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     

Correlation between petrography,NAA, and ICP analyses: Application to early bronze Egyptian pottery from Canaan

Under favorable circumstances petrographic studies supported by chemical analysis using inductively coupled plasma (ICP) suffice to establish the provenience of pottery. A case in point is Egyptian-style pottery of Early Bronze Age found in Canaan. The pottery was divided into three groups according to four criteria determined by thin section analysis supplemented by X-ray diffraction: sorting and volume of silt-sized quartz, heavy minerals, the amount of carbonates in the matrix, and the firing temperature. Chemical analyses confirmed the classification. The source materials inferred for the three groups are Nile muds, Egyptian marly sediments, and local loess. Although the chemical analyses obtained by ICP and neutron activation analysis (NAA) were compatible, the existing database for NAA cannot be used indiscriminately. However, for provenience studies based on mineralogical and petrographic data, knowledge of the geology of the potential source areas can replace an extensive database.     

NEUTRON ACTIVATION ANALYSIS OF FIFTEEN GSJ IGNEOUS ROCK REFERENCE SAMPLES

Fifteen rock reference samples "Igneous rock series" issued by the Geological Survey of Japan were analysed for up to 31 elements by neutron activation analysis (NAA); 14 MeV-NAA for Si and Al, fission track method for U, radiochemical and instrumental NAA for rare-earth elements, and instrumental NAA for the remaining elements, with reactor neutrons for the latter three. The present results are compared with published values.     

On the inclusion of ground-based gravity measurements to the calibration process of a global rainfall-discharge reservoir model: case of the Durzon karst system (Larzac, southern France)

This work examines the relevance of the inclusion of ground-based gravity data in the calibration process of a global rainfall-discharge reservoir model. The analysis is performed for the Durzon karst system (Larzac, France). The first part of the study focuses on the hydrological interpretation of the ground-based gravity measurements. The second part of the study investigates further the information content of the gravity data with respect to water storage dynamics modelling. The gravity-derived information is found unable to either reduce equifinality of the single-objective, discharge-based model calibration process or enhance model performance through assimilation.     

Reconstruction of MODIS total suspended matter time series maps by DINEOF and validation with autonomous platform data

In situ measurements of total suspended matter (TSM) over the period 2003–2006, collected with two autonomous platforms from the Centre for Environment, Fisheries and Aquatic Sciences (Cefas) measuring the optical backscatter (OBS) in the southern North Sea, are used to assess the accuracy of TSM time series extracted from satellite data. Since there are gaps in the remote sensing (RS) data, due mainly to cloud cover, the Data Interpolating Empirical Orthogonal Functions (DINEOF) is used to fill in the TSM time series and build a continuous daily “recoloured” dataset. The RS datasets consist of TSM maps derived from MODIS imagery using the bio-optical model of Nechad et al. (Rem Sens Environ 114: 854–866, 2010). In this study, the DINEOF time series are compared to the in situ OBS measured in moderately to very turbid waters respectively in West Gabbard and Warp Anchorage, in the southern North Sea. The discrepancies between instantaneous RS, DINEOF-filled RS data and Cefas data are analysed in terms of TSM algorithm uncertainties, space–time variability and DINEOF reconstruction uncertainty.     

Can turbidity caused by Corophium volutator (Pallas) activity be used to assess sediment toxicity rapidly?

The standard toxicity test organism, Corophium volutator, exhibits a behavioural response to contaminated sediments that causes increased turbidity of overlying water. We quantify the effects of this response to an estuarine sediment spiked with copper and hydrocarbon contaminated sediments from an oil installation in the North Sea. Turbidity measured 24 h after the start of a toxicity test shows a strong relationship with contaminant concentrations and with mortality after 10 days. Turbidity measurements can therefore give a rapid indication of sediment toxicity, permitting a reduction in storage time of sediments to be used in dilution series and toxicity identification evaluation (TIE) tests, reducing the likelihood of contaminants degrading prior to testing.     

Analysis of Physical and Chemical Parameters for Discrimination of Water Origin in a Hydroelectric Reservoir

Seventeen physical and chemical parameters were obtained from a hydroelectric reservoir located in a tropical region in the south of Brazil. Multivariate Principal Component Analysis (PCA) and Hierarchical Group Analysis (HGA) were used to identify the parameters discriminating the origin of water from the Tibagi and the Primeiro de Maio River, after it has passed the mixing region. The study was conducted during the dry and rainy seasons in July 2002 and February 2003 at three depths and three sampling sites located 0, 5, and 10 km away from the mixing region. The statistical methods showed to be appropriate for identifying the contribution of each tributary in the water mixing site of a complex water system. The most important discriminating parameter was the absorbance relation A(253 nm)/A(203 nm), followed by the concentrations of Fe(III), Mn(III), and Ni(II). An anthropogenic interference was found in the reservoir due to high Ni(II) and orthophosphate concentrations caused by a nearby town sewage discharge. The interference was more important during the dry periods due to the lower dispersion of the pollutants. Urgent initiatives should be taken from the state government to build treatment stations for the wastewater of the small cities around the Capivara hydroelectric reservoir to prevent the drinking water quality from deteriorating.     

2500年来艾比湖的环境演变信息

通过对艾比湖缘1，8m浅孔的沉积相和孢粉组合，结合14C测年资料分析。指出近2500年来艾比湖的沉积环境总体是比较稳定的，但由于气候波动引起艾比湖水位曾发生较明显的变化。约在公元前300～400年，是艾比湖面积缩小时期；约公元前300—公元300年，即东周末至西晋，是艾比湖水位较高时期；约公元300—1400年，即东晋至15世纪初，是艾比湖的高水位时期；约15世纪初至17世纪中是艾比湖的水位下降期，但水位比现代仍然高；约17世纪中至19世纪初的小冰期是艾比湖的水位上升期。研究还提供了历史时期湖泊的盐度变化和湖周发生大火的信息。     

Age,origin and climatic controls on vegetated linear dunes in the northwestern Negev Desert (Israel)

The stabilized northwestern (NW) Negev vegetated linear dunes (VLD) of Israel extend over 1300 km² and form the eastern end of the Northern Sinai – NW Negev Erg. This study aimed at identifying primary and subsequent dune incursions and episodes of dune elongation by investigating dune geomorphology, stratigraphy and optically stimulated luminescence (OSL) dating. Thirty-five dune and interdune exposed and drilled section were studied and sampled for sedimentological analyses and OSL dating, enabling spatial and temporal elucidation of the NW Negev dunefield evolution.In a global perspective the NW Negev dunefield is relatively young. Though sporadic sand deposition has occurred during the past 100 ka, dunes began to accumulate over large portions of the dunefield area only at ～23 ka. Three main chronostratigraphic units, corresponding to three (OSL) age clusters, were found throughout most of the dunefield, indicating three main dune mobilizations: late to post last glacial maximum (LGM) at 18–11.5 ka, late Holocene (2–0.8 ka), and modern (150–8 years). The post-LGM phase is the most extensive and it defined the current dunefield boundaries. It involved several episodes of dune incursions and damming of drainage systems. Dune advancement often occurred in rapid pulses and the orientation of VLD long axes indicates similar long-term wind directions. The late Holocene episode included partial incursion of new sand, reworking of Late Pleistocene dunes as well as limited redeposition. The modern sand movement only reactivated older dunes and did not lengthen VLDs.This aeolian record fits well with other regional aeolian sections. We suggest that sand supply and storage in Sinai was initiated by the Late Pleistocene exposure of the Nile Delta sands. Late Pleistocene winds, substantially stronger than those usually prevailing since the onset of the Holocene, are suggested to have transported the dune sands across Sinai and into the northwestern Negev.Our results demonstrate the sensitivity of vegetated linear dunes located along the (northern) fringe of the sub-tropical desert belt to climate change (i.e. wind) and sediment supply.