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     

Effect of open gap in coastal forest on tsunami run-up—investigations by experiment and numerical simulation

The objective of this study is to investigate the effects of an open gap, such as a road, in a coastal forest on tsunami run-up. A numerical model based on two-dimensional nonlinear long-wave equations was developed to account for the effects of drag and turbulence induced shear forces due to the presence of vegetation. Experiments were conducted on a forest simulated with vertical cylinders by changing the gap width. The numerical model was validated in good agreement with the experimental results. The numerical model was then applied to a wide forest of Pandanus odoratissimus, a tree species that is a dominant coastal vegetation on a sand dune in South and Southeast Asia. The effect of vertical stand characteristics of P. odoratissimus with aerial roots was considered on the drag resistance. A straight open gap perpendicular to the shoreline was used to investigate the effect of gap width. As the gap width increases, the flow velocity at the end of the open gap first increases, reaches a maximum, and then decreases, while the run-up height increases monotonously. The maximum velocity in the present condition is 1.7 times the maximum velocity without a coastal forest. The effects of different gap arrangements in the forest on tsunami run-up were also investigated in this paper. The flow velocity at the end of an open gap can be reduced by a staggered arrangement.     

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.     

A Preliminary Study of Oceanic Bomb Radiocarbon Inventory in the North Pacific during the Last Two Decades

Radiocarbon and total carbonate data were obtained near the 1973 GEOSECS stations in the North Pacific along 30°N and along 175°E between 1993 and 1994. In these stations, we estimated radiocarbon originating from atomic bomb tests using tritium, trichlorofluoromethane and silicate contents. The average penetration depth of bomb radiocarbon during the two decades has deepened from 900 m to 1300 m. Bomb radiocarbon inventories above the average value for the whole North Pacific were found widely in the western subtropical region around 30°N both in the 1970s and 1990s, and its area in the 1990s was broader than that in the 1970s. In most of the North Pacific, while the bomb radiocarbon has decreased above 25.4, the bomb radiocarbon flux below 25.4 was over 1 × 10¹² atom m^-2yr^-1 in the subtropical region around 30°N. In the tropical area south of 20°N, the bomb radiocarbon inventory below 25.4 increased from zero to over 10 × 10¹² atom m^-2 during the last three decades. These distributions suggest that the bomb radiocarbon removed from the surface is currently accumulated with bomb ¹⁴C flux of over 1 × 10¹² atom m^-2yr^-1 below 25.4 in the subtropical region, mainly by advection from the higher latitude, and that part of the accumulated bomb ¹⁴C gradually spread southward with about 30 years.     

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.     

Air-Sea Gas Transfer Velocity in Stormy Winter Estimated from Radon Deficiency

Thirteen vertical profiles of ²²⁶Ra and ²²²Rn in the near-surface water were obtained in the western North Pacific in winter, and the gas transfer velocities across the air-sea interface were estimated. The transfer velocities found by applying a steady state model varied widely from 2.1 to 30.2 m day⁻¹ with a mean of 9.4 m day⁻¹. The mean value is almost 5 times higher than that in summer in other oceans, and the maximum value is a record high for world oceans. This is partly due to the inadequacy of the steady state model, which overestimates when stronger winds blow in more recent days than the ²²²Rn half-life of about 4 days. In fact, a strong low pressure zone passed through the station about 2 days earlier, which was one of the low pressure zones that with a period of develop once a week or so in the northwestern North Pacific in winter. Instead of steady-state removal, if half of the radon removal occurred sporadically every 7 days, and the last removal took place two days before the observation, the transfer velocity would be 26 m day⁻¹. Our mean transfer velocity, which is less than 20% different from the steady state value including both overestimated and underestimated values, 9.4 ± 4.8 m day⁻¹, seems to represent the mean state of this region in winter. This suggests that the gas exchange fluxes under extremely rough conditions in the open ocean are larger than those estimated by using a transfer velocity equation with a linear or quadratic relationship with wind speed. This revised version was published online in July 2006 with corrections to the Cover Date.