynamics and processes that occur in coastal ocean environments to further our understanding and prediction capabilities. The study originated from the need to localize and navigate aquatic robots in a GPS-denied environment and examine the role of the spatio-temporal dynamics of the ocean into the localization and navigation processes. The methods and techniques needed range from the data collection to the localization and navigation algorithms used on-board of the aquatic vehicles. The focus of this work is to develop algorithms for localization and navigation of AUVs in GPS-denied environments. We developed an Augmented terrain-based framework that incorporates physical science data, i.e., temperature, salinity, pH, etc., to enhance the topographic map that the vehicle uses to navigate. In this navigation scheme, the bathymetric data are combined with the physical science data to enrich the uniqueness of the underlying terrain map and increase the accuracy of underwater localization. Another technique developed in this work addresses the problem of tracking an underwater vehicle when the GPS signal suddenly becomes unavailable. The methods include the whitening of the data to reveal the true statistical distance between datapoints and also incorporates physical science data to enhance the topographic map. Simulations were performed at Lake Nighthorse, Colorado, USA, between April 25th and May 2nd 2018 and at Big Fisherman\u27s Cove, Santa Catalina Island, California, USA, on July 13th and July 14th 2016. Different missions were executed on different environments (snow, rain and the presence of plumes). Results showed that these two methodologies for localization and tracking work for reference maps that had been recorded within a week and the accuracy on the average error in localization can be compared to the errors found when using GPS if the time in which the observations were taken are the same period of the day (morning, afternoon or night). The whitening of the data had positive results when compared to localizing without whitening

OceanGliders: A Component of the Integrated GOOS

The OceanGliders program started in 2016 to support active coordination and enhancement of global glider activity. OceanGliders contributes to the international efforts of the Global Ocean Observation System (GOOS) for Climate, Ocean Health, and Operational Services. It brings together marine scientists and engineers operating gliders around the world: (1) to observe the long-term physical, biogeochemical, and biological ocean processes and phenomena that are relevant for societal applications; and, (2) to contribute to the GOOS through real-time and delayed mode data dissemination. The OceanGliders program is distributed across national and regional observing systems and significantly contributes to integrated, multi-scale and multi-platform sampling strategies. OceanGliders shares best practices, requirements, and scientific knowledge needed for glider operations, data collection and analysis. It also monitors global glider activity and supports the dissemination of glider data through regional and global databases, in real-time and delayed modes, facilitating data access to the wider community. OceanGliders currently supports national, regional and global initiatives to maintain and expand the capabilities and application of gliders to meet key global challenges such as improved measurement of ocean boundary currents, water transformation and storm forecast