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     

How are large western hemisphere warm pools formed?

During the boreal summer the Western Hemisphere warm pool (WHWP) stretches from the eastern North Pacific to the tropical North Atlantic and is a key feature of the climate of the Americas and Africa. In the summers following nine El Niño events during 1950–2000, there have been five instances of extraordinarily large warm pools averaging about twice the climatological annual size. These large warm pools have induced a strengthened divergent circulation aloft and have been associated with rainfall anomalies throughout the western hemisphere tropics and subtropics and with more frequent hurricanes. However, following four other El Niño events large warm pools did not develop, such that the mere existence of El Niño during the boreal winter does not provide the basis for predicting an anomalously large warm pool the following summer.In this paper, we find consistency with the hypothesis that large warm pools result from an anomalous divergent circulation forced by sea surface temperature (SST) anomalies in the Pacific, the so-called atmospheric bridge. We also find significant explanations for why large warm pools do not always develop. If the El Niño event ends early in the eastern Pacific, the Pacific warm anomaly lacks the persistence needed to force the atmospheric bridge and the Atlantic portion of the warm pool remains normal. If SST anomalies in the eastern Pacific do not last much beyond February of the following year, then the eastern North Pacific portion of the warm pool remains normal. The overall strength of the Pacific El Niño does not appear to be a critical factor. We also find that when conditions favor a developing atmospheric bridge and the winter atmosphere over the North Atlantic conforms to a negative North Atlantic Oscillation (NAO) pattern (as in 1957–58 and 1968–69), the forcing is reinforced and the warm pool is stronger. On the other hand, if a positive NAO pattern develops the warm pool may remain normal even if other circumstances favor the atmospheric bridge, as in 1991–92. Finally, we could find little evidence that interactions internal to the tropical Atlantic are likely to mitigate for or against the formation of the largest warm pools, although they may affect smaller warm pool fluctuations or the warm pool persistence.     

Characterization of dissolved organic matter across the Subtropical Convergence off the South Island,New Zealand

Dissolved organic matter (DOM) was investigated along a gradient across the Subtropical Convergence (STC) off the South Island, New Zealand. Ultrahigh resolution electrospray ionization Fourier transform ion cyclotron resonance mass spectrometry (FT-ICR-MS), excitation emission matrix fluorescence (EEM) spectroscopy, and molecular lignin analysis techniques were used to study this DOM. The analysis revealed a group of compounds found only in the coastal DOM samples, which were also characterized by an elevated terrestrial DOM fluorescence pattern and elevated lignin content if compared to the offshore samples. This group exhibited a high degree of carbon unsaturation, as evident from high double bond equivalence minus oxygen values (DBE-O > 9) and maximum fluorescence intensity. Sulfur-containing molecular formulae for summer DOM samples were much more abundant across the entire transect of the STC compared to winter and exhibited distinctly different hydrogen:carbon and oxygen:carbon elemental ratios, suggesting a possible correlation between biological activity and sulfur compounds. The molecular formulae common to all STC samples were compared with those calculated for DOM extracted from freshwater collected from a stream discharging into Doubtful Sound (West Coast, New Zealand). ESI-FT-ICR-MS measurements undertaken in negative electrospray ionization (ESI?) mode indicated that 30% of the molecular formulae were present in both types of DOM, while in positive ESI mode (ESI+) over 90% of the formulae were present in all samples. Hence, a significant portion of the molecular formulae assigned to the solid-phase extractable DOM pool (SPE-DOM) appear to be identical in oceanic and freshwater samples.     

Hydrothermal Vent Geology and Biology at Earth’s Fastest Spreading Rates

Earth’s fastest present seafloor spreading occurs along the East Pacific Rise near 31°–32° S. Two of the major hydrothermal plume areas discovered during a 1998 multidisciplinary geophysical/hydrothermal investigation of these mid-ocean ridge axes were explored during a 1999 Alvin expedition. Both occur in recently eruptive areas where shallow collapse structures mark the neovolcanic axis. The 31° S vent area occurs in a broad linear zone of collapses and fractures coalescing into an axial summit trough. The 32° S vent area has been volcanically repaved by a more recent eruption, with non-linear collapses that have not yet coalesced. Both sites occur in highly inflated areas, near local inflation peaks, which is the best segment-scale predictor of hydrothermal activity at these superfast spreading rates (150 mm/yr).     

Autochthonous inheritance of zircon through Cretaceous partial melting of Carboniferous plutons: the Arthur River Complex,Fiordland, New Zealand

TIMS and SHRIMP U–Pb analyses of zircons from Milford Orthogneiss metadiorite (P = 1–1.4 GPa; T ≥ 750°C) of the Arthur River Complex of northern Fiordland reveal a bimodal age pattern. Zircons are predominantly either Paleozoic (357.0 ± 4.2 Ma) and prismatic with oscillatory zoning, or Cretaceous (133.9 ± 1.8 Ma) and ovoid with sector or patchy zoning. The younger age component is not observed overgrowing older grains. Most grains of both ages are overgrown by younger Cretaceous (~120 Ma) metamorphic zircon with very low U and Th/U (0.01). We interpret the bimodal ages as indicating initial igneous emplacement and crystallisation of a dioritic protolith pluton at ~357 Ma, followed by Early Cretaceous granulite-facies metamorphism at ~134 Ma, during which a significant fraction (~60%) of the zircon grains dissolved, and subsequently reprecipitated, effectively in situ, in partial melt pockets. The remaining ~40% of original Paleozoic grains were apparently not in contact with the partial melt, remained intact, and show only slight degrees of Pb loss. Sector zoning of the Cretaceous grains discounts their origin by solid state recrystallisation of Paleozoic grains. The alternative explanation—that the Paleozoic component represents a 40% inherited component in an Early Cretaceous transgressive dioritic magma—is considered less likely given the relatively high solubility of zircon in magma of this composition, the absence of 134 Ma overgrowths, the single discrete age of the older component, equivalent time-integrated ¹⁷⁷Hf/¹⁷⁶Hf compositions of both age groups, and the absence of the Cambrian-Proterozoic detrital zircon that dominates regional Cambro-Ordovician metasedimentary populations. Similar bimodal Carboniferous-Early Cretaceous age distributions are characteristic of the wider Arthur River Complex; 8 of 12 previously dated dioritic samples have a Paleozoic component averaging 51%. Furthermore, the age and chemical suite affinity of these and several more felsic rocks can be matched with those of the relatively unmetamorphosed Carboniferous plutonic terrane along the strike of the Mesozoic margin in southern Fiordland, also supporting the in situ derivation of the Carboniferous “inherited” component.     

Spatial and temporal variability in the lower food web of the tidal freshwater Hudson River

The mid Hudson River is a heterotrophic system where allochthonous inputs apparently fuel the largest proportion of secondary production and ecosystem metabolism. We have analyzed a 6-yr dataset collected quarterly at six stations spanning a 150-km reach to assess variability at inter- and intra-annual time scales and regional spatial scales. The major components of the lower food web: bacterial biomass, detrital particulate organic carbon (POC), and dissolved organic carbon (DOC), show surprisingly discordant patterns in temporal and spatial variability. Bacterial abundance shows significant variability at all three scales, but the interannual variability is by far the greatest. DOC concentrations showed greatest variability among years, with intra-annual and spatial variability roughly equal. Freshwater flow is commonly considered a major driving force in river-estuarine variability but simple discharge was not a strong predictor of any component of suspended matter or DOC. For organisms in the Hudson River food web, these multiple scales of variability indicate highly unpredictable food resources in time and space, and these fluctuations may contribute to the variability in higher trophic levels.     

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.     

Large sand waves on the Atlantic Outer Continental Shelf around Wilmington Canyon,off Eastern United States

New seismic-reflection data show that large sand waves near the head of Wilmington Canyon on the Atlantic Outer Continental Shelf have a spacing of 100–650 m and a relief of 2–9 m. The bedforms trend northwest and are asymmetrical, the steeper slopes being toward the south or west. Vibracore sediments indicate that the waves apparently have formed on a substrate of relict nearshore sediments. Although the age of the original bedforms is unknown, the asymmetry is consistent with the dominant westerly to southerly drift in this area which has been determined by other methods; the asymmetry, therefore, is probably modern. Observations in the sand-wave area from a submersible during August 1975, revealed weak bottom currents, sediment bioturbation, unrippled microtopography, and lack of scour. Thus, the asymmetry may be maintained by periodic water motion, possibly associated with storms or perhaps with flow in the canyon head.     

Limited differences among habitats in deep‐sea macro‐infaunal communities off New Zealand: implications for their vulnerability to anthropogenic disturbance

The spread of human activities into the deep sea may pose a high risk to benthic communities and affect ecosystem integrity. The deep sea is characterized by physical and biological heterogeneity and different habitat types are likely to differ in their vulnerability to anthropogenic impacts. However, across‐habitat comparisons are rare, and no comprehensive ecological risk assessment has yet been developed. To address this gap in our knowledge, we compared macro‐infaunal community structure in four habitats (slope, canyons, seamounts and methane seeps) at depths between 700 and 1500 m in the Hikurangi Margin and Bay of Plenty regions off New Zealand. The most striking contrast in community structure was between the two study regions, due to an order of magnitude difference in macro‐infaunal abundance that we believe was caused by differences in surface productivity and food availability at the sea bed. We found differences in structural and functional attributes of macro‐infaunal communities among some habitats in the Hikurangi Margin (slope, canyon and seep), but not in the Bay of Plenty. We posit that differences between canyon and slope communities on the Hikurangi Margin are due to enhanced food availability inside canyons compared with adjacent slope habitats. Seep communities were characterized by elevated abundance of both symbiont‐bearing and heterotrophic taxa, and were the most distinct, and variable, among the habitats that we considered on the Hikurangi Margin. Communities of seamounts were not distinct from slope or canyon communities on the Hikurangi Margin, probably reflecting similar environmental conditions in these habitats. The communities of deep‐sea canyon and seep habitats on the Hikurangi Margin were sufficiently dissimilar from each other and from slope habitats to warrant separate management consideration. By contrast, the low dissimilarity between communities of canyon and slope habitats in the Bay of Plenty suggests that habitat‐based management is not required in this region, for macro‐infauna at least. Although the two study regions share similar species pools, populations of the Hikurangi Margin region may be less vulnerable than the sparser populations of the Bay of Plenty due to the higher availability of potential colonizers and faster population growth. Thus regions, and habitats in some regions, should be subject to separate ecological risk assessment to help identify the key risks and consequences of human activities, and to inform options for reducing or mitigating impacts.