A behavior-based approach to adaptive feature detection andfollowing with autonomous underwater vehicles

This paper presents a technique for adaptively tracking bathymetric contours using an autonomous underwater vehicle (AUV) equipped with a single altimeter sonar. An adaptive feature mapping behavior is developed to address the problem of how to locate and track features of unknown extent in an environment where a priori information is unavailable. This behavior is implemented as part of the layered control architecture used by the AUV Odyssey II. The new adaptive feature mapping behavior builds on previous work in layered control by incorporating planning and mapping capabilities that allow the vehicle to alter its trajectory online in response to sensor data in order to track contour features. New waypoints are selected by evaluating the expected utility of visiting a given location balanced against the expected cost of traveling to a particular cell. The technique is developed assuming sensor input in the form of a single, narrow-beam altimeter sensor attached to a non-holonomic, dynamically controlled survey-class AUV such as the Odyssey II. Simulations of the Charles River basin which have been constructed from real bathymetry data are used as test missions. The 7-m contour line of a prominent trench in the river serves as the target feature. The adaptive contour following behavior tracks the contour despite navigation error and environmental disturbances, supplying the capability of autonomously detecting and following distinctive bathymetric features using a point sensor. This behavior provides a foundation for future research in tracking of dynamic features in the water-column and for concurrent mapping and localization over natural terrain using a point sensor     

Adaptive frequency-domain beam forming and spectral analysis using small sparse arrays

An adaptive frequency-domain signal-processing technique for finding principal direction and spectral amplitude as a function of frequency without conventional beam forming is described mathematically. The technique, called Coherent Adaptive Processing Scheme (CAPS), is applicable to signals typical of many ocean science measurements. Results of successful CAPS analysis of shallow-water acoustic signals are presented. Potential real-time applications of CAPS to sensor systems are discussed. References to past applications to ocean waves are given.     

Scour effects on the response of laterally loaded piles considering stress history of sand

Scour is the removal of soils around pile foundations of bridges or offshore platforms, resulting in reduced capacity of the foundations in either lateral or vertical direction. A common way to analyze the scour-affected pile foundations is to remove the scoured soil layers while keeping the properties of the remaining soil unchanged. However, this approach ignores the fact that the remaining soil experiences different stress histories before and after scour, which can be expected to change the properties of the remaining soil. As a result, the resistance of the remaining soil provided to the pile foundation may be different. The present study focused on the response of laterally loaded pile foundations in sand under scour considering the stress history of the remaining sand. Relative density and coefficient of lateral earth pressure of the sand were evaluated when it changed from a normally consolidated (NC) soil to an over-consolidated (OC) soil due to scour. The relative density was then used to estimate other properties of sand, e.g., unit weight, friction angle, and modulus of subgrade reaction of the sand based on their correlation. The lateral load–deflection (p–y) curve for a pile in sand was modified and input into the computer software, LPILE Plus V 5.0, to account for the effect of the stress history induced by scour. A field test was referenced as an example to compare the calculated results from the modified p–y curves with those from the initially developed p–y curves for the tested sand. The results showed that the change in the over-consolidation ratio (OCR) resulted in the most significant effect on the lateral soil resistance among all the effects due to the changes in the properties of the remaining sand. The sand changing from an NC to OC state increased the lateral soil resistance to the pile foundation. Ignoring the stress history would result in a conservative design of laterally loaded piles under scour.     

Observations of the Sediment-Water Interface: Marine and Fresh Water Environments

The sediment at the interface immediately beneath the water column is distinct from deeper-lying sediments in its properties and, at least quantitatively, in the processes driving diagenesis. Progress in understanding the sediment-water interface can be based on consideration of fundamentals of biogeochemical particle / fluid interactions and on application of certain biological techniques especially suited to this challenging portion of the sediment column. This article reports results achieved by combining theoretical fundamentals and specialized experimental techniques in the study of the interface from selected depositional environments. For fine-grained and sandy deposits from fresh-water to coastal marine environments, the interface is characterized by exaggerated microrelief, great porosity, and significant biological alteration. Additional application of this research approach is poised to further our understanding of engineering, and acoustic and xenochemical responses of sedimentary materials, with special emphasis on the influence of the bio-organic phase of the interface upon its fabric and physical properties.     

Geotechnical property variability of continental margin sediments: High‐resolution vertical and lateral data from the northern California slope

High‐resolution vertical and lateral gradients and variations in sediment mass physical properties were derived from measurements in box cores, on the scale of millimeters, tens of centimeters, and kilometers from typical, relatively broad areas of the northern California continental slope in the Cape Mendocino area at water depths from 380 to 940 m. Such data are important as a control on comparisons of different sediment suites, as well as providing limits for realistic flux calculations of dissolved inorganic and biochemical species and pollutants. The sediments studied have relatively constant organic carbon contents (OC ? 1.75 wt%) and bulk mineralogy. They range from silty sands (～45% sand, 40% silt) to clayey silts (～63% silt, ～35% clay) and are extensively bioturbated. Physical property variations between subcores (～25 to 35 cm in length), taken from the same box core, increase with increasing clay content. For coarse‐grained sediments, mean down‐core differences in physical property values between related subcores are small, averaging 3.6% for water content, 4% for porosity, 0.026 Mg/m³ for wet bulk density, and 0.1 for void ratio. Subcore variations for fine‐grained sediments are generally significantly larger, averaging 9.8% for water content, 1.52% for porosity, 0.027 Mg/m³ for wet bulk density, and 0.3 for void ratio (box core 125). Millimeter variations of physical properties from horizontal 12‐cm‐long subcores indicate a maximum range of lateral variation of 18.2% for water content, 8% for porosity, 0.14 Mg/m³ for wet bulk density, and ～ 0.6 for void ratio.     

Iron isotope fractionation in a buoyant hydrothermal plume, 5°S Mid-Atlantic Ridge

Fe isotopes are a potential tool for tracing the biogeochemical redox cycle of Fe in the ocean. Specifically, it is hypothesized that Fe isotopes could enable estimation of the contributions from multiple Fe sources to the dissolved Fe budget, an issue that has received much attention in recent years. The first priority however, is to understand any Fe isotope fractionation processes that may occur as Fe enters the ocean, resulting in modification of original source compositions. In this study, we have investigated the Fe inputs from a basalt-hosted, deep-sea hydrothermal system and the fractionation processes that occur as the hot, chemically reduced and acidic vent fluids mix with cold, oxygen-rich seawater.The samples collected were both end-member vent fluids taken from hydrothermal chimneys, and rising buoyant plume samples collected directly above the same vents at 5°S, Mid-Atlantic Ridge. Our analyzes of these samples reveal that, for the particulate Fe species within the buoyant plume, 25% of the Fe is precipitated as Fe-sulfides. The isotope fractionation caused by the formation of these Fe-sulfides is δ_Fe(II)–FeS = +0.60 ± 0.12‰.The source isotope composition for the buoyant plume samples collected above the Red Lion vents is calculated to be −0.29 ± 0.05‰. This is identical to the value measured in end-member vent fluids collected from the underlying “Tannenbaum” chimney. The resulting isotope compositions of the Fe-sulfide and Fe-oxyhydroxide species in this buoyant plume are −0.89 ± 0.11‰ and −0.19 ± 0.09‰, respectively. From mass balance calculations, we have been able to calculate the isotope composition of the dissolved Fe fraction, and hypothesize that the isotope composition of any stabilised dissolved Fe species exported to the surrounding ocean may be heavier than the original vent fluid. Such species would be expected to travel some distance from areas of hydrothermal venting and, hence, contribute to not only the dissolved Fe budget of the deep-ocean but also it’s dissolved Fe isotope signature.     

HARP/ACSIS: a submillimetre spectral imaging system on the James Clerk Maxwell Telescope

This paper describes a new Heterodyne Array Receiver Program (HARP) and Auto-Correlation Spectral Imaging System (ACSIS) that have recently been installed and commissioned on the James Clerk Maxwell Telescope. The 16-element focal-plane array receiver, operating in the submillimetre from 325 to 375 GHz, offers high (three-dimensional) mapping speeds, along with significant improvements over single-detector counterparts in calibration and image quality. Receiver temperatures are ∼120 K across the whole band, and system temperatures of ∼300 K are reached routinely under good weather conditions. The system includes a single-sideband (SSB) filter so these are SSB values. Used in conjunction with ACSIS, the system can produce large-scale maps rapidly, in one or more frequency settings, at high spatial and spectral resolution. Fully sampled maps of     size can be observed in under 1 h.
The scientific need for array receivers arises from the requirement for programmes to study samples of objects of statistically significant size, in large-scale unbiased surveys of galactic and extra-galactic regions. Along with morphological information, the new spectral imaging system can be used to study the physical and chemical properties of regions of interest. Its three-dimensional imaging capabilities are critical for research into turbulence and dynamics. In addition, HARP/ACSIS will provide highly complementary science programmes to wide-field continuum studies and produce the essential preparatory work for submillimetre interferometers such as the Submillimeter Array (SMA) and Atacama Large Millimeter/Submillimeter Array (ALMA).     

Genetic stock structure of white steenbras Lithognathus lithognathus (Cuvier, 1829), an overexploited fishery species in South African waters

White steenbras Lithognathus lithognathus (Teleostei: Sparidae) is an overexploited marine fish species endemic to South Africa. Overexploitation in recreational, subsistence and commercial fisheries has resulted in stock collapse and the need for improved management of the species. Adults are thought to undertake large-scale annual spawning migrations, yet studies of their movement indicate low levels of connectivity among coastal regions. To address this, mitochondrial DNA sequencing and genotyping of microsatellite loci in the nuclear genome were conducted to determine the genetic stock structure and level of gene flow in this species. Genetic diversity was high throughout the species’ core distribution, with no evidence of isolation by way of distance or localised spawning. Low, non-significant pairwise fixation indices (F_ST, R_ST and Jost’s D_est) indicated low genetic differentiation and high levels of gene flow. The observed results, and agreement between mitochondrial and microsatellite DNA, confirm that white steenbras exists as a single genetic stock with high levels of gene flow throughout its distribution.     

Landscape Models and Explanation in Landscape Ecology—A Space for Generative Landscape Science?

Further development of process‐based spatial models is needed to facilitate explanation in landscape ecology. We discuss the dual modeling goals of prediction and explanation and identify challenges faced in explaining landscape patterns. These challenges are especially acute in attempts to explain patterns that result from complex adaptive systems. We compare examples of two process models used to describe landscape changes in Yellowstone National Park as a consequence of predator‐prey interactions. Generative landscape science is offered as a complementary approach to explanation, combining models of candidate processes that are believed to give rise to observed patterns with empirical observations.