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     

Second-order moment advection scheme applied to Arctic Ocean simulation

We apply the second-order moment (SOM) advection scheme of (Prather, M.J. 1986. Numerical advection by conservation of second-order moments. J. Geophys. Res. 91, 6671–6681.) to the simulation of the large-scale circulation of the Arctic Ocean with a coupled ocean–sea-ice model. Compared to three other advection schemes commonly employed in ocean simulations (centred differences, flux corrected transport, and multidimensional positive definite advection transport), the SOM method helps preserve the vertical structure of Arctic water masses. The depth, thickness and hydrographic properties of the Arctic Surface Water and the Arctic Atlantic Layer are better represented with SOM than with any of the other three advection algorithms. We also present a convenient method for calculating the implicit numerical diffusivity of upstream based schemes, such as the SOM method, and discuss three approaches for improving the monotonicity properties of the SOM algorithm.     

Electronic atlas of the Russian Arctic coastal zone

A set of digital maps including geology, Quaternary sediments, landscapes, engineering-geological, vegetation, geocryological and the series of regional sources have been selected to characterize the Russian Arctic coast. Based on this data, new maps of engineering geocryological zoning and zoning of the coast with respect to the intensity of exogenous geological processes and risk of technogenic impacts have been generated at the scales of 1:4,000,000–1:8,000,000. These maps are a tool to assess the impact of industry on the Arctic coast of the country.     

Dynamic-Stochastic Modeling of Natural Processes

We propose a method for the construction of dynamic-stochastic models of natural systems based on the assimilation of the data of observations in the prognostic equations of coupled processes. In these models, the method of adaptive balance of causes is used to deduce evolutionary equations of the analyzed processes and assimilate the data of observations in these equations. The deduced general equations are considered for an example of a marine ecosystem characterized by the development of four coupled processes. It is shown that the optimal prediction of these processes requires the solution of 11 systems of equations with simultaneous adaptation of prognostic estimates and the coefficients of the models to the data of observations. A numerical simulation experiment explaining the algorithm of the proposed method of modeling is considered. A conclusion is made that the application of this method in the geoinformation systems of monitoring of the environment is quite promising.__________Translated from Morskoi Gidrofizicheskii Zhurnal, No. 6, pp. 31–42, November–December, 2004.     

Modified mild slope equation and open boundary conditions

A numerical model to compute wave field is developed. It is based on the Berkhoff diffraction-refraction equation, in which an energy dissipation term is added, to take into account the breaking and the bottom friction phenomena. The energy dissipation function, by breaking and by bottom friction, is introduced in the Berkhoff equation to obtain a new equation of propagation.The resolution is done with the hybrid finite element method, where lagrangians elements are used.     

Vertical distribution of the macrobenthic community and its relationships to trace metals and natural sediment characteristics in the lower Douro estuary, Portugal

Vertical distribution (0–15 cm) of the macrobenthic community and its relationships to natural sediment characteristics and trace metal contents and bioavailability were studied at five locations in the lower Douro estuary, Portugal. An analysis of vertical metal distribution, for the interpretation of anthropogenic impact on the estuarine sediments, was also investigated. Sediment characterisation included organic matter, grain size, metals (Al, Fe, Cu, Pb, Cr, Ni, Cd, Zn and Mn), acid volatile sulphide (AVS) and simultaneously extracted metals (SEM). The macrobenthic community had low diversity (14 species), was dominated by small size opportunists and seemed to be controlled mainly by natural factors such as grain size distribution, Al and Fe contents and sediment depth. The vertically heterogeneous distribution of macrobenthic community appears to affect redox status of the sediments and consequently metal bioavailability. Despite anthropogenic contamination in terms of Zn, Cu, Pb, Cr and Ni having already been detected in the north bank, the analysis of vertical distribution was essential for the identification of current anthropogenic contamination in terms of Zn, Pb and Cd in the south bank.     

Assessment of the impact of the planetary scale on the decay of blocking and the use of phase diagrams and enstrophy as a diagnostic

It was shown that abrupt changes in the large-scale structure of atmospheric flows may lead to the rapid decay of blocking. Analysis of phase diagrams made it possible to identify when sharp changes occurred in the dynamics of the system. The connection of these changes to the decay of blocking was estimated for three blocking events in the Southern Hemisphere. In addition to phase diagrams, enstrophy was used as a diagnostic tool for the analysis of blocking events. From the results of this analysis, four scenarios for the decay mechanisms were determined: (i) decay with a lack of synoptic-scale support, (ii) decay with an active role for synoptic processes, and (iii–iv) either of these mechanisms in the interaction with an abrupt change in the character of the planetary-scale flow.