System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset

Design optimization of a submersible chemiluminescent sensor (DISCO) for improved quantification of reactive oxygen species (ROS) in surface waters

© The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Grabb, K., Pardis, W., Kapit, J., Wankel, S., Hayden, E., & Hansel, C. Design optimization of a submersible chemiluminescent sensor (DISCO) for improved quantification of reactive oxygen species (ROS) in surface waters. Sensors, 22(17), (2022): 6683, https://doi.org/10.3390/s22176683.Reactive oxygen species (ROS) are key drivers of biogeochemical cycling while also exhibiting both positive and negative effects on marine ecosystem health. However, quantification of the ROS superoxide (O2−) within environmental systems is hindered by its short half-life. Recently, the development of the diver-operated submersible chemiluminescent sensor (DISCO), a submersible, handheld instrument, enabled in situ superoxide measurements in real time within shallow coral reef ecosystems. Here, we present a redesigned and improved instrument, DISCO II. Similar to the previous DISCO, DISCO II is a self-contained, submersible sensor, deployable to 30 m depth and capable of measuring reactive intermediate species in real time. DISCO II is smaller, lighter, lower cost, and more robust than its predecessor. Laboratory validation of DISCO II demonstrated an average limit of detection in natural seawater of 133.1 pM and a percent variance of 0.7%, with stable photo multiplier tube (PMT) counts, internal temperature, and flow rates. DISCO II can also be optimized for diverse environmental conditions by adjustment of the PMT supply voltage and integration time. Field tests showed no drift in the data with a percent variance of 3.0%. Wand tip adaptations allow for in situ calibrations and decay rates of superoxide using a chemical source of superoxide (SOTS-1). Overall, DISCO II is a versatile, user-friendly sensor that enables measurements in diverse environments, thereby improving our understanding of the cycling of reactive intermediates, such as ROS, across various marine ecosystems.The development and verification of DISCO was funded by Schmidt Marine Technology Partners (G-2010-59878 to C.M.H., S.D.W. and J.K.). This research was further supported, in part, by grants from NSF GRFP (2016230168 to K.C.G.), WHOI Ocean Ventures Fund (2020 and 2021 to K.C.G.), and the MIT Wellington and Irene Loh Fund Fellowship (4000111995 to K.C.G.)

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

Hollow Core Fiber Methane Sensor

We have developed a hollow core fiber optic sensor capable of measuring dissolved methane gas in liquids using only nanoliters of sample gas. The sensor is based on an anti-resonant hollow core fiber combined with a permeable capillary membrane inlet which extracts gas from the liquid for analysis.Woods Hole Oceanographic Institution Innovative Technology Award Schmidt Marine Technology Partners G-2004-59353 NOAA Office of Ocean Exploration and Research NA18OAR011035

Dissolved gas sensing using an anti-resonant hollow core optical fiber

Author Posting. © Optical Society of America, 2021. This article is posted here by permission of Optical Society of America for personal use. Users may use, reuse, and build upon the article, or use the article for text or data mining, so long as such uses are for non-commercial purposes and appropriate attribution is maintained. The definitive version was published in Applied Optics 60(33), (2021): 10354–10358, https://doi.org/10.1364/AO.439787.Sensors that measure dissolved gases directly are needed for environmental, industrial, and biomedical applications. Here we present a hollow core fiber optic sensor capable of measuring dissolved methane gas in liquids using only nanoliters of sample gas. The sensor is based on an anti-resonant hollow core fiber combined with a permeable capillary membrane inlet that extracts gas from the liquid for analysis. Using a small capillary inlet for gas extraction is only possible due to the small amount of sample gas needed for analysis, and it presents new possibilities for dissolved gas analysis in a simple, robust, and compact sensor configuration. We demonstrate the sensing technique using wavelength modulation spectroscopy and measure methane dissolved in water with a 1 lower detection limit of 230 ppb, a resolution of 45 ppb, and a response time of ∼8min.NOAA Ocean Exploration and Research (NA18OAR0110354); Schmidt Marine Technology Partners (G-2004-59353); Woods Hole Oceanographic Institution (Innovative Technology Award)

Development of a deep-sea submersible chemiluminescent analyzer for sensing short-lived reactive chemicals

© The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Taenzer, L., Grabb, K., Kapit, J., Pardis, W., Wankel, S. D., & Hansel, C. M. Development of a deep-sea submersible chemiluminescent analyzer for sensing short-lived reactive chemicals. Sensors, 22(5), (2022): 1709, https://doi.org/10.3390/s22051709.Based on knowledge of their production pathways, and limited discrete observations, a variety of short-lived chemical species are inferred to play active roles in chemical cycling in the sea. In some cases, these species may exert a disproportionate impact on marine biogeochemical cycles, affecting the redox state of metal and carbon, and influencing the interaction between organisms and their environment. One such short-lived chemical is superoxide, a reactive oxygen species (ROS), which undergoes a wide range of environmentally important reactions. Yet, due to its fleeting existence which precludes traditional shipboard analyses, superoxide concentrations have never been characterized in the deep sea. To this end, we have developed a submersible oceanic chemiluminescent analyzer of reactive intermediate species (SOLARIS) to enable continuous measurements of superoxide at depth. Fluidic pumps on SOLARIS combine seawater for analysis with reagents in a spiral mixing cell, initiating a chemiluminescent reaction that is monitored by a photomultiplier tube. The superoxide in seawater is then related to the quantity of light produced. Initial field deployments of SOLARIS have revealed high-resolution trends in superoxide throughout the water column. SOLARIS presents the opportunity to constrain the distributions of superoxide, and any number of chemiluminescent species in previously unexplored environments.This research was funded by the NSF Oceanographic Technology and Interdisciplinary Coordination (OTIC) program grant number 1736332 and NSF Chemical Oceanography program grant number 1924236. Partial support was provided by the Link Foundation Ocean Engineering and Instrumentation Fellowship (L.T.)

Design Optimization of a Submersible Chemiluminescent Sensor (DISCO) for Improved Quantification of Reactive Oxygen Species (ROS) in Surface Waters

Reactive oxygen species (ROS) are key drivers of biogeochemical cycling while also exhibiting both positive and negative effects on marine ecosystem health. However, quantification of the ROS superoxide (O2−) within environmental systems is hindered by its short half-life. Recently, the development of the diver-operated submersible chemiluminescent sensor (DISCO), a submersible, handheld instrument, enabled in situ superoxide measurements in real time within shallow coral reef ecosystems. Here, we present a redesigned and improved instrument, DISCO II. Similar to the previous DISCO, DISCO II is a self-contained, submersible sensor, deployable to 30 m depth and capable of measuring reactive intermediate species in real time. DISCO II is smaller, lighter, lower cost, and more robust than its predecessor. Laboratory validation of DISCO II demonstrated an average limit of detection in natural seawater of 133.1 pM and a percent variance of 0.7%, with stable photo multiplier tube (PMT) counts, internal temperature, and flow rates. DISCO II can also be optimized for diverse environmental conditions by adjustment of the PMT supply voltage and integration time. Field tests showed no drift in the data with a percent variance of 3.0%. Wand tip adaptations allow for in situ calibrations and decay rates of superoxide using a chemical source of superoxide (SOTS-1). Overall, DISCO II is a versatile, user-friendly sensor that enables measurements in diverse environments, thereby improving our understanding of the cycling of reactive intermediates, such as ROS, across various marine ecosystems

Discovering hydrothermalism from Afar: In Situ methane instrumentation and change-point detection for decision-making

Seafloor hydrothermalism plays a critical role in fundamental interactions between geochemical and biological processes in the deep ocean. A significant number of hydrothermal vents are hypothesized to exist, but many of these remain undiscovered due in part to the difficulty of detecting hydrothermalism using standard sensors on rosettes towed in the water column or robotic platforms performing surveys. Here, we use in situ methane sensors to complement standard sensing technology for hydrothermalism discovery and compare sensors on a towed rosette and an autonomous underwater vehicle (AUV) during a 17 km long transect in the Northern Guaymas Basin in the Gulf of California. This transect spatially intersected with a known hydrothermally active venting site. These data show that methane signalled possible hydrothermal-activity 1.5–3 km laterally (100–150 m vertically) from a known vent. Methane as a signal for hydrothermalism performed similarly to standard turbidity sensors (plume detection 2.2–3.3 km from reference source), and more sensitively and clearly than temperature, salinity, and oxygen instruments which readily respond to physical mixing in background seawater. We additionally introduce change-point detection algorithms—streaming cross-correlation and regime identification—as a means of real-time hydrothermalism discovery and discuss related data supervision technologies that could be used in planning, executing, and monitoring explorative surveys for hydrothermalism.</jats:p

Discovering hydrothermalism from afar: in situ methane instrumentation and change-point detection for decision-making

Seafloor hydrothermalism plays a critical role in fundamental interactions between geochemical and biological processes in the deep ocean. A significant number of hydrothermal vents are hypothesized to exist, but many of these remain undiscovered due in part to the difficulty of detecting hydrothermalism using standard sensors on rosettes towed in the water column or robotic platforms performing surveys. Here, we use in situ methane sensors to complement standard sensing technology for hydrothermalism discovery and compare sensing equipment on a towed rosette and autonomous underwater vehicle (AUV) during a 17 km long transect in the Northern Guaymas Basin. This transect spatially intersected with a known hydrothermally active venting site. These data show that methane signaled possible hydrothermal activity 1.5-3 km laterally (100-150m vertically) from a known vent. Methane as a signal for hydrothermalism performed similarly to standard turbidity sensors (plume detection 2.2-3.3 km from reference source), and more sensitively and clearly than temperature, salinity, and oxygen instruments which readily respond to physical mixing in background seawater. We additionally introduce change-point detection algorithms---streaming cross-correlation and regime identification---as a means of real-time hydrothermalism discovery and discuss related data monitoring technologies that could be used in planning, executing, and monitoring explorative surveys for hydrothermalism.NSF OCE OTIC: #1842053 Woods Hole Oceanographic Institution: Innovative Technology Award NOAA Ocean Exploration: #NA18OAR0110354 Schmidt Marine Technology Partners: #G-21-62431 NASA: #NNX17AB31G NSF OCE: #0838107 Gordon and Betty Moore Foundation: #9208 NDSEG: Graduate Fellowship MIT Martin Family Society of Fellows: Graduate Fellowship Microsoft: Graduate Research Fellowship DOE/National Nuclear Security Administration: #DE-NA000392 MIT EAPS: Houghton Fun