A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot

Author Posting. © The Author(s), 2010. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 29 (2010): 67-83, doi:10.1007/s10514-010-9187-y.In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical inputs from submarine hot spring systems into the overlying ocean. The Woods Hole Oceanographic Institution's Autonomous Benthic Explorer (ABE) AUV has successfully localized previously undiscovered hydrothermal vent fields in several recent vent prospecting expeditions. These expeditions utilized the AUV for a three-stage, nested survey strategy approach (German et al., 2008). Each stage consists of a survey flown at successively deeper depths through easier to detect but spatially more constrained vent fluids. Ideally this sequence of surveys culminates in photographic evidence of the vent fields themselves. In this work we introduce a new adaptive strategy for an AUV's movement during the first, highest-altitude survey: the AUV initially moves along pre-designed tracklines but certain conditions can trigger an adaptive movement that is likely to acquire additional high value data for vent localization. The trigger threshold is changed during the mission, adapting the method to the different survey profiles the robot may find. The proposed algorithm is vetted on data from previous ABE missions and measures of efficiency presented

Clio: An Autonomous Vertical Sampling Vehicle for Global Ocean Biogeochemical Mapping

We report the design, sea trials, and scientific operation of a fast vertical profiling autonomous underwater vehicle, called Clio, designed to cost-effectively improve the understanding of marine microorganism ecosystem dynamics on a global scale by collecting high-volume filter samples autonomously, in contrast to conventional techniques that require a ship’s wire

Autonomous and remotely operated vehicle technology for hydrothermal vent discovery, exploration, and sampling

Author Posting. © Oceanography Society, 2007. This article is posted here by permission of Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 20, 1 (2007): 152-161.Autonomous and remotely operated underwater vehicles play complementary roles in the discovery, exploration, and detailed study of hydrothermal vents. Beginning with clues provided by towed or lowered instruments, autonomous underwater vehicles (AUVs) can localize and make preliminary photographic surveys of vent fields. In addition to finding and photographing such sites, AUVs excel at providing regional context through fine-scale bathymetric and magnetic field mapping. Remotely operated vehicles (ROVs) enable close-up inspection, photomosaicking, and tasks involving manipulation of samples and instruments. Increasingly, ROVs are used to conduct in situ seafloor experiments. ROVs can also be used for fine-scale bathymetric mapping with excellent results, although AUVs are usually more efficient in such tasks

Mid-ocean ridge exploration with an autonomous underwater vehicle

Author Posting. © Oceanography Society, 2007. This article is posted here by permission of Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 20, 4 (2007): 52-61.Human-occupied submersibles, towed vehicles, and tethered remotely operated vehicles (ROVs) have traditionally been used to study the deep seafloor. In recent years, however, autonomous underwater vehicles (AUVs) have begun to replace these other vehicles for mapping and survey missions. AUVs complement the capabilities of these pre-existing systems, offering superior mapping capabilities, improved logistics, and better utilization of the surface support vessel by allowing other tasks such as submersible operations, ROV work, CTD stations, or multibeam surveys to be performed while the AUV does its work. AUVs are particularly well suited to systematic preplanned surveys using sonars, in situ chemical sensors, and cameras in the rugged deep-sea terrain that has been the focus of numerous scientific expeditions (e.g., those to mid-ocean ridges and ocean margin settings). The Autonomous Benthic Explorer (ABE) is an example of an AUV that has been used for over 20 cruises sponsored by the National Science Foundation (NSF), the National Oceanic and Atmospheric Administration (NOAA) Office of Ocean Exploration (OE), and international and private sources. This paper summarizes NOAA OE-sponsored cruises made to date using ABE

Mid-water current aided localization for autonomous underwater vehicles

Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 40 (2016): 1207–1227, doi:10.1007/s10514-016-9547-3.Survey-class Autonomous Underwater Vehi- cles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid- water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Cur- rent Profiler (ADCP) mode of the DVL during descent, along with data from other sensors, the method dis- cussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Map- ping (SLAM) and on descents up to 3km deep with the Sentry AUV.This work is supported in part by NCRIS IMOS, the Australian Research Council (ARC), the New South Wales Government and the Woods Hole Oceanographic Institution.2017-02-1

Scientific challenges and present capabilities in underwater robotic vehicle design and navigation for oceanographic exploration under-ice.

This paper reviews the scientific motivation and challenges, development, and use of underwater robotic vehicles designed for use in ice-covered waters, with special attention paid to the navigation systems employed for under-ice deployments. Scientific needs for routine access under fixed and moving ice by underwater robotic vehicles are reviewed in the contexts of geology and geophysics, biology, sea ice and climate, ice shelves, and seafloor mapping. The challenges of under-ice vehicle design and navigation are summarized. The paper reviews all known under-ice robotic vehicles and their associated navigation systems, categorizing them by vehicle type (tethered, untethered, hybrid, and glider) and by the type of ice they were designed for (fixed glacial or sea ice and moving sea ice). © 2020 by the authors

Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method

Author Posting. © The Author(s), 2011. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Robotics and Autonomous Systems 59 (2011): 988–1000, doi:10.1016/j.robot.2011.06.007.In this paper we address the problem of autonomously localizing multiple gas/odor sources in an indoor environment without a strong airflow. To do this, a robot iteratively creates an occupancy grid map. The produced map shows the probability each discrete cell contains a source. Our approach is based on a recent adaptation [15] to traditional Bayesian occupancy grid mapping for chemical source localization problems. The approach is less sensitive, in the considered scenario, to the choice of the algorithm parameters. We present experimental results with a robot in an indoor uncontrolled corridor in the presence of different ejecting sources proving the method is able to build reliable maps quickly (5.5 minutes in a 6 m x 2.1 m area) and in real time

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

Detachment shear zone of the Atlantis Massif core complex, Mid-Atlantic Ridge, 30°N

Author Posting. © American Geophysical Union, 2006. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geochemistry Geophysics Geosystems 7 (2006): Q06016, doi:10.1029/2005GC001109.Near-bottom investigations of the cross section of the Atlantis Massif exposed in a major tectonic escarpment provide an unprecedented view of the internal structure of the footwall domain of this oceanic core complex. Integrated direct observations, sampling, photogeology, and imaging define a mylonitic, low-angle detachment shear zone (DSZ) along the crest of the massif. The shear zone may project beneath the nearby, corrugated upper surface of the massif. The DSZ and related structures are inferred to be responsible for the unroofing of upper mantle peridotites and lower crustal gabbroic rocks by extreme, localized tectonic extension during seafloor spreading over the past 2 m.y. The DSZ is characterized by strongly foliated to mylonitic serpentinites and talc-amphibole schists. It is about 100 m thick and can be traced continuously for at least 3 km in the tectonic transport direction. The DSZ foliation arches over the top of the massif in a convex-upward trajectory mimicking the morphology of the top of the massif. Kinematic indicators show consistent top-to-east (toward the MAR axis) tectonic transport directions. Foliated DSZ rocks grade structurally downward into more massive basement rocks that lack a pervasive outcrop-scale foliation. The DSZ and underlying basement rocks are cut by discrete, anastomosing, normal-slip, shear zones. Widely spaced, steeply dipping, normal faults cut all the older structures and localize serpentinization-driven hydrothermal outflow at the Lost City Hydrothermal Field. A thin (few meters) sequence of sedimentary breccias grading upward into pelagic limestones directly overlies the DSZ and may record a history of progressive rotation of the shear zone from a moderately dipping attitude into its present, gently dipping orientation during lateral spreading and uplift.This work was supported by NSF grants OCE-9712430 and 0136816 to Karson and Kelley and Swiss SNF grant 2100-068055 to Früh-Green

Localizing multiple gas/odor sources in an indoor environment using bayesian occupancy grid mapping

.Abstract- This paper addresses the problem of autonomous localization of multiple gas or odor sources in an indoor environment with no strong airflow. In our approach, a robot iteratively builds an occupancy grid map [1], [2] from successive measurements of odor concentration. The resulting map shows the probability of each discrete cell in the map containing an active plume source. Our method is based on a recent adaptation of Bayesian occupancy grid mapping (OGM) to the chemical plume source localization problem [3]. We present experimental results that demonstrate the utility of the approach. Index Terms — indoor monitoring, gas source localization, gas source mapping. A I