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     

Second-order moment advection scheme applied to Arctic Ocean simulation

We apply the second-order moment (SOM) advection scheme of (Prather, M.J. 1986. Numerical advection by conservation of second-order moments. J. Geophys. Res. 91, 6671–6681.) to the simulation of the large-scale circulation of the Arctic Ocean with a coupled ocean–sea-ice model. Compared to three other advection schemes commonly employed in ocean simulations (centred differences, flux corrected transport, and multidimensional positive definite advection transport), the SOM method helps preserve the vertical structure of Arctic water masses. The depth, thickness and hydrographic properties of the Arctic Surface Water and the Arctic Atlantic Layer are better represented with SOM than with any of the other three advection algorithms. We also present a convenient method for calculating the implicit numerical diffusivity of upstream based schemes, such as the SOM method, and discuss three approaches for improving the monotonicity properties of the SOM algorithm.     

Vertical distribution of the macrobenthic community and its relationships to trace metals and natural sediment characteristics in the lower Douro estuary, Portugal

Vertical distribution (0–15 cm) of the macrobenthic community and its relationships to natural sediment characteristics and trace metal contents and bioavailability were studied at five locations in the lower Douro estuary, Portugal. An analysis of vertical metal distribution, for the interpretation of anthropogenic impact on the estuarine sediments, was also investigated. Sediment characterisation included organic matter, grain size, metals (Al, Fe, Cu, Pb, Cr, Ni, Cd, Zn and Mn), acid volatile sulphide (AVS) and simultaneously extracted metals (SEM). The macrobenthic community had low diversity (14 species), was dominated by small size opportunists and seemed to be controlled mainly by natural factors such as grain size distribution, Al and Fe contents and sediment depth. The vertically heterogeneous distribution of macrobenthic community appears to affect redox status of the sediments and consequently metal bioavailability. Despite anthropogenic contamination in terms of Zn, Cu, Pb, Cr and Ni having already been detected in the north bank, the analysis of vertical distribution was essential for the identification of current anthropogenic contamination in terms of Zn, Pb and Cd in the south bank.     

Assessment of the impact of the planetary scale on the decay of blocking and the use of phase diagrams and enstrophy as a diagnostic

It was shown that abrupt changes in the large-scale structure of atmospheric flows may lead to the rapid decay of blocking. Analysis of phase diagrams made it possible to identify when sharp changes occurred in the dynamics of the system. The connection of these changes to the decay of blocking was estimated for three blocking events in the Southern Hemisphere. In addition to phase diagrams, enstrophy was used as a diagnostic tool for the analysis of blocking events. From the results of this analysis, four scenarios for the decay mechanisms were determined: (i) decay with a lack of synoptic-scale support, (ii) decay with an active role for synoptic processes, and (iii–iv) either of these mechanisms in the interaction with an abrupt change in the character of the planetary-scale flow.     

Method and results of assimilation of climatic data on temperature,salinity, and sea level into a numerical model of the Black Sea

A method for combined assimilation of climatic hydrologic fields of temperature, salinity, and the climatic dynamic level of the Black Sea into a model of sea dynamics is proposed. The monthly mean fields of the dynamic sea level were obtained from the results of assimilation of satellite altimetry data into the model. The statistical characteristics of errors in the forecasts of the level, salinity, and temperature were assumed to be proportional to the statistical characteristics of the differences between monthly mean climatic fields of temperature, salinity, and sea level calculated by means of assimilating altimetry observations of the sea level and analogous climatic hydrologic fields. The climatic fields of currents are reconstructed and analyzed. The assimilation of the climatic altimetry level allows the reproduction (in current fields) of quasi-stationary synoptic anticyclonic eddies located along the periphery of the Black Sea Rim Current.     

Structure and Quaternary tectonic history of the Woodlark triple junction region,Solomon Islands

The Woodlark triple junction region, a topographically and structurally complex triangular area of Quaternary age, lies east of Simbo Ridge and southwest of the New Georgia island group, Solomon Islands, at the junction of the Pacific, Australian and Solomon Sea plates. SeaMARC II side-scan imagery and bathymetry in conjunction with seismic reflection profiles, 3.5 kHz records, and petrologic, magnetic and gravity data show that the active Woodlark spreading centre does not extend into this region.South of the triple junction region, the Woodlark spreading centre reoriented at about 2 Ma into a series of short ESE-trending segments. These segments continued to spread until about 0.5 Ma, when the lithosphere on their northern sides was transferred from the Solomon Sea plate to the Australian plate. Simultaneously the Simbo transform propagated northwards along the western side of the transferred lithosphere, forming a trench-trench-transform triple junction located NNW of Simbo island and a new leaky plate boundary segment that built Simbo Ridge.As the Pacific plate approached, the area east of northern Simbo Ridge was tilted northwards, sheared by dominantly right-lateral faults, elevated, and intruded by arc-related magmas to form Ghizo Ridge. Calc-alkalic magmas sourced beneath the Pacific plate built three large strato-volcanic edifices on the subducting Australian plate: Simbo at the northern end of Simbo Ridge, and Kana Keoki and Coleman seamounts on an extensional fracture adjoining the SE end of Ghizo Ridge.A sediment drape, supplied in part from Simbo and Kana Keoki volcanoes, mantles the east-facing slopes of northern Simbo and Ghizo Ridges and passes distally into sediment ponded in the trench adjoining the Pacific plate. As a consequence of plate convergence, parts of the sediment drape and pond are presently being deformed, and faults are dismembering Kana Keoki and Coleman seamounts.The Woodlark system differs from other modern or Tertiary ridge subduction systems, which show wide variation in character and behaviour. Existing models describing the consequences of ridge subduction are likely to be predictive in only a general way, and deduced rules for the behaviour of oceanic lithosphere in ridge subduction systems may not be generally applicable.     

Evidence for sinistral strike-slip deformation in The Solomon Island arc

During the SOPACMAPS 2 crusie carried out by IFREMER (Institut Français de Recherche pour l'Exploitation de la Mer) and ORSTOM (Institut Français de Recherche Scientifique pour le dévelopement en Coopération) on theR/V L'Atalante, in the Central Solomon Arc area, multibeam bathymetric and imagery data and single-channel seismic reflection profiles were collected from an area of about 3500 km², to evaluate regional tectonics. Structural data geophysical profiles interpretation provide evidence for left-lateral transtensional tectonics on the southern edge of the Central Solomon Trough. This transtensional deformation is represented by faulting, block tilting, and rhombohedral deformation. The regional geology and the analysis of the sedimentary cover allow us to demonstrate that this tectonic occurred in two different phases during Oligocene to Miocene and Pliocene to Pleistocene times.     

Approximation of the estimate error covariance function: Verification of the accuracy and generalization for the case of cross-covariance functions

Generalization of the approximation for the autocovariance function of estimate error, used frequently in four-dimensional analysis of the ocean's hydrophysical fields, is suggested for cross-covariance functions. It is shown that the principal properties of the covariance function of error estimate are not then violated. Approximation accuracy is studied through numerical experimentation using the two-dimensional equation for passive admixture transport as an example.Translated by V. Puchkin.