Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

Determination of phospholipid fatty acid structures and stable carbon isotope compositions of deep-sea sediments of the Northwest Pacific, ODP site 1179

Sediment samples ranging from 0.05 to 278 m below sea floor (mbsf) at a Northwest Pacific deep-water (5564 mbsl) site (ODP Leg 191, Site 1179) were analyzed for phospholipid fatty acids (PLFAs). Total PLFA concentrations decreased by a factor of three over the first meter of sediment and then decreased at a slower rate to approximately 30 mbsf. The sharp decrease over the first meter corresponds to the depth of nitrate and Mn(IV) reduction as indicated by pore water chemistry. PLFA-based cell numbers at site 1179 had a similar depth profile as that for Acridine orange direct cell counts previously made on ODP site 1149 sediments which have a similar water depth and lithology. The mole percentage of straight chain saturated PLFAs increases with depth, with a large shift between the 0.95 and 3.95 mbsf samples. PLFA stable carbon isotope ratios were determined for sediments from 0.05 to 4.53 mbsf and showed a general trend toward more depleted δ¹³C values with depth. Both of these observations may indicate a shift in the bacterial community with depth across the different redox zones inferred from pore water chemistry data. The PLFA 10me16:0, which has been attributed to the bacterial genera Desulfobacter in many marine sediments, showed the greatest isotopic depletion, decreasing from − 20 to − 35‰ over the first meter of sediment. Pore water chemistry suggested that sulfate reduction was absent or minimal over this same sediment interval. However, 10me16:0 has been shown to be produced by recently discovered anaerobic ammonium oxidizing (anammox) bacteria which are known chemoautotrophs. The increasing depletion in δ¹³C of 10me16:0 with the unusually lower concentration of ammonium and linear decrease of nitrate concentration is consistent with a scenario of anammox bacteria mediating the oxidation of ammonium via nitrite, an intermediate of nitrate reduction.     

Thermodynamic characterization of the partitioning of iron between soluble and colloidal species in the Atlantic Ocean

Recent electrochemical measurements have shown that iron (Fe) speciation in seawater is dominated by complexation with strong organic ligands throughout the water column and have provided important thermodynamic information about these compounds. Independent work has shown that iron exists in both soluble and colloidal fractions in the Atlantic Ocean. Here we have combined these approaches in samples collected from a variety of regimes within the Atlantic Ocean. We measured the partitioning of Fe between soluble (< 0.02 μm) and colloidal (0.02 to 0.4 μm) size classes and characterized the concentrations and conditional stability constants of Fe ligands within these size classes. Results suggest that equilibrium partitioning of Fe between soluble and colloidal ligands is partially responsible for the distribution of Fe between soluble and colloidal size classes. However, a significant fraction of the colloidal Fe was inert to ligand exchange as soluble Fe concentrations were generally lower than values predicted by a simple equilibrium partitioning model.In surface waters, strong ligands with conditional stability constants of 10¹³ relative to total inorganic Fe appeared to dominate speciation in both the soluble and colloidal fractions. In deep waters these ligands were absent, and instead we found ligands with stability constants 12–15 fold smaller that were predominantly in the soluble pool. Nevertheless, significant levels of colloidal Fe were found in these samples, which we inferred must be inert to coordination exchange.     

Characterisation and preliminary quantification of the methane reservoir in a coastal sedimentary source: San Simón Bay,Ría de Vigo,NW Spain

Ría de Vigo is a river valley flooded by the sea, with a bay (San Simón Bay) at its innermost part. The accumulation of Holocene sediment in San Simón Bay has been studied by the integration of 1) large scale high resolution seismic data, and 2) detailed geochemical analysis of a gravity core. In San Simón Bay the majority of the seismic records are obscured by acoustic turbidity which represents gassy sediments, but on records from Rande Strait it is possible to distinguish two Quaternary seismic sequences; an Upper Pleistocene sequence (SQ1) and a Holocene sequence (SQ2). Only SQ2 is recognized in San Simón Bay where it is comprised of two seismic units; the upper unit represents the HST sediment, i.e. the period of highest sea level. A gravity core taken within the gassy zone at 10 m water depth provided 3.55 m of fine-grained sediments (muds) from the youngest seismic unit (4 m thick). Geochemical analysis show high values (4 to 10%) of TOC. Sediment and porewater analyses indicate a distinct sulphate–methane transition zone (SMTZ) between 60 and 80 cm where sulphate is depleted (to <1.7 mM) and methane increases (to >0.4 mM). The top of the acoustic turbidity (the gas front) at 80 cm corresponds to the lower limit of the SMTZ. The methane cannot have been derived from the underlying metamorphic and granitic rocks, but was probably derived by microbial degradation of the organic matter in the Holocene sediments. We estimate that the sediments of the Bay contain approximately 1.8 × 10⁶ m³ of organic carbon and 275 ton of methane.     

Key challenges for maritime governance in West Africa: Fishery-based lessons from Guinea and Mauritania

Maritime governance stakes are important in West Africa, if only due to the dominant role of fisheries, which coastal populations mainly depend on. In this context, with reference to the fishery sector mostly studied in two countries (Guinea and Mauritania), this paper aims to identify and synthesize the challenges to be met towards developing the governance of marine spaces. To this end, the analysis is based on field knowledge, which provides input into a grid set according to the various integration levels of the concept of ICZM. This paper thus reports the major methodological obstacles to be overcome, commensurate to the stakes insofar as marine policies can and must contribute to the economic and social development of this region.     

Assessment of dissolved nutrients dispersal derived from offshore fish-farm using nitrogen stable isotope ratios (δ15N) in macroalgal bioassays

In this study, the dispersal of wastes from offshore fish farms was evaluated by analyzing nitrogen stable isotope ratios (δ¹⁵N) in macroalgae incubated in the water column at sites located at an increasing distance from the fish cages. Bioassays were performed at three fish farms situated in separate localities with different nutritional conditions (Canary Islands, Murcia and Catalonia) and varying in size, species of fish reared and annual production. Macroalgal bioassays were carried out in two different directions (DI and DII) and they were replicated at each distance in order to evaluate the effect of small-scale variability on the spatial extent of fish farm wastes. The results obtained with δ¹⁵N contribute to a better understanding of the application of nitrogen stable isotopes ratios in macroalgae as an effective bioindicator for tracing the dispersion of offshore fish farm wastes, and demonstrate that fish farm wastes can be traced even over distances of some km from the pollution source. In the Canary Islands, the maximum distance obtained for detection of fish farm wastes was between 450 and 700 m. Of the three installations studied, Murcia presented the greatest distance for detection of fish farm waste influence, ranging from between 1550 and 2450 m, whilst in Catalonia this distance was less than 120 m. In Catalonia, the results were masked by the influence of other sources of nitrogen, and thus fish farm wastes were detected at more reduced distances than expected. These results confirm that fish farm wastes can be traced using the nitrogen stable isotope ratios of macroalgae and that this method can also be useful for identifying areas of potential risk to some sensitive ecosystems, and as an early signal that changes in the community structure might occur.     

A gridded sea surface salinity data set for the tropical Pacific with sample applications (1950–2008)

We present a gridded data set of Sea Surface Salinity (SSS) for the tropical Pacific (120°E–70°W; 30°N–30°S), with a grid resolution of 1° longitude, 1° latitude and 1 month, from 1950 to 2008. The product, together with its associated error field, is derived from an objective analysis of about 10 million validated SSS records, with most of the data originating from Voluntary Observing Ships, TAO/TRITON moorings and Argo profilers (during the most recent period). We expect this product to benefit studies in oceanography, meteorology and paleoceanography. As examples of applications, we analyse: (a) the seasonal and ENSO (El Niño Southern Oscillation) modes of observed SSS variability, (b) the ability of 23 coupled models used in the Intergovernmental Panel for Climate Change 4th Assessment Report (IPCC AR4) to simulate the mean SSS and these two time varying modes, and (c) the usefulness of the SSS product and of its associated error field in calibrating and validating the paleo-salinity time series. We anticipate improvements and regular updates to our product, as more SSS data become available from in situ networks and from the ongoing and near-future satellite-derived observations by SMOS (Soil Moisture and Ocean Salinity) and Aquarius.     

Long-term (1998–2007) trends on the spatial distribution of heterotrophic ciliates in the East China Sea in summer: effect of the Three Gorges Dam construction

The spatial distribution of heterotrophic ciliates, environmental factors and potential food items (bacteria, Synechococcus spp. and nanoflagellates) were measured in the East China Sea to examine which variables contributed importantly to the long-term distribution of ciliates between 1998 and 2007. In July 1998 and June 2003, heterotrophic ciliates were found to be abundant (1,000–2,000 × 10³ cells m⁻³) in regions where surface salinity <32 but extremely low (<500 × 10³ cells m⁻³) in shelf waters of surface salinity >32. After August 2003, shortly after the completion of the Three Gorges Dam, we found no significant areal differences in the abundance of heterotrophic ciliates (HC). However, we found a significantly negative correlation between temperature and HC abundance of surface water after the completion of the dam, suggesting that temperature had a greater influence on HC abundance, once the original saline state had changed. For the long-term trends on the vertical distribution of HC, their abundance was significantly higher in the upper 50 m of the water column than at either 75 or 100 m. Abundance of Synechococcus spp. at these levels varied significantly in regions of surface salinity <32, suggesting that ciliates and picophytoplankton contribute greatly to mediating the transfer of organic matter to higher trophic levels in this marine ecosystem.