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     

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.     

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.

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

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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.

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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.

     

The role of overwash in the evolution of mixing zone morphology within barrier islands

Overwash is a major controlling factor in the morphology of the mixing zone of coastal aquifers. Conceptual models of the mixing zone describe an interface controlled by tidal oscillations, wave run-up, and other factors; however, few describe the influence of large storm events. In August 1993, Hatteras Island, North Carolina, USA, experienced a 3-m storm surge due to Hurricane Emily. Sound-side flooding infiltrated a wellfield, causing a dramatic increase in TDS levels that persisted for more than 3 years. Two-dimensional simulations with SUTRA, the USGS finite-element model, are calibrated to the TDS breakthrough data of this storm to infer model dispersivity values. Simulations using the calibrated dispersivity values, predicted flooding levels, and 54 years of hurricane records to determine the influence of the overwash events suggest that it is rare for the mixing zone to approximate the conceptual morphology. Even during quiescent periods such as between 1965 and 1975, TDS levels do not return to theoretical levels before being elevated by a subsequent storm event. Thus, while tidal oscillations and other factors are important to mixing zone development, basic wind events and more severe storm events may have more influence and lasting effect on the morphology of the mixing zone.     

Nd,Sr, and Pb isotopic characteristics of Cretaceous intrusive rocks from deep levels of the Sierra Nevada batholith,Tehachapi Mountains,California

The Cretaceous gabbroic to granitic intrusive rocks of the Tehachapi Mountains were emplaced at depths of 25–30 km and thus afford a view of deep processes in the Sierra Nevada batholith. They consist of the 115 Ma Tehachapi suite and the 100 Ma Bear Valley suite; new zircon U-Pb age data reveal the presence of the latter as far west as Grapevine Canyon. The Nd, Sr, Pb, and O isotopic whole-rock data and zircon Pb inheritance patterns for the bulk of the suites suggest an origin by mixing between depleted mantlederived magmas and metasedimentary material with a substantial component of old continental material. However, this mixing is not evident in variations between isotopic ratios and chemical and lithologic parameters. This implies that isotopic hybridization of magmas took place deeper than 30 km, and that fractionation processes are likely responsible for the bulk of the chemical variation in this part of the Sierra Nevada batholith. Consideration of the isotopic data in the context of the Sierra Nevada batholith as a whole suggests that the well-known east-to-west isotopic gradients in the batholith may reflect a change in the average isotopic character of the preintrusive frame-work rather than a change in amount of crustal component. On the other hand, the lack of areal gradients in Sr and Nd isotopic ratios in the main study area may indicate a lack of pronounced gradation at deep levels, at least within the western batholith.     

Retrograde fluid infiltration in the high-grade Modum Complex South Norway: evidence for age,source and REE mobility

The high-grade metamorphic basement of the Modum Complex, South Norway,exhibits retrogradation and alteration due to late stage fluid infiltration.Extensive alteration zones of albite-and calcite-rich veining occur especiallywithin and around numerous metagabbros. The gabbros, intruded at 1224±15Ma, are now partly altered to amphibolites due to the subsequent high-grade metamorphism.Two generations of albite-rich rocks have been recognized: (1) a fine-grained, foliated type;(2) a coarse-grained, crosscutting type. Both types show a typical greenschist facies mineralassemblage; albite ± actinolite ± chlorite ± talc. The calcite veins/dykesrepresent a younger generation of veins than both albite-rich types. U–Pb data for spheneof type (1) yielded an age of 1080±3 Ma, determining a point on the retrogradeP-T-t path of the Modum Complex. Increasing albitisation of themetagabbros leads to a decrease in(¹⁴³ND/¹⁴⁴Nd)_oand an increase in (⁸⁷Sr/⁸⁶)_o.Albite- and calcite-rich samples show negative _Nd and positive _Sr, suggesting that fluids which interacted with the metagabbros originated from a crustal reservoir. The Nd and Sr isotopic data show disequilibrium at the microscale as well as at the macroscale. Negative Sm–Nd model ages of the albite-rich rocks demonstrate that rare-earth elements (REEs) were mobile and fractionated during albitisation.     

Particle acceleration and the decay of soft X-ray non-thermal line broadening in solar flares

The relationship between the production of -ray emitting particles and non-thermal soft X-ray line broadening is investigated. A model of particle acceleration via the stochastic interaction with MHD turbulence is assumed and the time development of the wave energy density derived under the condition of energy conservation between waves and particles. The inferred numbers and energy distribution of accelerated protons for four -ray flares are used to define the wave energy density and its temporal development. The presence of Alfvén wave turbulence is considered as the source of the non-thermal motions in the ambient plasma. These motions are observed as excess widths in the soft X-ray line emission from these events. The decay of the waves via the particle acceleration process is compared with the observed decays of this non-thermal line broadening. Our results show that both the -ray emission and excess soft X-ray line widths in these flares can be explained by the single physical phenomenon of Alfvén wave turbulence.