Evolution of a physical and biological front from upwelling to relaxation

© The Author(s), 2015. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Continental Shelf Research 108 (2015): 55-64, doi:10.1016/j.csr.2015.08.005.Fronts influence the structure and function of coastal marine ecosystems. Due to the complexity and dynamic nature of coastal environments and the small scales of frontal gradient zones, frontal research is difficult. To advance this challenging research we developed a method enabling an autonomous underwater vehicle (AUV) to detect and track fronts, thereby providing high-resolution observations in the moving reference frame of the front itself. This novel method was applied to studying the evolution of a frontal zone in the coastal upwelling environment of Monterey Bay, California, through a period of variability in upwelling intensity. Through 23 frontal crossings in four days, the AUV detected the front using real-time analysis of vertical thermal stratification to identify water types and the front between them, and the vehicle tracked the front as it moved more than 10 km offshore. The physical front coincided with a biological front between strongly stratified phytoplankton-enriched water inshore of the front, and weakly stratified phytoplankton-poor water offshore of the front. While stratification remained a consistent identifier, conditions on both sides of the front changed rapidly as regional circulation responded to relaxation of upwelling winds. The offshore water type transitioned from relatively cold and saline upwelled water to relatively warm and fresh coastal transition zone water. The inshore water type exhibited an order of magnitude increase in chlorophyll concentrations and an associated increase in oxygen and decrease in nitrate. It also warmed and freshened near the front, consistent with the cross-frontal exchange that was detected in the high-resolution AUV data. AUV-observed cross-frontal exchanges beneath the surface manifestation of the front emphasize the importance of AUV synoptic water column surveys in the frontal zone.This work was supported by the David and Lucile Packard Foundation

Autonomous four-dimensional mapping and tracking of a coastal upwelling front by an autonomous underwater vehicle

© The Author(s), 2015. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of Field Robotics 33 (2016): 67-81, doi:10.1002/rob.21617Coastal upwelling is a wind-driven ocean process that brings cooler, saltier, and nutrient-rich deep water upward to the surface. The boundary between the upwelling water and the normally stratified water is called the “upwelling front.” Upwelling fronts support enriched phytoplankton and zooplankton populations, thus they have great influences on ocean ecosystems. Traditional ship-based methods for detecting and sampling ocean fronts are often laborious and very difficult, and long-term tracking of such dynamic features is practically impossible. In our prior work, we developed a method of using an autonomous underwater vehicle (AUV) to autonomously detect an upwelling front and track the front's movement on a fixed latitude, and we applied the method in scientific experiments. In this paper, we present an extension of the method. Each time the AUV crosses and detects the front, the vehicle makes a turn at an oblique angle to recross the front, thus zigzagging through the front to map the frontal zone. The AUV's zigzag tracks alternate in northward and southward sweeps, so as to track the front as it moves over time. This way, the AUV maps and tracks the front in four dimensions—vertical, cross-front, along-front, and time. From May 29 to June 4, 2013, the Tethys long-range AUV ran the algorithm to map and track an upwelling front in Monterey Bay, CA, over five and one-half days. The tracking revealed spatial and temporal variabilities of the upwelling front.This work was supported by the David and Lucile Packard Foundation

Detection of unanticipated faults for autonomous underwater vehicles using online topic models

© The Author(s), 2017. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of Field Robotics 35 (2018): 705-716, doi:10.1002/rob.21771.For robots to succeed in complex missions, they must be reliable in the face of subsystem failures and environmental challenges. In this paper, we focus on autonomous underwater vehicle (AUV) autonomy as it pertains to self‐perception and health monitoring, and we argue that automatic classification of state‐sensor data represents an important enabling capability. We apply an online Bayesian nonparametric topic modeling technique to AUV sensor data in order to automatically characterize its performance patterns, then demonstrate how in combination with operator‐supplied semantic labels these patterns can be used for fault detection and diagnosis by means of a nearest‐neighbor classifier. The method is evaluated using data collected by the Monterey Bay Aquarium Research Institute's Tethys long‐range AUV in three separate field deployments. Our results show that the proposed method is able to accurately identify and characterize patterns that correspond to various states of the AUV, and classify faults at a high rate of correct detection with a very low false detection rate.Office of Naval Research Grant Number: N00014‐14‐1‐0199; David and Lucile Packard Foundatio

Abundance, distribution and population trends of Nile crocodile (Crocodylus niloticus) in Gonarezhou National Park, Zimbabwe

The Nile crocodile (Crocodylus niloticus) is an iconic or keystone species in many aquatic ecosystems. In order to understand the abundance, distribution, and population trends of Nile crocodiles in Gonarezhou National Park (GNP), southeastern Zimbabwe, we carried out 4 annual aerial surveys, using a Super Cub aircraft, along 3 major rivers, namely, Save, Runde and Mwenezi, between 2008 and 2011. Our results show that Runde River was characterised by a significant increase in Nile crocodile abundance whereas both Save and Mwenezi rivers were characterised by non-significant increases in Nile crocodile abundance. Overall, we recorded a significant increase in total Nile crocodile population in the three major rivers of the GNP. The non-significant increase in Nile crocodiles in the Mwenezi and Save rivers was likely due to habitat loss, through siltation of large pools, and conflicts with humans, among other factors. We suggest that GNP management should consider halting crocodile egg collection in rivers with low crocodile populations and continuously monitor the crocodile population in the par

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

Cone-Rod Dystrophy Due to Mutations in a Novel Photoreceptor-Specific Homeobox Gene (CRX) Essential for Maintenance of the Photoreceptor

Genes associated with inherited retinal degeneration have been found to encode proteins required for phototransduction, metabolism, or structural support of photoreceptors. Here we show that mutations in a novel photoreceptor-specific homeodomain transcription factor gene (CRX) cause an autosomal dominant form of cone-rod dystrophy (adCRD) at the CORD2 locus on chromosome 19q13. In affected members of a CORD2-linked family, the highly conserved glutamic acid at the first position of the recognition helix is replaced by alanine (E80A). In another CRD family, a 1 bp deletion (E168 [delta1 bp]) within a novel sequence, the WSP motif, predicts truncation of the C-terminal 132 residues of CRX. Mutations in the CRX gene cause adCRD either by haploinsufficiency or by a dominant negative effect and demonstrate that CRX is essential for the maintenance of mammalian photoreceptorsThis work was supported by the RP Foundation of Canada (R. R. M.), the Foundation Fighting Blindness (R. R. M. and S. G. J.), the Canadian Genetic Disease Network (R. R. M. and A. D.), the Medical Research Council of Canada (R. R. M.), The Wellcome Trust (043825/Z/95) and the Human Genome Mapping Resource Centre (C. Y. G.-E. and S. S. B.), the Howard Hughes Medical Institute and NIH R01 EY0 8064 (C. L. C.), the Canadian Genome Analysis and Technology Genome Resource Facility (S. W. S. and L.-C. T.), the NIH/NEI (EY05627) (S. G. J.), and the Greek National Scholarship Foundation (M. P.). R. R. M. and L.-C. T. are International Research Scholars of the Howard Hughes Medical Institute

Autonomous tracking and sampling of the deep chlorophyll maximum layer in an open-ocean eddy by a long-range autonomous underwater vehicle

© The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Zhang, Y., Kieft, B., Hobson, B. W., Ryan, J. P., Barone, B., Preston, C. M., Roman, B., Raanan, B., Marin,Roman,,III, O'Reilly, T. C., Rueda, C. A., Pargett, D., Yamahara, K. M., Poulos, S., Romano, A., Foreman, G., Ramm, H., Wilson, S. T., DeLong, E. F., Karl, D. M., Birch, J. M., Bellingham, J. G., & Scholin, C. A. Autonomous tracking and sampling of the deep chlorophyll maximum layer in an open-ocean eddy by a long-range autonomous underwater vehicle. IEEE Journal of Oceanic Engineering, 45(4), (2020): 1308-1321, doi:10.1109/JOE.2019.2920217.Phytoplankton communities residing in the open ocean, the largest habitat on Earth, play a key role in global primary production. Through their influence on nutrient supply to the euphotic zone, open-ocean eddies impact the magnitude of primary production and its spatial and temporal distributions. It is important to gain a deeper understanding of the microbial ecology of marine ecosystems under the influence of eddy physics with the aid of advanced technologies. In March and April 2018, we deployed autonomous underwater and surface vehicles in a cyclonic eddy in the North Pacific Subtropical Gyre to investigate the variability of the microbial community in the deep chlorophyll maximum (DCM) layer. One long-range autonomous underwater vehicle (LRAUV) carrying a third-generation Environmental Sample Processor (3G-ESP) autonomously tracked and sampled the DCM layer for four days without surfacing. The sampling LRAUV's vertical position in the DCM layer was maintained by locking onto the isotherm corresponding to the chlorophyll peak. The vehicle ran on tight circles while drifting with the eddy current. This mode of operation enabled a quasi-Lagrangian time series focused on sampling the temporal variation of the DCM population. A companion LRAUV surveyed a cylindrical volume around the sampling LRAUV to monitor spatial and temporal variation in contextual water column properties. The simultaneous sampling and mapping enabled observation of DCM microbial community in its natural frame of reference.10.13039/501100008982 - National Science Foundation 10.13039/100000936 - Gordon and Betty Moore Foundation 10.13039/100000008 - David and Lucile Packard Foundation 10.13039/100016377 - Schmidt Ocean Institute 10.13039/100000893 - Simons Foundatio

Identifying the science and technology dimensions of emerging public policy issues through horizon scanning

Public policy requires public support, which in turn implies a need to enable the public not just to understand policy but also to be engaged in its development. Where complex science and technology issues are involved in policy making, this takes time, so it is important to identify emerging issues of this type and prepare engagement plans. In our horizon scanning exercise, we used a modified Delphi technique [1]. A wide group of people with interests in the science and policy interface (drawn from policy makers, policy adviser, practitioners, the private sector and academics) elicited a long list of emergent policy issues in which science and technology would feature strongly and which would also necessitate public engagement as policies are developed. This was then refined to a short list of top priorities for policy makers. Thirty issues were identified within broad areas of business and technology; energy and environment; government, politics and education; health, healthcare, population and aging; information, communication, infrastructure and transport; and public safety and national security.Public policy requires public support, which in turn implies a need to enable the public not just to understand policy but also to be engaged in its development. Where complex science and technology issues are involved in policy making, this takes time, so it is important to identify emerging issues of this type and prepare engagement plans. In our horizon scanning exercise, we used a modified Delphi technique [1]. A wide group of people with interests in the science and policy interface (drawn from policy makers, policy adviser, practitioners, the private sector and academics) elicited a long list of emergent policy issues in which science and technology would feature strongly and which would also necessitate public engagement as policies are developed. This was then refined to a short list of top priorities for policy makers. Thirty issues were identified within broad areas of business and technology; energy and environment; government, politics and education; health, healthcare, population and aging; information, communication, infrastructure and transport; and public safety and national security

Pump it Up workshop report

Workshop held 28-29 September 2017, Cape Cod, MAA two-day workshop was conducted to trade ideas and brainstorm about how to advance our understanding of the ocean’s biological pump. The goal was to identify the most important scientific issues that are unresolved but might be addressed with new and future technological advances