Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations     

Transient biouptake flux and accumulation by microorganisms: The case of two types of sites with Langmuir adsorption

The uptake of a chemical species by an aquatic microorganism is modelled considering two kinds of sites where Langmuirian adsorption is followed by first order internalisation kinetics. Simpler models, such as only one internalisation route (while most of the adsorption takes place on non-internalising sites) or a linear isotherm for adsorption on one or both sites, become limiting cases of this double-Langmuirian model. The model considers the sites located on the spherical (or semi-spherical) surface of the organism, and takes diffusion from the medium into explicit account. The numerical solution for the internalisation flux shows a maximum. We provide an estimate for the time needed to reach a certain proximity to steady state. The transient solution confirms that the analytical expressions for the steady-state flux are usually valid and that the accumulated amounts reflect the impact of the short-time uptake. The Instantaneous Steady-State Approximation (ISSA), where an intercept of the linear regression of accumulated amount as a function of time is interpreted as an adsorbed amount, can be critically assessed with the transient numerical code for two cases: (i) when the total burden of metal on the cell is the input data and (ii) when an extraction procedure provides further information on the adsorbed and internalised amount.     

A community-wide intercomparison exercise for the determination of dissolved iron in seawater

The first large-scale international intercomparison of analytical methods for the determination of dissolved iron in seawater was carried out between October 2000 and December 2002. The exercise was conducted as a rigorously “blind” comparison of 7 analytical techniques by 24 international laboratories. The comparison was based on a large volume (700 L), filtered surface seawater sample collected from the South Atlantic Ocean (the “IRONAGES” sample), which was acidified, mixed and bottled at sea. Two 1-L sample bottles were sent to each participant. Integrity and blindness were achieved by having the experiment designed and carried out by a small team, and overseen by an independent data manager. Storage, homogeneity and time-series stability experiments conducted over 2.5 years showed that inter-bottle variability of the IRONAGES sample was good (< 7%), although there was a decrease in iron concentration in the bottles over time (0.8–0.5 nM) before a stable value was observed. This raises questions over the suitability of sample acidification and storage.     

On non-causal impulse response functions related to propagating water waves

Particular attention is drawn to the non-causality of two impulse response functions, one of which relates the excitation force on an immersed body to the incident wave elevation at the body's reference position, while the other relates the incident wave elevations at two different positions along the line of wave propagation. An explanation is proposed for the non-causality of the impulse response functions, in spite of the fact wave propagation is a causal process. An indication is given of how far ‘upstream’ the incident wave elevation should be measured in order to be able to know, with reasonable accuracy, the current heave excitation force on a floating truncated cylinder with vertical axis, given current and past wave-elevation measurements. This provides a method for wave prediction, which is required for optimum control of the oscillation of the immersed body.     

A residual analysis method for quantitative comparison of spatial data from the Iceland-Faeroes Front

A spatial statistical method has been developed from the well-known Kriging technique in geostatistics, as a way of providing quantitative comparison between a pair of spatial data sets, and a measure for such a comparison. This residual analysis method is applied to oceanographic data in order to compare Iceland-Faeroes Front (IFF) model predictions against appropriate field observations, with an aim to assess the IFF model performance and its prediction accuracy. The method is also used to evaluate the model-generated dynamical variability within the model predictions, as well as the natural variability within the frontal observations. From the results, it has been found that the IFF model is highly robust, and gives better predictions at depth 150–350 m than elsewhere. Within such a depth (i.e. 250–350 m), there is also evidence to suggest that the main frontal region is most active above the IF Ridge. The natural variability obtained from the observations appears to be comparable to the model-generated dynamical variability after 20 days of integration, indicating a certain degree of accuracy in the model predictions. The method reported in this paper could also be extended for further use in model data assimilation. Thus, the work not only demonstrates how spatial statistics can be applied to oceanographic data, but also opens up new statistical tools for data handling in ocean modelling.