南极罗斯海域AUV海洋调查试验

在介绍罗斯海海洋环境概况的基础上,分析了AUV在南极罗斯海海洋调查试验,利用AUV调查数据分析了试验海域0～60m水体的温度、盐度、溶解氧、水质浊度等特征。调查数据表明:试验海域温度向下缓慢较小,盐度向下逐渐增加,溶解氧呈3段结构,水质浊度较低,验证了南极AUV调查方式具有较强的应用价值,数据分析结果具有一定的科学意义。     

海底管道在位状态调查实践

根据调查设备搭载器的不同,将海底管道在位状态调查方法归为船载、自治水下机器人搭载(AUV 搭载)和无人遥控潜水器搭载(ROV搭载)三类;在浅水段采用船载调查,在深水段采用AUV搭载调查,在此基础上进行重点关注区域筛选,开展ROV调查,最后进行整体评价和分析对比,这种^“(船载/AUV)+ROV^”组合模式很好地实现了多种调查方法的优势互补。实际上,采用AUV搭载进行海底管道在位状态调查在国内业界尚属首次。调查所取得的管道位置、埋深、周边障碍物的分布以及管道人工处理情况等成果,为后期开展管道维护工作提供了重要的基础数据。此次成功实践可为以后从浅水到深水的管道在位状态调查提供经验和借鉴。     

Benthic geochemistry of manganese in the Bay of Biscay,and sediment mass accumulation rate

Manganese is a major redox reactive element of benthic metabolism. We have built a database of existing knowledge on the benthic geochemistry of Mn in the Bay of Biscay, in order to comprehensively assess the behaviour of Mn in a variety of environments during early diagenesis. The database contains vertical profiles of particulate and dissolved Mn species of 59 cores collected during 17 cruises between 1997 and 2006 at nine stations positioned between 140 and 4,800 m water depths. At all studied stations, Mn species follow the conventional distribution, where Mn(III,IV) species are enriched in the oxic layer, and dissolved Mn is present in the anoxic sediments. A minor part of Mn-oxides originates from sedimenting particles. The major part is of diagenetic origin, and derives from the oxidation of upward-diffusing dissolved Mn(II). Mn-oxide inventories are higher at the deeper stations than at the shallower ones. This difference cannot be attributed to different sources of sedimenting particles, but it must depend on sedimentation rate and diagenetic processes. At depth, dissolved Mn(II) concentrations are constant. This probably reflects equilibrium with an authigenic Mn(II) phase, which is the ultimate phase into which Mn is fossilized. The Mn content of deeper anoxic sediments is similarly low in all the cores studied, associated with corresponding trends of Mn content in sedimenting particles of the Bay of Biscay. Bioturbation, rather than redox oscillations, can convey Mn(III,IV) species downwards into the anoxic sediments where they are reduced, associated with a peak of dissolved Mn. Because dissolved Mn(II) is re-oxidized when it diffuses towards the oxic layer, the inventory of the diagenetic Mn(III,IV) phase remains at steady state, especially at stations where the oxic layer is thick. It then becomes possible to calculate the residence time of diagenetic Mn(III,IV) particles within the oxic layer, using the upward-directed flux of pore water Mn(II). By applying this residence time to the accumulation of sediments within the oxic layer, we obtain the sediment mass accumulation rate. The values calculated for the sediments of the Bay of Biscay fit well with accumulation rates obtained from radionuclides or sediment traps. The method has also been validated with data collected in other marine sedimentary environments. Electronic supplementary material  The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

深海路由勘察中深拖与AUV的技术对比

详细研究了深海路由勘察项目中使用的深拖作业系统、AUV作业系统和相关的作业技术难点，总结了测量级AUV的技术优势，并对国际深海测绘级AUV的现状进行分析。对比结果显示现代深海勘察设备科技含量大幅度提高，AUV将逐渐取代走航式深拖成为深海工程勘察的新方式。     

Impact of diatom growth on trace metal dynamics (Mn,Mo, V,U)

In order to examine the specific role of diatoms in cycling of the trace metals manganese (Mn), molybdenum (Mo), vanadium (V), and uranium (U) Thalassiosira rotula, Skeletonema marinoi, Chaetoceros decipiens, and Rhizosolenia setigera were grown in batch cultures axenically and inoculated with three different bacterial strains isolated from the North Sea. Algal and bacterial growth, concentrations of trace metals and dissolved organic carbon (DOC) were monitored over time and showed that Mn and V were removed from the dissolved phase whereas Mo and U were not. R. setigera and T. rotula exhibited lowest growth and lowest removal whereas S. marinoi grew best and removed highest fractions of Mn and V. The high potential of Mn removal by S. marinoi was also evident from its 7 × higher Mn/P elemental ratio relative to T. rotula. The presence of bacteria modified the timing of the growth of S. marinoi but not directly trace metal removal whereas bacteria enhanced trace metal removal in the cultures of T. rotula and C. decipiens. Modeling of phytoplankton growth, concentrations of Mn and DOC fraction in axenic T. rotula cultures indicated that processes of binding and desorption of Mn to excreted organic components are important to explain the varying proportions of dissolved Mn and thus must be considered as an active component in Mn cycling. The results show distinct differences in the potential of the diatoms in the removal of Mn and V and that bacteria can play an active role in this context. S. marinoi presumably is an important player in Mn and V dynamics in coastal marine systems.     

Megaplume bubble process visualization by 3D multibeam sonar mapping

MultiBeam echosounder data were collected during a surface-ship survey of the 22/4b well site in the North Sea in September 2011 using a Teledyne-Reson 7125. Modern multibeam echosounders are instrumental in providing detection and accurate localization of weak to strong bubble plumes. Two survey profiles effectively insonified the bubble plumes rising from the main crater at the well site, providing snapshot data of bubble plume processes. Additionally, three profiles insonified bubble plumes rising from, in, and to the south of a secondary crater, 1.2 km southeast of the main crater. Data processing included a simple algorithm that muted mislocated echoes from incomplete sidelobe suppression. The data processing produced a Cartesian volume of echo intensity from the water column and seabed.Plume geometry was analyzed to investigate a number of important large-scale plume processes, including plume bubble detrainment due to currents and stratification, downwelling flows, sea surface interaction, plume heterogeneity, and other fluid transport processes. The data showed strong upwelling flows, with bubble vertical motions generally much faster than currents. One important finding was that megaplumes create intrusions above the general thermocline, in part because their extensive upwelling flow lifts the thermocline locally. As a result, the intrusion layer deposits dissolved gases in the upper wave-mixed layer of the water column where it is not isolated from the atmosphere, unlike dissolved gases in the lower water column.The analysis shows that high fidelity multibeam echosounder data can provide a wealth of remote sensing information on bubble plume characteristics and processes, with important applications, including blowout monitoring and response, better understanding of megaplumes such as used in lake destratification, and improved characterization of natural seep emission processes.     

The distribution of Mn,Fe, Zn,Cd and Cu in Baltic seawater; a study on the basis of one anchor station

A total of 150 samples were collected at a 10-days' anchor station in the Bornholm basin (55° 31.1′N, 15° 32.1′E) and analyzed for dissolved (< 0.4 μm) and particulate trace metals. For dissolved Mn, large gradients have been found in the vertical distribution with minimum concentrations (< 0.2 μgl^?1) in the halocline zone and considerably higher values in the deep waters (up to 50 μgl^?1). Ultrafiltration studies indicate that dissolved Mn is probably present as Mn²⁺ in the oxygenated bottom layer. The primary production process was not evident in the particulate Mn profile; the suspended particulate material (SPM), however, shows a considerable enrichment with depth, apparently due to Mn-oxide precipitation.The distribution of dissolved Fe was rather homogeneous, with average concentrations throughout the water column between 0.86 and 1.1 μgl^?1, indicating that the oxidation of Fe²⁺ ions released from the sediments must already be complete in the very near oxidation boundary layer. Relatively high concentrations of particulate Fe were actually measured in the bottom layer, with the maximum mean of 11.2 μgl^?1 at 72 m. Similarly to Mn, the profile of particulate Fe does not reflect the SPM curve of the eutrophic layer. On average, about 70% of the total Fe in surface waters was found to be particulate.The average concentrations of dissolved Zn, Cd and Cu were found to be rather homogeneous in the water column but showed a relatively high variability with time. A simplified model on trace-metal uptake by phytoplankton indicates no significant change in dissolved metal concentrations during the period of investigation. On average, only 1.7% Zn, 3.3% Cd and 9.8% Cu of the total metal concentrations were found in particulate form. SPM analyses showed significant correlations of Zn, Cd and Cu with Fe, indicating that particulate iron is an important carrier for particulate trace metals in Baltic waters.     

Budgets of Mn,Cd and Cu in the macrotidal Gironde estuary (SW France)

The behavior and budget of Mn, Cd and Cu in the Gironde estuary were investigated through data from both the water column (WC) and sediment depth profiles. In the estuarine freshwater reaches, Mn and Cd removal from and Cu addition to the dissolved phase occurs with a magnitude equivalent to 10%, 30% and 25% of their respective annual fluvial gross dissolved input, respectively. In the saline estuary, diffusive benthic outflow is the main source of dissolved Mn (74% of the total gross dissolved input within the estuary) to the WC. In contrast, Cd (96%) and Cu (89%) are mainly released into the dissolved phase of the WC from fluvial, estuarine and dredging-related particles through complexation (Cd) and organic carbon mineralization (Cu). Anthropogenic activities (sediment dredging) induce pore water inputs, particulate sulfide oxidation and sediment resuspension, significantly contributing to the metal budget of the WC. The related amounts of metals released could be equivalent to 20–50% (Cd) and up to 70% (Cu) of their respective net dissolved addition. Mass balances suggest that a large part of the metals previously released into the dissolved phase from processes within the estuary are removed by suspended particles due to (co-)precipitation of Fe/Mn (oxy)hydroxides and scavenging on autochthonous organic matter. On an annual basis, the Gironde estuary acts as a net sink of dissolved Mn, removing 60% of the dissolved fluvial inputs, and as a net source of dissolved Cd and Cu, contributing ∼ 85% and 20–45% to the dissolved Cd and Cu fluxes to the ocean.     

Daily and inter-tidal variations of Fe,Mn and Hg in the water column of a contaminated salt marsh: Halophytes effect

It has been shown that salt marshes may function as efficient sinks for contaminants, namely for mercury. At the rhizo-sediment Hg may be associated with Mn and Fe oxyhydroxides, precipitated as sulphides or incorporated into organic matter. However, to our knowledge, in situ studies have not focused on the related processes at a daily or tidal cycle scales. Thus, the present work aims to study the effect of a common salt marsh halophyte in temperate latitudes (Sarcocornia perennis) on dissolved Fe, Mn and Hg concentrations in the water column. The in situ approach was carried out at a mercury-contaminated salt marsh and at the adjacent non-vegetated area (distance ≤ 4 m), covering two consecutive tidal cycles in order to include the photosynthetic active period and the night processes. During high tide no daily or spatial effects were observed on the concentrations of Mn, Fe and Hg in the water column, due to the dilution effect of the incoming seawater. During low tide the concentrations of Mn, Fe and Hg were significantly higher in the overlaying water column of the salt marsh. At S. perennis mats the concentration of dissolved total Hg was significantly related with the concentration of Mn (r = 0.459, p = 0.028, n = 23), but not with that of Fe (r = 0.367, p = 0.085, n = 23) while no significant relations were found at the adjacent non-vegetated sediments.     

Trends of trace metal (Mn, Fe, Co, Ni, Cu, Zn, Cd and Pb) distributions at the oxic-anoxic interface and in sulfidic water of the Drammensfjord

Anoxic sulfidic waters provide important media for studying the effect of reducing conditions on the cycling of trace metals. In 1987–1988, dissolved and particulate trace metal (Mn, Fe, Co, Ni, Cu, Zn, Cd and Pb) concentrations were determined in the water column of the anoxic Drammensfjord basins, southeastern Norway. The iminodiacetic acid type chelating resin (Chelex 100) was used for the preconcentration of trace metals. The trace metal concentrations were determined using atomic absorption spectrophotometry (AAS), differential pulse polarography (DPP), and differential pulse-anodic stripping voltammetry (DP-ASV).It was observed that the trace metals Mn and Fe were actively involved in the processes of redox cycling (oxidationreduction and precipitation-dissolution) at the O₂/H₂S interface. The dissolved concentrations of Mn, Fe and Co showed maxima just below the O₂/H₂S interface. The seasonal enhancement in the maxima of both dissolved and particulate Mn and Fe at the redox cline is mainly governed by the downward movement of water which carries oxygen. An association of Co with the Mn cycle was observed, while the total dissolved Ni was decreased by only 10–35% in the anoxic waters. The dissolved concentrations of Cu, Zn, Pb and, to a lesser extent, Cd decreased in the anoxic zone.     

Investigation of the vectored thruster AUVs based on 3SPS-S parallel manipulator

As an extremely significant tool, autonomous underwater vehicles (AUVs) obtain corresponding development which is widely used in the oceanographic survey, military applications and ocean investigation. However, it is rather hard to fulfill missions about ocean exploration in suspended status or at slow speeds for traditional AUVs, due to the effect of the control surfaces trends to decline or even invalid completely in this condition. To overcome the limitation mentioned above, a torpedo-shaped AUV with vectored thrust ducted propeller is presented in this paper, in which the vector thruster is designed based on a 3SPS-S parallel manipulator. The 3SPS-S parallel manipulator, which has merits of compact structure, high reliability, high precision and fast response, is employed for thrust vectoring control mechanism. Additionally, the kinematics and dynamics model of the thrust-vectoring mechanism is constructed, and the MATLAB simulation results show the designed vectored thruster have great application superiority and potential for AUV. Finally, a control scheme of the vectored thruster is designed after considering the case study. The main idea of this paper lies in describing a novel design of the vectored thruster AUV based on 3SPS-S parallel manipulator, which can complete the mission at zero or slow forward speeds.     

The behavior of Al,Mn, Ba,Sr, REE and Th isotopes during in vitro degradation of large marine particles

The extent and the time constant of dissolution of a set of inorganic tracers during the decomposition of large marine particles are estimated through in vitro experiments. Large marine particles were collected with in situ pumps at 30 m and 200 m in the Ligurian Sea at the end of summer. They were subsequently incubated under laboratory conditions with their own bacterial assemblage for 20 days in batches under oxic conditions in the dark. Some samples were initially sterilized in order to observe possible differences between biotic and abiotic samples. Particulate (>0.2 μm) and dissolved (<0.2 μm) concentrations of Al, Sr, Ba, Mn, Rare Earth Elements (REE) and Th isotopes were determined over time. We obtain percentages of dissolution in agreement with the general knowledge about the solubility of these tracers: Th≈Al<Heavy REE<Light REE<Mn<Ba<Sr. For Mn and Ce, precipitation/adsorption occurs at the end of the experiment probably due to their oxidation as insoluble oxides. Particulate residence time of the tracers ranged from less than 1 day to 10–14 days. During the experiment, biological activity has a control on the dissolution process through the remineralization of particulate organic carbon. In the 30 m experiment, the observed dissolution of aragonite indicates that the pH of the incubation solution significantly decreases in response to the CO₂ respiration. Speciation calculations suggest that this pH shift leads to a decrease of the complexation of dissolved REE by carbonate ions. Th isotope data are consistent with an irreversible dissolution of Th and they do not support a rapid particle–solution chemical equilibrium.     

Rare earth elements in seawater during an iron-induced phytoplankton bloom of the western subarctic Pacific (SEEDS-II)

During an iron-enrichment experiment in the western subarctic Pacific (SEEDS-II), concentrations of dissolved and acid-soluble rare earth elements (REEs) were determined in shallow waters. Detailed vertical profiles of dissolved REEs were compared with those of nutrients in a preliminary survey. The results showed good correlation, except for Ce and Y. Along with phytoplankton growth within the iron-enriched patch, dissolved REEs were decreased in surface waters. The changes in REE concentrations were small but systematic: light REEs were adsorbed preferentially over heavy REEs. This systematic trend is consistent with results of earlier studies of REE adsorption onto biogenic particle surfaces. However, we were unable to detect a decrease of acid-soluble REEs in surface waters. During the phytoplankton bloom decline phase, dissolved REEs were elevated to concentration levels at the preliminary survey, although nutrients were decreased. The liberation of REEs from the suspended particles might be related to disaggregation from large particles to colloid particles, desorption from the particulate phase, and remineralization from organic matter. Outside the Fe-patch, time variations of REEs were also observed during SEEDS-II, indicating that both artificially induced phytoplankton blooms and natural variation of biogenic particles can affect the biogeochemical cycles of REEs in shallow waters within a short time.     

基于DIDSON的未知海域覆盖规划算法

针对自主水下机器人的路径规划问题,提出一种基于双频识别侧扫声呐(DIDSON)的全局路径规划算法。根据双频识别侧扫声呐的物理特性对AUV进行数学建模,根据声呐的工作频率不同,将AUV分为高频、低频两种工作模式。高频模式下成像精度高,低频模式下成像范围大。文中提出了一种D2-CPP算法,根据声呐返回的识别结果,算法会自主切换AUV的工作模式,并动态规划出对应的路径点,直到覆盖所有区域。通过与割草机算法的仿真对比,证明了算法的有效性,近海实验证明了算法的可靠性。     

一种基于超短基线定位的便携式AUV回坞导航方法

自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。     

The influence of shelf processes in delivering dissolved iron to the HNLC waters of the Drake Passage,Antarctica

Dissolved trace element distributions near Elephant Island in the Drake Passage show extremely high levels of dissolved Fe and Mn in waters above the shelf. The entrainment of this enriched shelf water by the Fe-poor Antarctic Circumpolar Current (ACC) as it passes through the Shackleton Gap delivers an estimated 2.8×10⁶ mol yr⁻¹ dissolved Fe to the offshore waters of the Drake Passage. The magnitude and spatial distribution of dissolved Fe, Mn and Al over the shelf are consistent with a diagenetically produced sedimentary source, but are inconsistent with eolian or upwelling sources. The systematics of the Mn and Fe concentrations suggest that there are two distinct sources of dissolved Fe to the surface waters of this region. The highest Fe concentrations are associated with Bransfield Strait water, which can be identified by its characteristic temperature and salinity (T/S) properties both inside the Bransfield Strait and in the Bransfield Current outflow between Elephant and Clarence Islands. Most of the shelf area is dominated by a second water type with T/S properties that are typical of modified Antarctic Surface Water, which while also enriched has a lower Fe:Mn ratio.The predominantly linear relationships between the Fe and Mn concentrations at the stations in each of these water mass types suggest that the distribution of these elements is largely controlled by physical mixing processes and that biological removal of Fe on the shelf, while certainly occurring, is limited, perhaps as a result of rapid physical flushing processes and relatively slow biological growth rates. The consequent export of large quantities of this shelf-derived Fe into the ACC is likely responsible for the extensive regions of enhanced primary production seen in satellite imagery downstream of the Drake Passage.     

Updated bathymetric survey of Kick-'em-Jenny submarine volcano

High-resolution bathymetric data obtained in July 1996 during a survey of the Kick-'em-Jenny submarine volcano north of Grenada in the Lesser Antilles revealed changes in the structure of the volcanic edifice compared to previously available surveys. The volcano's summit, at 178 m below sea level, was found to be approximately 18 m farther from the surface than was reported by Bouysse et al. (1988) and others. No dome was observed. Instead, an open crater, surrounded by walls that dropped significantly in elevation from one side to the opposite, suggest that eruptions, earthquakes, rockfalls or explosions may have altered the structure since the last detailed survey. The deepest contour of the volcano's crater was found 106 m below the summit.     

Sources and fate of manganese in a tidal basin of the German Wadden Sea

Dissolved and particulate Mn concentrations were investigated on a seasonal scale in surface waters of the NW German Wadden Sea (Spiekeroog Island) in 2002 and 2003. As the Wadden Sea forms the transition zone between the terrestrial and marine realms, Mn was analysed in coastal freshwater tributaries and in the adjoining German Bight as well. Additionally, sediments and porewaters of the tidal flat sediments were analysed for Mn partitioning and microbial activity.Dissolved Mn concentrations show strong tidal and seasonal variation with elevated concentrations during summer at low tide. Summer values in the Wadden Sea (av. 0.7 μM) are distinctly higher than in the central areas of the German Bight (av. 0.02 μM), suggesting a possible impact of the Wadden Sea environment on the Mn budget of the North Sea. Seasonality is also observed for particulate Mn in the Wadden Sea (winter av. 800 mg kg^− 1; summer av. 1360 mg kg^− 1). Although particles are relatively Mn-poor during winter, the high SPM load during this season causes elevated excess concentrations of particulate Mn, which in part exceed those of the dissolved phase. Therefore, winter values cannot be ignored in balance calculations for the Wadden Sea system.Porewater Mn concentrations differ depending on sediment type and season. Maximum concentrations are found in surface sediments at a mixed flat site (190 μM) during summer, while winter values are distinctly lower. This indicates that enhanced microbial activity owing to higher temperature during summer leads to increased reduction of Mn-oxides in surface sediments and enhances the corresponding diffusive and advective Mn flux across the sediment-water interface. Draining of Mn-rich porewaters from sediments is also documented by analyses of tidal creek waters, which are highly enriched in Mn during summer.Furthermore, an important Mn source is freshwater discharged into the Wadden Sea via a flood-gate. The concentration of dissolved Mn in freshwater was highly variable during the sampling campaigns in 2002 and 2003, averaging 4 μM. In contrast, particulate Mn displayed a seasonal behaviour with increasing contents during summer. On the basis of salinity variations in the Wadden Sea, the total amount of Mn contributed to the Wadden Sea via freshwater was estimated. This balance shows the importance of the freshwater environment for the Mn inventory of the Wadden Sea. During winter the total Mn inventory of the Wadden Sea water column may be explained almost completely by freshwater discharge, whereas in summer the porewater system forms the dominating source.     

海底可视技术在大洋科考中的应用和发展趋势

海底可视技术是一种直观地进行海底调查的手段,在大洋科考调查中发挥着重要的作用。文中介绍了海底摄像、电视抓斗和无人缆控潜水器(ROV)等海底可视设备在大洋科考中的应用情况,并提出了自治水下机器人(AUV)在大洋科考中的应用趋势。     

The Morpheus ultramodular autonomous underwater vehicle

The Advanced Marine Systems Lab at Florida Atlantic University has developed a new ultramodular plastic mini autonomous underwater vehicle (AUV), called the Morpheus, for littoral military and coastal oceanographic sampling, survey, and mapping. The name Morpheus was chosen because the Greek god Morpheus could change shape or "morph." The higher degree of modularity of the Morpheus AUV allows it to "morph" or change its size and components for different applications. This vehicle is composed of modular injection-molded plastic pressure vessels and a cabling system that allow the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass-producible, extremely corrosion-resistant, and have low magnetic signatures. The pressure vessels are small but are sized to fit most standard electronic board standards. The mini AUV can be anywhere from 4 to 10 ft in length, depending on its mission. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and uses an ANSI 709.1 (LonTalk) distributed control network for connecting all sensors and actuator subsystems as smart nodes. The modularity in containers, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. This paper will present details of the motivation, design, and construction of the new mini AUV. The Morpheus was deployed during the summer of 2000 in field exercises for very shallow and shallow water mine counter measures. Some results from these tests will be presented