TLBO-Based Adaptive Neurofuzzy Controller for Mobile Robot Navigation in a Strange Environment

This work investigates the possibility of using a novel evolutionary based technique as a solution for the navigation problem of a mobile robot in a strange environment which is based on Teaching-Learning-Based Optimization. TLBO is employed to train the parameters of ANFIS structure for optimal trajectory and minimum travelling time to reach the goal. The obtained results using the suggested algorithm are validated by comparison with different results from other intelligent algorithms such as particle swarm optimization (PSO), invasive weed optimization (IWO), and biogeography-based optimization (BBO). At the end, the quality of the obtained results extracted from simulations affirms TLBO-based ANFIS as an efficient alternative method for solving the navigation problem of the mobile robot

Extreme wave height events in NW Spain: a combined multi-sensor and model approach

The Galician coast (NW Spain) is a region that is strongly influenced by the presence of low pressure systems in the mid-Atlantic Ocean and the periodic passage of storms that give rise to severe sea states. Since its wave climate is one of the most energetic in Europe, the objectives of this paper were twofold. The first objective was to characterize the most extreme wave height events in Galicia over the wintertime of a two-year period (2015–2016) by using reliable high-frequency radar wave parameters in concert with predictions from a regional wave (WAV) forecasting system running operationally in the Iberia-Biscay-Ireland (IBI) area, denominated IBI-WAV. The second objective was to showcase the application of satellite wave altimetry (in particular, remote-sensed three-hourly wave height estimations) for the daily skill assessment of the IBI-WAV model product. Special attention was focused on monitoring Ophelia—one of the major hurricanes on record in the easternmost Atlantic—during its 3-day track over Ireland and the UK (15–17 October 2017). Overall, the results reveal the significant accuracy of IBI-WAV forecasts and prove that a combined observational and modeling approach can provide a comprehensive characterization of severe wave conditions in coastal areas and shows the benefits from the complementary nature of both systems.The authors also would like to thank the support by Interreg Atlantic Area project MyCOAST (EAPA 285/2016) co-funded by the ERDF (EU)S

Wind, waves, and surface currents in the Southern Ocean:Observations from the Antarctic Circumnavigation Expedition

The Southern Ocean has a profound impact on the Earth's climate system. Its strong winds, intense currents, and fierce waves are critical components of the air-sea interface and contribute to absorbing, storing, and releasing heat, moisture, gases, and momentum. Owing to its remoteness and harsh environment, this region is significantly undersampled, hampering the validation of prediction models and large-scale observations from satellite sensors. Here, an unprecedented data set of simultaneous observations of winds, surface currents, and ocean waves is presented, to address the scarcity of in situ observations in the region-https://doi.org/10.26179/5ed0a30aaf764 (Alberello et al., 2020c) and https://doi.org/10.26179/5e9d038c396f2 (Derkani et al., 2020). Records were acquired underway during the Antarctic Circumnavigation Expedition (ACE), which went around the Southern Ocean from December 2016 to March 2017 (Austral summer). Observations were obtained with the wave and surface current monitoring system WaMoS-II, which scanned the ocean surface around the vessel using marine radars. Measurements were assessed for quality control and compared against available satellite observations. The data set is the most extensive and comprehensive collection of observations of surface processes for the Southern Ocean and is intended to underpin improvements of wave prediction models around Antarctica and research of air-sea interaction processes, including gas exchange and dynamics of sea spray aerosol particles. The data set has further potentials to support theoretical and numerical research on lower atmosphere, air-sea interface, and upper-ocean processes.

Extreme wave height events in NW Spain: a combined multi-sensor and model approach

The Galician coast (NW Spain) is a region that is strongly influenced by the presence of low pressure systems in the mid-Atlantic Ocean and the periodic passage of storms that give rise to severe sea states. Since its wave climate is one of the most energetic in Europe, the objectives of this paper were twofold. The first objective was to characterize the most extreme wave height events in Galicia over the wintertime of a two-year period (2015–2016) by using reliable high-frequency radar wave parameters in concert with predictions from a regional wave (WAV) forecasting system running operationally in the Iberia-Biscay-Ireland (IBI) area, denominatedIBI-WAV. The second objective was to showcase the application of satellite wave altimetry (in particular, remote-sensed three-hourly wave height estimations) for the daily skill assessment of the IBI-WAV model product. Special attention was focused on monitoring Ophelia—one of the major hurricanes on record in the easternmost Atlantic—during its 3-day track over Ireland and the UK (15–17 October 2017). Overall, the results reveal the significant accuracy of IBI-WAV forecasts and prove that a combined observational and modeling approach can provide a comprehensive characterization of severe wave conditions in coastal areas and shows the benefits from the complementary nature of both systems

Semi-empirical dissipation source functions for ocean waves: Part I, definition, calibration and validation

New parameterizations for the spectra dissipation of wind-generated waves are proposed. The rates of dissipation have no predetermined spectral shapes and are functions of the wave spectrum and wind speed and direction, in a way consistent with observation of wave breaking and swell dissipation properties. Namely, the swell dissipation is nonlinear and proportional to the swell steepness, and dissipation due to wave breaking is non-zero only when a non-dimensional spectrum exceeds the threshold at which waves are observed to start breaking. An additional source of short wave dissipation due to long wave breaking is introduced to represent the dissipation of short waves due to longer breaking waves. Several degrees of freedom are introduced in the wave breaking and the wind-wave generation term of Janssen (J. Phys. Oceanogr. 1991). These parameterizations are combined and calibrated with the Discrete Interaction Approximation of Hasselmann et al. (J. Phys. Oceangr. 1985) for the nonlinear interactions. Parameters are adjusted to reproduce observed shapes of directional wave spectra, and the variability of spectral moments with wind speed and wave height. The wave energy balance is verified in a wide range of conditions and scales, from gentle swells to major hurricanes, from the global ocean to coastal settings. Wave height, peak and mean periods, and spectral data are validated using in situ and remote sensing data. Some systematic defects are still present, but the parameterizations yield the best overall results to date. Perspectives for further improvement are also given.Comment: revised version for Journal of Physical Oceanograph

SEASTAR: a mission to study ocean submesoscale dynamics and small-scale atmosphere-ocean processes in coastal, shelf and polar seas

High-resolution satellite images of ocean color and sea surface temperature reveal an abundance of ocean fronts, vortices and filaments at scales below 10 km but measurements of ocean surface dynamics at these scales are rare. There is increasing recognition of the role played by small scale ocean processes in ocean-atmosphere coupling, upper-ocean mixing and ocean vertical transports, with advanced numerical models and in situ observations highlighting fundamental changes in dynamics when scales reach 1 km. Numerous scientific publications highlight the global impact of small oceanic scales on marine ecosystems, operational forecasts and long-term climate projections through strong ageostrophic circulations, large vertical ocean velocities and mixed layer re-stratification. Small-scale processes particularly dominate in coastal, shelf and polar seas where they mediate important exchanges between land, ocean, atmosphere and the cryosphere, e.g., freshwater, pollutants. As numerical models continue to evolve toward finer spatial resolution and increasingly complex coupled atmosphere-wave-ice-ocean systems, modern observing capability lags behind, unable to deliver the high-resolution synoptic measurements of total currents, wind vectors and waves needed to advance understanding, develop better parameterizations and improve model validations, forecasts and projections. SEASTAR is a satellite mission concept that proposes to directly address this critical observational gap with synoptic two-dimensional imaging of total ocean surface current vectors and wind vectors at 1 km resolution and coincident directional wave spectra. Based on major recent advances in squinted along-track Synthetic Aperture Radar interferometry, SEASTAR is an innovative, mature concept with unique demonstrated capabilities, seeking to proceed toward spaceborne implementation within Europe and beyond

Altimetry for the future: Building on 25 years of progress

In 2018 we celebrated 25 years of development of radar altimetry, and the progress achieved by this methodology in the fields of global and coastal oceanography, hydrology, geodesy and cryospheric sciences. Many symbolic major events have celebrated these developments, e.g., in Venice, Italy, the 15th (2006) and 20th (2012) years of progress and more recently, in 2018, in Ponta Delgada, Portugal, 25 Years of Progress in Radar Altimetry. On this latter occasion it was decided to collect contributions of scientists, engineers and managers involved in the worldwide altimetry community to depict the state of altimetry and propose recommendations for the altimetry of the future. This paper summarizes contributions and recommendations that were collected and provides guidance for future mission design, research activities, and sustainable operational radar altimetry data exploitation. Recommendations provided are fundamental for optimizing further scientific and operational advances of oceanographic observations by altimetry, including requirements for spatial and temporal resolution of altimetric measurements, their accuracy and continuity. There are also new challenges and new openings mentioned in the paper that are particularly crucial for observations at higher latitudes, for coastal oceanography, for cryospheric studies and for hydrology. The paper starts with a general introduction followed by a section on Earth System Science including Ocean Dynamics, Sea Level, the Coastal Ocean, Hydrology, the Cryosphere and Polar Oceans and the ‘‘Green” Ocean, extending the frontier from biogeochemistry to marine ecology. Applications are described in a subsequent section, which covers Operational Oceanography, Weather, Hurricane Wave and Wind Forecasting, Climate projection. Instruments’ development and satellite missions’ evolutions are described in a fourth section. A fifth section covers the key observations that altimeters provide and their potential complements, from other Earth observation measurements to in situ data. Section 6 identifies the data and methods and provides some accuracy and resolution requirements for the wet tropospheric correction, the orbit and other geodetic requirements, the Mean Sea Surface, Geoid and Mean Dynamic Topography, Calibration and Validation, data accuracy, data access and handling (including the DUACS system). Section 7 brings a transversal view on scales, integration, artificial intelligence, and capacity building (education and training). Section 8 reviews the programmatic issues followed by a conclusion

Altimetry for the future: building on 25 years of progress

In 2018 we celebrated 25 years of development of radar altimetry, and the progress achieved by this methodology in the fields of global and coastal oceanography, hydrology, geodesy and cryospheric sciences. Many symbolic major events have celebrated these developments, e.g., in Venice, Italy, the 15th (2006) and 20th (2012) years of progress and more recently, in 2018, in Ponta Delgada, Portugal, 25 Years of Progress in Radar Altimetry. On this latter occasion it was decided to collect contributions of scientists, engineers and managers involved in the worldwide altimetry community to depict the state of altimetry and propose recommendations for the altimetry of the future. This paper summarizes contributions and recommendations that were collected and provides guidance for future mission design, research activities, and sustainable operational radar altimetry data exploitation. Recommendations provided are fundamental for optimizing further scientific and operational advances of oceanographic observations by altimetry, including requirements for spatial and temporal resolution of altimetric measurements, their accuracy and continuity. There are also new challenges and new openings mentioned in the paper that are particularly crucial for observations at higher latitudes, for coastal oceanography, for cryospheric studies and for hydrology. The paper starts with a general introduction followed by a section on Earth System Science including Ocean Dynamics, Sea Level, the Coastal Ocean, Hydrology, the Cryosphere and Polar Oceans and the “Green” Ocean, extending the frontier from biogeochemistry to marine ecology. Applications are described in a subsequent section, which covers Operational Oceanography, Weather, Hurricane Wave and Wind Forecasting, Climate projection. Instruments’ development and satellite missions’ evolutions are described in a fourth section. A fifth section covers the key observations that altimeters provide and their potential complements, from other Earth observation measurements to in situ data. Section 6 identifies the data and methods and provides some accuracy and resolution requirements for the wet tropospheric correction, the orbit and other geodetic requirements, the Mean Sea Surface, Geoid and Mean Dynamic Topography, Calibration and Validation, data accuracy, data access and handling (including the DUACS system). Section 7 brings a transversal view on scales, integration, artificial intelligence, and capacity building (education and training). Section 8 reviews the programmatic issues followed by a conclusion

The role of satellite directional wave spectra for the improvement of the ocean-waves coupling

International audienceSwell waves are well captured by the Synthetic Aperture Radar (SAR) which provides the directional wave spectra for waves roughly larger than 200 m. Since the launch of sentinel-1A and 1B SAR directional wave spectra are available to improve the swell wave forecasting and the coupling processes at the air-sea interface. Moreover next year CFOSAT mission will provide directional wave spectra for waves with wavelengths comprised between 70 to 500 m. This study aims to evaluate the assimilation of SAR and synthetic CFOSAT wave spectra on the coupling between the wave model MFWAM and the ocean model NEMO. Three coupling processes as described in Breivik et al. (2014) of Stokes-Coriolis forcing, the ocean side stress and the turbulence injected by the wave breaking in the ocean mixed layer have been used. a coupling run is performed with and without assimilation of directional wave spectra. the impact of SAR wave data on key parameters such as surface sea temperature, currents and salinity is investigated. Particular attention is carried out for ocean areas with swell dominant wave climate