Persistent ocean monitoring with underwater gliders : towards accurate reconstruction of dynamic ocean processes

Ocean processes are dynamic and complex events that occur on multiple different spatial and temporal scales. To obtain a synoptic view of such events, ocean scientists focus on the collection of long-term time series data sets. Generally, these time series measurements are continually provided in real or near-real time by fixed sensors, e.g., buoys and moorings. In recent years, an increase in the utilization of mobile sensor platforms, e.g., Autonomous Underwater Vehicles, has been seen to enable dynamic acquisition of time series data sets. However, these mobile assets are not utilized to their full capabilities, generally only performing repeated transects or user-defined patrolling loops. Here, we provide an extension to repeated patrolling of a designated area. Our algorithms provide the ability to adapt a standard mission to increase information gain in areas of greater scientific interest. By implementing a velocity control optimization along the predefined path, we are able to increase or decrease spatiotemporal sampling resolution to satisfy the sampling requirements necessary to properly resolve an oceanic phenomenon. We present a path planning algorithm that defines a sampling path, which is optimized for repeatability. This is followed by the derivation of a velocity controller that defines how the vehicle traverses the given path. The application of these tools is motivated by an ongoing research effort to understand the oceanic region off the coast of Los Angeles, California. The computed paths are implemented with the computed velocities onto autonomous vehicles for data collection during sea trials. Results from this data collection are presented and compared for analysis of the proposed technique.

Persistent ocean monitoring with underwater gliders : adapting sampling resolution

Ocean processes are dynamic, complex, and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dynamic data acquisition approach. However, we still do not utilize the full capabilities of these vehicles. Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses a pressing need among ocean scientists to efficiently and effectively collect high-value data. More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor a patch of ocean. We optimize a cost function that blends two competing factors: maximize the information value along the path, while minimizing deviation from the planned path due to ocean currents. Speed is controlled along the planned path by adjusting the pitch angle of the underwater glider, so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long-term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California, as well as in Monterey Bay, California. The experimental results show significant improvements in data resolution and path reliability compared to previously executed sampling paths used in the respective regions.

A novel satellite-based ocean monitoring system for Mexico

To analyze patterns in marine productivity, harmful algal blooms, thermal stress in coral reefs, and oceanographic processes, optical and biophysical marine parameters, such as sea surface temperature, and ocean color products, such as chlorophyll-a concentration, diffuse attenuation coefficient, total suspended matter concentration, chlorophyll fluorescence line height, and remote sensing reflectance, are required. In this paper we present a novel automatic Satellite-based Ocean Monitoring System (SATMO) developed to provide, in near real-time, continuous spatial data sets of the above-mentioned variables for marine-coastal ecosystems in the Gulf of Mexico, northeastern Pacific Ocean, and western Caribbean Sea, with 1 km spatial resolution. The products are obtained from Moderate Resolution Imaging Spectroradiometer (MODIS) images received at the Direct Readout Ground Station (located at CONABIO) after each overpass of the Aqua and Terra satellites. In addition, at the end of each week and month the system provides composite images for several ocean products, as well as weekly and monthly anomaly composites for chlorophyll-a concentration and sea surface temperature. These anomaly data are reported for the first time for the study region and represent valuable information for analyzing time series of ocean color data for the study of coastal and marine ecosystems in Mexico, Central America, and the western Caribbean.

Data assimilation for marine monitoring and prediction: The MERCATOR operational assimilation systems and the MERSEA developments

During the past 15 years, a number of initiatives have been undertaken at national level to develop ocean forecasting systems operating at regional and/or global scales. The co-ordination between these efforts has been organized internationally through the Global Ocean Data Assimilation Experiment (GODAE). The French MERCATOR project is one of the leading participants in GODAE. The MERCATOR systems routinely assimilate a variety of observations such as multi-satellite altimeter data, sea-surface temperature and in situ temperature and salinity profiles, focusing on high-resolution scales of the ocean dynamics. The assimilation strategy in MERCATOR is based on a hierarchy of methods of increasing sophistication including optimal interpolation, Kalman filtering and variational methods, which are progressively deployed through the Syst`eme d’Assimilation MERCATOR (SAM) series. SAM-1 is based on a reduced-order optimal interpolation which can be operated using ‘altimetry-only’ or ‘multi-data’ set-ups; it relies on the concept of separability, assuming that the correlations can be separated into a product of horizontal and vertical contributions. The second release, SAM-2, is being developed to include new features from the singular evolutive extended Kalman (SEEK) filter, such as three-dimensional, multivariate error modes and adaptivity schemes. The third one, SAM-3, considers variational methods such as the incremental four-dimensional variational algorithm. Most operational forecasting systems evaluated during GODAE are based on least-squares statistical estimation assuming Gaussian errors. In the framework of the EU MERSEA (Marine EnviRonment and Security for the European Area) project, research is being conducted to prepare the next-generation operational ocean monitoring and forecasting systems. The research effort will explore nonlinear assimilation formulations to overcome limitations of the current systems. This paper provides an overview of the developments conducted in MERSEA with the SEEK filter, the Ensemble Kalman filter and the sequential importance re-sampling filter.

Networked robotic sensor platform deployments for use in coastal environmental assessment in southern California

Mobile sensor platforms such as Autonomous Underwater Vehicles (AUVs) and robotic surface vessels, combined with static moored sensors compose a diverse sensor network that is able to provide macroscopic environmental analysis tool for ocean researchers. Working as a cohesive networked unit, the static buoys are always online, and provide insight as to the time and locations where a federated, mobile robot team should be deployed to effectively perform large scale spatiotemporal sampling on demand. Such a system can provide pertinent in situ measurements to marine biologists whom can then advise policy makers on critical environmental issues. This poster presents recent field deployment activity of AUVs demonstrating the effectiveness of our embedded communication network infrastructure throughout southern California coastal waters. We also report on progress towards real-time, web-streaming data from the multiple sampling locations and mobile sensor platforms. Static monitoring sites included in this presentation detail the network nodes positioned at Redondo Beach and Marina Del Ray. One of the deployed mobile sensors highlighted here are autonomous Slocum gliders. These nodes operate in the open ocean for periods as long as one month. The gliders are connected to the network via a Freewave radio modem network composed of multiple coastal base-stations. This increases the efficiency of deployment missions by reducing operational expenses via reduced reliability on satellite phones for communication, as well as increasing the rate and amount of data that can be transferred. Another mobile sensor platform presented in this study are the autonomous robotic boats. These platforms are utilized for harbor and littoral zone studies, and are capable of performing multi-robot coordination while observing known communication constraints. All of these pieces fit together to present an overview of ongoing collaborative work to develop an autonomous, region-wide, coastal environmental observation and monitoring sensor network.

Glider path-planning for optimal sampling of mesocale eddies

Ocean gliders constitute an important advance in the highly demanding ocean monitoring scenario. Their effciency, endurance and increasing robustness make these vehicles an ideal observing platform for many long term oceanographic applications. However, they have proved to be also useful in the opportunis-tic short term characterization of dynamic structures. Among these, mesoscale eddies are of particular interest due to the relevance they have in many oceano-graphic processes.

PICES Press, Vol. 12, No. 1, January 2004

The state of PICES science - 2003 (pdf 281 KB) 2003 Wooster Award (pdf 764 KB) The state of the eastern North Pacific through summer 2003 (pdf 448 KB) The Bering Sea: Current status and recent events (pdf 951 KB) The state of the western North Pacific in the first half of 2003 (pdf 684 KB) The status of oceanic zooplankton in the eastern North Pacific (pdf 390 KB) The precautionary approach to the PDO (pdf 976 KB) Photo highlights of PICES XII (pdf 2.79 MB) William G. Pearcy: Renaissance oceanographer (pdf 2.86 MB) KORDI/PICES/CoML Workshop on "Variability and status of the Yellow Sea and East China Sea ecosystems (pdf 785 KB) PICES/IOC Workshop on "Harmful algal blooms - Harmonization of data" (pdf 330 KB) From physics to predators: Monitoring North Pacific ecosystem dynamics (pdf 270 KB) Toward a coast-wide network of Northeast Pacific coastal-ocean monitoring programs - a brief workshop report (pdf 640) PICES publications (pdf 103 KB) PICES calendar (pdf 45 KB)

Temperature conditions in the cold pool 1977-81: A comparison between Southern New England and New York transects

Expendable bathythermograph data collected by the Ships of Opportunity (SOOP) - Ocean Monitoring Program are analyzed for seasonal and inter-annual variations of the cold pool. Two major SOOP transects within the Middle Atlantic Bight (Southern New England and New York) have been analyzed for the years common to both (1977-81). During the years 1977-81, over 200 transects were occupied, and almost 3,000 XBT's were dropped. Results show that the cold pool is formed with the onset of spring warming and persists until fall overturn, is consistent year to year in both area and weighted average annual temperature, and advects water from the northeast to the southwest. Results also show a 100-d lag in minimum temperature between the Southern New England and New York transects. DitTerences in bathymetry between the two transects and their influence on the cold pool are also discussed. Plots of average (1977-81) bottom temperature for both transects are discussed and show consistent annual weighted mean temperature and areas. Bottom temperature plots for individual years, as well as maximum and minimum bottom temperature plots, are presented as Appendix figures. (PDF file contains 28 pages.)

A Survey on Underwater Acoustic Sensor Network Routing Protocols

Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

Extending persistent monitoring by combining ocean models and Markov decision processes

Ocean processes are complex and have high variability in both time and space. Thus, ocean scientists must collect data over long time periods to obtain a synoptic view of ocean processes and resolve their spatiotemporal variability. One way to perform these persistent observations is to utilise an autonomous vehicle that can remain on deployment for long time periods. However, such vehicles are generally underactuated and slow moving. A challenge for persistent monitoring with these vehicles is dealing with currents while executing a prescribed path or mission. Here we present a path planning method for persistent monitoring that exploits ocean currents to increase navigational accuracy and reduce energy consumption.

Toward a High-Resolution Monitoring of Continental Surface Water Extent and Dynamics, at Global Scale: from GIEMS (Global Inundation Extent from Multi-Satellites) to SWOT (Surface Water Ocean Topography)

Up to now, high-resolution mapping of surface water extent from satellites has only been available for a few regions, over limited time periods. The extension of the temporal and spatial coverage was difficult, due to the limitation of the remote sensing technique e.g., the interaction of the radiation with vegetation or cloud for visible observations or the temporal sampling with the synthetic aperture radar (SAR)]. The advantages and the limitations of the various satellite techniques are reviewed. The need to have a global and consistent estimate of the water surfaces over long time periods triggered the development of a multi-satellite methodology to obtain consistent surface water all over the globe, regardless of the environments. The Global Inundation Extent from Multi-satellites (GIEMS) combines the complementary strengths of satellite observations from the visible to the microwave, to produce a low-resolution monthly dataset () of surface water extent and dynamics. Downscaling algorithms are now developed and applied to GIEMS, using high-spatial-resolution information from visible, near-infrared, and synthetic aperture radar (SAR) satellite images, or from digital elevation models. Preliminary products are available down to 500-m spatial resolution. This work bridges the gaps and prepares for the future NASA/CNES Surface Water Ocean Topography (SWOT) mission to be launched in 2020. SWOT will delineate surface water extent estimates and their water storage with an unprecedented spatial resolution and accuracy, thanks to a SAR in an interferometry mode. When available, the SWOT data will be adopted to downscale GIEMS, to produce a long time series of water surfaces at global scale, consistent with the SWOT observations.

Linking elements of the Integrated Ocean Observing System (IOOS) with the planned National Water Quality Monitoring Network. Proceedings from the NOAA-Supported workshop 19-21 September 2005

The National Oceanic and Atmospheric Administration (NOAA), in cooperation with the New Jersey Marine Sciences Consortium (NJMSC), hosted a workshop at Rutgers University on 19-21 September 2005 to explore ways to link the U.S. Integrated Ocean Observing System (IOOS) to the emerging infrastructure of the National Water Quality Monitoring Network (NWQMN). Participating partners included the Mid-Atlantic Coastal Ocean Observing Regional Association, U.S. Geological Survey, Rutgers University Coastal Ocean Observing Laboratory, and the New Jersey Sea Grant College. The workshop was designed to highlight the importance of ecological and human health linkages in the movement of materials, nutrients, organisms and contaminants along the Delaware Bay watershed-estuary-coastal waters gradient (hereinafter, the “Delaware Bay Ecosystem [DBE]”), and to address specific water quality issues in the mid-Atlantic region, especially the area comprising the Delaware River drainage and near-shore waters. Attendees included federal, state and municipal officials, coastal managers, members of academic and research institutions, and industry representatives. The primary goal of the effort was to identify key management issues and related scientific questions that could be addressed by a comprehensive IOOS-NWQMN infrastructure (US Commission on Ocean Policy 2004; U.S. Ocean Action Plan 2004). At a minimum, cooperative efforts among the three federal agencies (NOAA, USGS and EPA) involved in water quality monitoring were required. Further and recommended by the U.S. Commission on Ocean Policy, outreach to states, regional organizations, and tribes was necessary to develop an efficient system of data gathering, quality assurance and quality control protocols, product development, and information dissemination.