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     

Characterizing Observed Environmental Variability With HF Doppler Radar Surface Current Mappers and Acoustic Doppler Current Profilers: Environmental Variability in the Coastal Ocean

A network of high-frequency (HF) radars is deployed along the New Jersey coast providing synoptic current maps across the entire shelf. These data serve a variety of user groups from scientific research to Coast Guard search and rescue. In addition, model forecasts have been shown to improve with surface current assimilation. In all applications, there is a need for better definitions and assessment of the measurement uncertainty. During a summer coastal predictive skill experiment in 2001, an array of in situ current profilers was deployed near two HF radar sites, one long-range and one standard-range system. Comparison statistics were calculated between different vertical bins on the same current profiler, between different current profilers, and between the current profilers and the different HF radars. The velocity difference in the vertical and horizontal directions were then characterized using the observed root-mean-square (rms) differences. We further focused on two cases, one with relatively high vertical variability, and the second with relatively low vertical variability. Observed differences between the top bin of the current profiler and the HF radar were influenced by both system accuracy and the environment. Using the in situ current profilers, the environmental variability over scales based on the HF radar sampling was quantified. HF radar comparisons with the current profilers were on the same order as the observed environmental difference over the same scales, indicating that the environment has a significant influence on the observed differences. Velocity variability in the vertical and horizontal directions both contribute to these differences. When the potential effects of the vertical variability could be minimized, the remaining difference between the current profiler and the HF radar was similar to the measured horizontal velocity difference (~2.5 cm/s) and below the resolution of the raw radial data at the time of the deployment     

Sharksucker–shark interaction in two carcharhinid species

It is not known whether sharksuckers have positive or negative effects on their hosts, partly because this association is difficult to study in free‐ranging fish. I observed the behaviour of sharks with and without sharksuckers, to determine whether the hosts actively avoid sharksuckers. Wild blacktip sharks, Carcharhinus limbatus, took evasive actions when sharksuckers, Echeneis naucrates, attached to them, presumably to escape from skin irritation or hydrodynamical drag caused by the sharksuckers. Sharksuckers were most often attached to the belly or back of the shark, and sharks reacted most strongly to sharksuckers on their heads, sides, and dorsal fins. Observations of two captive bull sharks, Carcharhinus leucas, indicated that swimming speed increased when sharksuckers were attached. This paper supports the hypothesis that sharksucker attachment irritates sharks, and that the relationship between the two is best viewed as a subtle host–parasite interaction.     

Consumption of bacteria by larvae of a deep-sea polychaete

We investigated whether trochophore larvae of the polychaete Hesiocaeca methanicola, which lives on exposed ice‐like methane hydrates between 500 and 600 m, could consume near‐bottom picoplankton. In laboratory trials larvae significantly reduced the growth rates of all types of picoplankton, including heterotrophic bacteria, Prochlorococcus sp., Synechococcus‐type cyanobacteria and phototrophic eucaryotes <3 μm. Our findings suggest that these types of plankton may be important food sources for deep‐sea planktotrophic larvae.     

SeagrassNet monitoring across the Americas: case studies of seagrass decline

Seagrasses are an important coastal habitat worldwide and are indicative of environmental health at the critical land–sea interface. In many parts of the world, seagrasses are not well known, although they provide crucial functions and values to the world's oceans and to human populations dwelling along the coast. Established in 2001, SeagrassNet, a monitoring program for seagrasses worldwide, uses a standardized protocol for detecting change in seagrass habitat to capture both seagrass parameters and environmental variables. SeagrassNet is designed to statistically detect change over a relatively short time frame (1–2 years) through quarterly monitoring of permanent plots. Currently, SeagrassNet operates in 18 countries at 48 sites; at each site, a permanent transect is established and a team of people from the area collects data which is sent to the SeagrassNet database for analysis. We present five case studies based on SeagrassNet data from across the Americas (two sites in the USA, one in Belize, and two in Brazil) which have a common theme of seagrass decline; the study represents a first latitudinal comparison across a hemisphere using a common methodology. In two cases, rapid loss of seagrass was related to eutrophication, in two cases losses related to climate change, and in one case, the loss is attributed to a complex trophic interaction resulting from the presence of a marine protected area. SeagrassNet results provide documentation of seagrass change over time and allow us to make scientifically supported statements about the status of seagrass habitat and the extent of need for management action.     

Numerical modeling of long waves in shallow water using Incremental Differential Quadrature Method

Incremental Differential Quadrature Method (IDQM) as a rapid and accurate method for numerical simulation of Nonlinear Shallow Water (NLSW) waves is employed. To the best of authors’ knowledge, this is the first endeavor to exploit DQM in coastal hydraulics. The one-dimensional NLSW equations and related boundary conditions are discretized in space and temporal directions by DQM rules and the resulting system of equations are used to compute the state variables in the entire computational domain. It was found that the splitting of total simulation time into a number of smaller time increments, could significantly enhance the performance of the proposed method. Furthermore, results of this study show two main advantages for IDQM compared with other conventional methods, namely; unconditional stability and minimal computational effort. Indeed, using IDQM, one can use a few grid points (in spatial or time direction) without imposing any stability condition on the time step to obtain an accurate convergent solution.     

Sample treatment with focused ultrasound and bath sonication as a powerful tool for the evaluation of cadmium pollution in estuarine waters

A new sample treatment was developed for the determination of dissolved cadmium in Tagus estuarine waters, based on focused ultrasound in conjunction with small volumes in the extraction steps for Cd pre-concentration. Cadmium was first pre-concentrated using a classical approach (APDC as the complexing agent and MIBK as the organic phase) and then back-extracted into HNO₃ with the aid of focused ultrasound, which reduced the acid concentration by more than one order of magnitude (from 4 to 0.1 mol L^− 3). This sample treatment was accomplished in less than 5 min, using low sample volume (20 mL), and low-volume, low-concentration reagents. The pre-concentration factor used in this work was 25, but different sample/organic volume ratios may be used in order to increase that value. The limit of detection and the limit of quantification in Tagus water samples were 0.03 nmol L^− 1 and 0.1 nmol L^− 3, respectively. Recoveries from spiked Tagus water were higher than 90%. The procedure was validated using the reference estuarine water NRC-SLEW-3. In the solubilization of Cd particulate, bath ultrasonication was used in conjunction with HNO₃ + HCl, followed by H₂O₂, which took about 2 instead of the usual 12 h (cooling included) when high-pressure microwave digestion is used.     

Measurement of alkaline and earthy ions in fish otolith and sea water using a high performance ion chromatography

Fish growth and the relation between growth and environmental conditions offer a good opportunity for measuring alkaline and earthy ions in fish otoliths.The analytical method must involve high sensitivity when attempting to discriminate between fish growth and environmental conditions.The aim of this paper is to propose a chromatographic method, with low detection limits, as a new approach in determining some important micronutrients present in sea water and fish otoliths.The work samples are: coastal, off-shore and sediment waters and fish otoliths (Engraulis encrasicholus, Mullus barbatus, Umbrina cirrhosa, Sciaena umbra, Pagellus erythrinus) in the Adriatic Sea and the Canal of Sicily.The analytical method includes an IONPAC CS12A chromatographic column and a 18 mM methanesulfonic acid eluent.The detection limit readings obtained with this method, for one E. encrasicholus fish otolith, weighing 2.6 mg are equal or inferior to 0.1 μg/L for lithium (Li), 59 μg/L for sodium (Na), 46 μg/L for ammonium (NH₄), 23 μg/L for potassium (K), 13 μg/L for magnesium (Mg), 88 μg/L for manganese (Mn), 2.567 μg/L for calcium (Ca) and 13 μg/L for strontium (Sr).The HPIC method minimizes overlaps such as Na on Li, and NH₄ in seawater and Ca on Mg and Sr in fish otolith. These elements are an essential constituent present in otoliths when describing the relation between growth and environmental conditions.Good separation among analytes is achieved within 16 min.     

Thorium isotopes as tracers of particles dynamics and deep water circulation in the Indian sector of the Southern Ocean (ANTARES IV)

Dissolved and particulate samples were collected to study the distribution of thorium isotopes (²³⁴Th, ²³²Th and ²³⁰Th) in the water column of the Indian sector of the Southern Ocean (from 42°S to 47°S and from 60°E to 66°E, north of the Polar Front) during Austral summer 1999. Vertical profiles of excess ²³⁰Th (²³⁰Th_xs) increases linearly with depth in surface water (0–100 m) and a model was applied to estimate a residence time relative to the thorium scavenging (τ_scav). Low τ_scav in the Polar Front Zone (PFZ) are found, compared to those estimated in the Subtropical Front Zone (STZ). Changes in particle composition between the PFZ and STZ could influence the ²³⁰Th_xs scavenging efficiency and explain this difference. An innovative coupling between ²³⁴Th and ²³⁰Th_xs was then used to simultaneously constrain the settling velocities of small (0.6–60 μm) and large (above 60 μm) particles. Although the different hydrological and biogeochemical regimes visited during the ANTARES IV cruise did not explain the spatial variation of sinking velocity estimates, our results indicate that less particles may reach the seafloor north (60 ± 2 m d^− 1, station 8) than south of the Agulhas Return Current (119 ± 23 and 130 ± 5 m d^− 1 at stations 3 and 7, respectively). This information is essential for understanding particle transport and by extension, carbon export. In the deep water column, the ²³⁰Th_xs concentrations did not increase linearly with depth, probably due to lateral transport of North Atlantic Deep Water (NADW) from the Atlantic to the Indian sector, which renews the deep waters and decreases the ²³⁰Th_xs concentrations. A specific ²³⁰Th_xs transport model is applied in the deep water column and allows us to assess a “travel time” of NADW ranging from 2 to 15 years.     

Methyl halide production and loss rates in sea water from field incubation experiments

Experiments were conducted in the field to determine the non-chemical loss rate of methyl iodide in seawater and to examine production rates of methyl halides. The loss rate of added C13 labelled methyl iodide, present at concentrations similar to those found in seawater, corrected for chemical loss due to reaction with Cl⁻ varied from < 1 to 18% day^− 1, with a mean value of 7%. This rate of loss is much lower than that which was proposed by Bell et al. [Bell, N., Hsu, L., Jacob, D. J., Schultz, M. G., Blake, D. R., Butler, J. H., King, D. B., Lobert, J. M., Maier-Reimer, E., 2002. Methyl iodide: Atmospheric budget and use as a tracer of marine convection in global models, Journal of Geophysical Research-Atmospheres 107(D17), 4340-4351.] to account for the large discrepancies between observed and predicted mid-latitude concentrations of CH₃I based on their global photochemical source model. The suitability of several types of container for seawater incubations was studied and only quartz tubes appeared to be free of experimental artifact. Collapsible polyvinyl fluoride containers showed major production of methyl halides on irradiation with simulated sunlight. Polyethylene containers caused spurious production of methyl iodide at lower rates.