In-situ survey of nanomolar manganese in seawater using an autonomous underwater vehicle around a volcanic crater at Teishi Knoll,Sagami Bay,Japan

We present the results of a chemical survey at a submarine volcano, Teishi Knoll, obtained using a submersible in-situ Mn analyzer (GAMOS) mounted on an autonomous underwater vehicle (AUV) platform. During this survey, high-resolution data of dissolved Mn were obtained in three dimensions in nearly real time. The AUV enabled continuous detailed observations along a preprogrammed pathway, which could not have been performed with conventional CTD hydrocasts. During this observation, anomalously high dissolved Mn concentrations were obtained within the crater, corresponding to high water temperatures. The anomalies might be a hydrothermal signature due to volcanic activity from the crater.     

Measurement of methane flux over an evergreen coniferous forest canopy using a relaxed eddy accumulation system with tuneable diode laser spectroscopy detection

Very few studies have conducted long-term observations of methane (CH₄) flux over forest canopies. In this study, we continuously measured CH₄ fluxes over an evergreen coniferous (Japanese cypress) forest canopy throughout 1?year, using a micrometeorological relaxed eddy accumulation (REA) system with tuneable diode laser spectroscopy (TDLS) detection. The Japanese cypress forest, which is a common forest type in warm-temperate Asian monsoon regions with a wet summer, switched seasonally between a sink and source of CH₄ probably because of competition by methanogens and methanotrophs, which are both influenced by soil conditions (e.g., soil temperature and soil moisture). At hourly to daily timescales, the CH₄ fluxes were sensitive to rainfall, probably because CH₄ emission increased and/or absorption decreased during and after rainfall. The observed canopy-scale fluxes showed complex behaviours beyond those expected from previous plot-scale measurements and the CH₄ fluxes changed from sink to source and vice versa.     

Slab-fluid metasomatism in the Early Paleozoic forearc mantle deduced from the Motai serpentinites,South Kitakami Belt,northeast Japan

The present study examines the petrology and geochemistry of the Early Paleozoic Motai serpentinites, the South Kitakami Belt, northeast Japan, to reveal the subduction processes and tectonics in the convergent margin of the Early Paleozoic proto-East Asian continent. Protoliths of the serpentinites are estimated to be harzburgite to dunite based on the observed amounts of bastite (orthopyroxene pseudomorph). Relic chromian spinel Cr# [=Cr/(Cr + Al)] increases with decreasing amount of bastite. The compositional range of chromian spinel is similar to that found in the Mariana forearc serpentinites. This fact suggests that the protoliths of the serpentinites are depleted mantle peridotites developed beneath the forearc regions of a subduction zone. The Motai serpentinites are divided into two types, namely, Types 1 and 2 serpentinites; the former are characterized by fine-grained antigorite and lack of olivine, and the latter have coarse-grained antigorite and inclusion-rich olivine. Ca-amphibole occurs as isolated crystals or vein-like aggregates in the Type 1 serpentinites and as needle-shaped minerals in the Type 2 serpentinites. Ca-amphibole of the Type 1 serpentinites is more enriched in LILEs and LREEs, suggesting the influence of hydrous fluids derived from slabs. By contrast, the mineral assemblage, mineral chemistry, and field distribution of the Type 2 serpentinites reflect the thermal effect of contact metamorphism by Cretaceous granite. The Ca-amphibole of the Type 1 serpentinites is different from that of the Hayachine–Miyamori Ophiolite in terms of origin; the latter was formed by the infiltration of melts produced in an Early Paleozoic arc–backarc system. Chemical characteristics of the Ca-amphibole in the ultramafic rocks in the South Kitakami Belt reflect the tectonics of an Early Paleozoic mantle wedge, and the formation of the Motai metamorphic rocks in the forearc region of the Hayachine–Miyamori subduction zone system, which occurred at the Early Paleozoic proto-East Asian continental margin.     

Distribution of local Cs anomalies on the seafloor near the Fukushima Dai-ichi Nuclear Power Plant

An estimated 3.5 ± 0.7 × 10¹⁵ Bq of ¹³⁷Cs is thought to have been discharged into the ocean following the melt down at Fukushima Dai-ichi Nuclear Power Plant (F1NPP). While efforts have been made to monitor seafloor radiation levels, the sampling techniques used cannot capture the continuous distribution of radionuclides. In this work, we apply in situ measurement techniques using a towed gamma ray spectrometer to map the continuous distribution of ¹³⁷Cs on the seafloor within 20 km of the F1NPP. The results reveal the existence of local ¹³⁷Cs anomalies, with levels of ¹³⁷Cs an order of magnitude higher than the surrounding seafloors. The sizes of the anomalies mapped in this work range from a few meters to a few hundreds of meters in length, and it is demonstrated that the distribution of these anomalies is strongly influenced by meter scale features of the terrain.     

Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros

The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.     

Cross-Validation of Open-Path and Closed-Path Eddy-Covariance Techniques for Observing Methane Fluxes

Methane ( ${\mathrm {CH}}_{4}$ ) fluxes observed with the eddy-covariance technique using an open-path ${\mathrm {CH}}_{4}$ analyzer and a closed-path ${\mathrm {CH}}_{4}$ analyzer in a rice paddy field were evaluated with an emphasis on the flux correction methodology. A comparison of the fluxes obtained by the analyzers revealed that both the open-path and closed-path techniques were reliable, provided that appropriate corrections were applied. For the open-path approach, the influence of fluctuations in air density and the line shape variation in laser absorption spectroscopy (hereafter, spectroscopic effect) was significant, and the relative importance of these corrections would increase when observing small ${\mathrm {CH}}_{4}$ fluxes. A new procedure proposed by Li-Cor Inc. enabled us to accurately adjust for these effects. The high-frequency loss of the open-path ${\mathrm {CH}}_{4}$ analyzer was relatively large (11 % of the uncorrected covariance) at an observation height of 2.5 m above the canopy owing to its longer physical path length, and this correction should be carefully applied before correcting for the influence of fluctuations in air density and the spectroscopic effect. Uncorrected ${\mathrm {CH}}_{4}$ fluxes observed with the closed-path analyzer were substantially underestimated (37 %) due to high-frequency loss because an undersized pump was used in the observation. Both the bandpass and transfer function approaches successfully corrected this flux loss. Careful determination of the bandpass frequency range or the transfer function and the cospectral model is required for the accurate calculation of ${\mathrm {CH}}_{4}$ fluxes with the closed-path technique.     

Volumetric mapping of tubeworm colonies in Kagoshima Bay through autonomous robotic surveys

We developed and tested a comprehensive method for measuring the three-dimensional distribution of tubeworm colonies using an autonomous underwater vehicle (AUV). We derived volumetric measurements such as the volume, area, average height, and number of tubes for colonies of Lamellibrachia satsuma, the world's shallowest-dwelling vestimentiferan tubeworm discovered at a depth of 82 m, at the Haorimushi site in Kagoshima Bay, Japan, by processing geometric and visual data obtained through low-altitude surveys using the AUV Tri-Dog 1. According to the results, the tubeworm colonies cover an area of 151.9 m², accounting for 5.8% of the observed area (2600 m²). The total number of tubes was estimated to be 99,500. Morphological parameters such as area, volume, and average height were estimated for each colony. On the basis of average height, colonies could be clearly separated into two groups, short (0.1-0.3 m) and tall (0.6-0.7 m), independent of the area.     

湖泊观测中的自动水下潜水器

This paper proposed the use of Autonomous Underwater Vehicles (AUVs) for lake observation. The performance of the proposed system is demonstrated at the lake Biwa in Japan using the test-bed AUV the "Twin-Burger 2" available at the University of Tokyo. The proposed AUV system is capable of moving autonomously to predetermined locations carrying different kinds of sensing equipment for lake survey and sensors for navigation. In this system, the predetermined path of the AUV is marked by laying an underwater cable. At the lake Biwa the Twin-Burger 2 successfully followed the cable while collecting information on the environment. In situations where the cable was lost from the image a search algorithm was activated and if not recovered the vehicle will come to the surface.     

Is the empirical coefficient b for the relaxed eddy accumulation method constant?

The relaxed eddy accumulation (REA) method is an attractive alternative to the eddy covariance method to measure trace-gas flux, because it allows the use of analyzers with an optimal integration time to reduce the noise. However, the use of an empirical coefficient b results in uncertainties in the REA method. The consistency of b for temperature was investigated using a 1 year dataset obtained at three forest sites in East Asia: a temperate evergreen coniferous forest, a tropical evergreen broadleaf forest, and a cool-temperate deciduous coniferous forest. The observational b ranged from 0.54 to 0.57 under unstable conditions. Although the values for observational b were within narrow ranges among the sites, there were slight site-specific differences. We introduced new expression of b, similarity b, based on scalar similarity using the integral turbulence characteristics to investigate the nature of b. Both the observational and similarity b increased with increasing atmospheric stability under stable conditions, when lower values for the standard deviation of the vertical wind velocity resulted in higher values for b. The variations in b under stable conditions differed among sites. There were no seasonal variations in the observational b at all sites. Consequently, the present study recommends determining the coefficient b for unstable conditions for each site and considering changes in b associated with atmospheric stability in order to minimize errors in the REA method.