Multi-AUV Control and Adaptive Sampling in Monterey Bay

Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project     

Analysis of a fast-spreading rise crest: The East Pacific Rise, 9° to 12° south

The axis of the East Pacific Rise is defined by a topographic block about 15 km wide and 300 to 350 m high which is flanked by abyssal hills 100 to 200 m high and 3 to 5 km wide. These hills often are tilted such that their steep slopes face the axis. An empirical model explaining these features combines axial extrusion to form the central block and rotational faulting to lower the shoulders of the axial block to the regional depth and tilt them outward.The axial block is offset about 10 km left-laterally at 10.0°S and a similar amount right-laterally at 11.5°S. Offsets (or lack of offsets) of young magnetic anomalies indicate that these axial displacements occurred between 1.7 and 0.9 m.y. ago and 0.7 m.y. ago and the present in the north and south. respectively. These small axial offsets are interpreted to be the result of either brief episodes of asymmetric see-floor spreading or discrete jumps in the site of spreading activity. Both axial shifts were to the west; a unidirectional sequence of such shifts occurring at the above rate of one per million years would be difficult to differentiate from true regional asymmetric spreading and might explain that phenomenon on other medium-to fast-spreading rises.Reconnaissance data from the east flank of the East Pacific Rise indicate that spreading activity began on that part of the rise between the 9°S and 13.5°S fracture zones approximately 8.2 m.y. ago when the site of crustal accretion jumped westward from the now dormant Galapagos Rise. Slope change in crust approximately 2 and 6 m.y. old imply faster spreading rates between about 6 and 2 m.y. ago than either before or after that time. Identification and correlation of anomaly 3 allows an estimate of about 90 mm/y for this higher east flank spreading rate. Since 1.7 m.y. ago spreading rates have averaged about 80 mm/y to the west and 77 mm/y to the east.     

Nocdap results: On the relationship of extreme waves and currents for design of offshore structures

Simultaneous wind, wave, and current data during 21 storms spanning four winters at Tromsøflaket (230 m depth) were analysed to determine joint probabilities of occurrence. Waves were measured with a Waverider Buoy, winds with a recording anemometer onboard a vessel and currents at up to five depths with Aandera RCM-4 current meters. Measured currents were filtered to separate tidal currents from residual currents. In most of the statistical analyses, the actual current profiles were replaced with a simplified “equivalent” profile (constant above 50 m depth) whose magnitude was chosen to give the same drag load on a single pile as the actual profile when both profiles were combined with wave orbital velocities. The data suggest that the equivalent current is weakly correlated with the wave height. Within the range of the data analysed, an in-line equivalent residual current of 30 cm sec⁻¹ is adequate for design drag force calculations.The data presented here are used to illustrate a procedure for data analysis and are not suitable for use as design criteria.     

Bioenhancement of cadmium transfer along a multi-level food chain

Previous studies have shown that metal partitioned to a subcellular compartment containing trophically available metal (TAM) is readily available to predators and may be enhanced by increased binding of metal to heat-stable proteins (HSP - e.g., metallothioneins). The aim of the current investigation was to determine the influence of TAM on the trophic transfer of Cd along an experimental, three-level food chain: Artemia franciscana (brine shrimp)-->Palaemonetes pugio (grass shrimp)-->Fundulus heteroclitus (mummichog). P. pugio were fed for 7 days on A. franciscana exposed to Cd in solution (including (109)Cd as radiotracer) and subjected to subcellular fractionation or fed to F. heteroclitus. An HSP-driven increase in the percentage of Cd associated with TAM (TAM-Cd%) in A. franciscana exposed to 1 muM Cd resulted in a bioenhancement (i.e., a greater than linear increase with respect to A. franciscana exposure) of Cd trophic transfer to P. pugio. Increased dietary Cd exposure did not affect TAM-Cd% in P. pugio nor trophic transfer to F. heteroclitus.     

GPS signal acquisition using the repeatability of successive code phase measurements

This paper introduces a new method for GPS signal acquisition, which is based on the repeatability of successive code phase measurements and the M-of-N search algorithm. The performance of the proposed method in terms of probability of signal detection is similar to that of traditional methods, except that the calculation of the probability of detection does not rely on the noise distribution or the Carrier-to-Noise ratio (C/N₀). The code phase repeatability-based method is presented along with equations for probability of detection and probability of false detection. If the distribution of the noise is known, it also provides an estimate of the C/N₀. The proposed method is illustrated for coherent and non-coherent acquisition and C/N₀ estimation.     

Application of environmental groundwater tracers at the Sulphur Bank Mercury Mine, California, USA

Boron, chloride, sulfate, δD, δ¹⁸O, and ³H concentrations in surface water and groundwater samples from the Sulphur Bank Mercury Mine (SBMM), California, USA were used to examine geochemical processes and provide constraints on evaporation and groundwater flow. SBMM is an abandoned sulfur and mercury mine with an underlying hydrothermal system, adjacent to Clear Lake, California. Results for non-³H tracers (i.e., boron, chloride, sulfate, δD, and δ¹⁸O) identify contributions from six water types at SBMM. Processes including evaporation, mixing, hydrothermal water input and possible isotopic exchange with hydrothermal gases are also discerned. Tritium data indicate that hydrothermal waters and other deep groundwaters are likely pre-bomb (before ~1952) in age while most other waters were recharged after ~1990. A boron-based steady-state reservoir model of the Herman Impoundment pit lake indicates that 71–79% of its input is from meteoric water with the remainder from hydrothermal contributions. Results for groundwater samples from six shallow wells over a 6–month period for δD and δ¹⁸O suggests that water from Herman Impoundment is diluted another 3% to more than 40% by infiltrating meteoric water, as it leaves the site. Results for this investigation show that environmental tracers are an effective tool to understand the SBMM hydrogeologic regime.

---

Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.

---

Résumé Les concentrations en bore, chlorure, sulfate, δD, δ¹⁸O, et ³H d’échantillons d’eaux de surface et souterraine prélevés dans le banc de soufre de la mine de mercure (SBMM en anglais) en Californie, USA, ont été utilisées pour étudier les processus géochimiques et pour fournir des contraintes à l’évaporation et à l’écoulement des eaux souterraines. La SBMM est une mine de soufre et de mercure abandonnée, adjacente au lac Clear en Californie et sous laquelle se trouve un système hydrothermal.Les résultats des traceurs autres que le tritium (bore, chlorure, sulfate, δD, et δ¹⁸O) ont permis d’identifier des contributions de six types d’eaux à SBMM. Des processus tels que l’évaporation, le mélange, l’entrée d’eau hydrothermale et de possibles échanges isotopiques avec des gaz hydrothermaux ont également été identifiés. Les données de tritium montrent que les eaux hydrothermales et d’autres eaux profondes sont probablement d’age antérieure à la bombe (avant ~1952), alors que la plupart des autres eaux sont issues de la recharge après ~1990. Un modèle de réservoir représentant le lac situé dans la partie Herman Impoundment de l’ancienne mine, en régime permanent et basé sur le bore, montre que 71–79% de l’eau provient des précipitations, le reste provenant de contributions hydrothermales. Les résultats de δD et δ¹⁸O pour des échantillons d’eau souterraine de six puits peu profonds sur une période de 6 mois suggèrent que l’eau de Hermann Impoundment est encore diluée entre 3% jusqu’à plus de 40% lorsqu’elle quitte le site du fait de l’infiltration d’eau météorique. Les résultats de cette étude montrent que les traceurs environnementaux constituent un outil efficace pour comprendre le régime hydrogéologique de la SBMM.

---

Resumen Se han utilizado datos de concentraciones de boro, cloruros, sulfatos, δD, δ¹⁸O, y ³H en muestras de aguas superficiales y subterráneas procedentes de la Mina de Mercurio Sulphur Bank (SBMM), California, USA, para estudiar los procesos geoquímicos y caracterizar la evaporación y el flujo del agua subterránea. SBMM es una mina abandonada de azufre y mercurio con un sistema hidrotermal subyacente, cercano al Lago Clear, California.Los resultados de los trazadores que no son ³H (por ejemplo, boro, cloruros, sulfatos δD, y δ¹⁸O) identifican las contribuciones de seis tipos de agua en la SBMM. Se han identificado diversos procesos, como evaporación, mezcla, entrada de agua hidrotermal y la posibilidad de intercambios isotópicos con gases hidrotermales. Los datos de tritio indican que las aguas hidrotermales y otras aguas subterráneas profundas son probablemente pre-bombas (previas a ~1952) en edad mientras que la mayoría de las otras aguas se han recargado después de ~1990. Un modelo estacionario basado en el boro de la fosa del lago Herman Impoundment indica que el 71–79% de su entrada procede de agua meteórica con restos de contribución hidrotermal. Los resultados para las muestras de aguas subterráneas procedentes de seis pozos superficiales en un periodo de 6 meses para δD y δ¹⁸O sugieren que el agua procedente de Herman Impoundment se diluye en otro 3% hasta más del 40% debido a la infiltración de agua meteórica., que sale del sitio. Los resultados de esta investigación muestran que los trazadores ambientales son una herramienta efectiva para entender el régimen hidrogeológico de la SBMM.