Sea-floor videos and photographs (benthos) along 6 shelf profiles from the eastern Weddell Sea, Antarctica taken with remote operated vehicel CHEROKEE during Polarstern cruise ANT-XXI/2

The ROV operations had three objectives: (1) to check, whether the "Cherokee" system is suited for advanced benthological work in the high latitude Antarctic shelf areas; (2) to support the disturbance experiment, providing immediate visual Information; (3) to continue ecological work that started in 1989 at the hilltop situated at the northern margin of the Norsel Bank off the 4-Seasons Inlet (Weddell Sea). The "Cherokee" is was equipped with 3 video cameras, 2 of which support the operation. A high resolution Tritech Typhoon camera is used for scientific observations to be recorded. In addition, the ROV has a manipulator, a still camera, lights and strobe, compass, 2 lasers, a Posidonia transponder and an obstacle avoidance Sonar. The size of the vehicle is 160 X 90 X 90cm. In the present configuration without TMS (tether management system) the deployment has to start with paying out the full cable length, lay it in loops on deck and connect the glass fibres at the tether's spool winch. After a final technical check the vehicle is deployed into the water, actively driven perpendicular to the ship's axis and floatings are fixed to the tether. At a cable length of approx. 50 m, the tether is tightened to the depressor by several cable ties and both components are lowered towards the sea floor, the vehicle by the thruster's propulsion and the depressor by the ship's winch. At 5 m intervals the tether has to be tied to the single conductor cable. In good weather conditions the instruments supporting the navigation of the ROV, especially the Posidonia system, allow an operation mode to follow the ship's course if the ship's speed is slow. Together with the lasers which act as a scale in the images they also allow a reproducible scientific analysis since the transect can be plotted in a GIS system. Consequently, the area observed can be easily calculated. An operation as a predominantly drifting system, especially in areas with bottom near currents, is also possible, however, the connection of the tether at the rear of the vehicle is unsuitable for such conditions. The recovery of the system corresponds to that of the deployment. Most important is to reach the surface of the sea at a safe distance perpendicular to the ship's axis in order not to interfere with the ship's propellers. During this phase the Posidonia transponder system is of high relevance although it has to be switched off at a water depth of approx. 40 m. The minimum personal needed is 4 persons to handle the tether on deck, one person to operate the ship's winch, one pilot and one additional technician for the ROV's operation itself, one scientist, and one person on the ship's bridge in addition to one on deck for whale watching when the Posidonia system is in use. The time for the deployment of the ROV until it reaches the sea floor depends on the water depth and consequently on the length of the cable to be paid out beforehand and to be tightened to the single conductor cable. Deployment and recovery at intermediate water depths can last up to 2 hours each. A reasonable time for benthological observations close to the sea floor is 1 to 3 hours but can be extended if scientifically justified. Preliminary results: after a first test station, the ROV was deployed 3 times for observations related to the disturbance experiment. A first attempt to Cross the hilltop at the northern margin of the Norsel Bank close to the 4- Seasons Inlet was successful only for the first hundreds of metres transect length. The benthic community was dominated in biomass by the demosponge Cinachyra barbata. Due to the strong current of approx. 1 nm/h, the design of the system, and an expected more difficult current regime between grounded icebergs and the top of the hilltop the operation was stopped before the hilltop was reached. In a second attempt the hilltop was successfully crossed because the current and wind situation was much more suitable. In contrast to earlier expeditions with the "sprint" ROV it was the first time that both slopes, the smoother in the northeast and the steeper in the southwest were continuously observed during one cast. A coarse classification of the hilltop fauna shows patches dominated by single taxa: cnidarians, hydrozoans, holothurians, sea urchins and stalked sponges. Approximately 20 % of the north-eastern slope was devastated by grounding icebergs. Here the sediments consisted of large boulders, gravel or blocks of finer sediment looking like an irregularly ploughed field. On the Norsel Bank the Cinachyra concentrations were locally associated with high abundances of sea anemones. Total observation time amounted to 11.5 hours corresponding to almost 6-9 km transect length.

Self-organizing Routing Algorithm fo Wireless Sensors Networks (WSN) using Ant Colony Optimization (ACO) with Tinyos.

This paper describes the basic tools to work with wireless sensors. TinyOShas a componentbased architecture which enables rapid innovation and implementation while minimizing code size as required by the severe memory constraints inherent in sensor networks. TinyOS's component library includes network protocols, distributed services, sensor drivers, and data acquisition tools ? all of which can be used asia or be further refined for a custom application. TinyOS was originally developed as a research project at the University of California Berkeley, but has since grown to have an international community of developers and users. Some algorithms concerning packet routing are shown. Incar entertainment systems can be based on wireless sensors in order to obtain information from Internet, but routing protocols must be implemented in order to avoid bottleneck problems. Ant Colony algorithms are really useful in such cases, therefore they can be embedded into the sensors to perform such routing task.

Response threshold models, stochastic learning automata and ant colony optimization-based decentralized self-coordination algorithms for heterogeneous multi-tasks distribution in multi-robot systems

In recent decades, there has been an increasing interest in systems comprised of several autonomous mobile robots, and as a result, there has been a substantial amount of development in the eld of Articial Intelligence, especially in Robotics. There are several studies in the literature by some researchers from the scientic community that focus on the creation of intelligent machines and devices capable to imitate the functions and movements of living beings. Multi-Robot Systems (MRS) can often deal with tasks that are dicult, if not impossible, to be accomplished by a single robot. In the context of MRS, one of the main challenges is the need to control, coordinate and synchronize the operation of multiple robots to perform a specic task. This requires the development of new strategies and methods which allow us to obtain the desired system behavior in a formal and concise way. This PhD thesis aims to study the coordination of multi-robot systems, in particular, addresses the problem of the distribution of heterogeneous multi-tasks. The main interest in these systems is to understand how from simple rules inspired by the division of labor in social insects, a group of robots can perform tasks in an organized and coordinated way. We are mainly interested on truly distributed or decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all tasks are optimally distributed. In general, to perform the multi-tasks distribution among a team of robots, they have to synchronize their actions and exchange information. Under this approach we can speak of multi-tasks selection instead of multi-tasks assignment, which means, that the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation ix of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. In addition, it is very interesting the evaluation of the results in function in each approach, comparing the results obtained by the introducing noise in the number of pending loads, with the purpose of simulate the robot's error in estimating the real number of pending tasks. The main contribution of this thesis can be found in the approach based on self-organization and division of labor in social insects. An experimental scenario for the coordination problem among multiple robots, the robustness of the approaches and the generation of dynamic tasks have been presented and discussed. The particular issues studied are: Threshold models: It presents the experiments conducted to test the response threshold model with the objective to analyze the system performance index, for the problem of the distribution of heterogeneous multitasks in multi-robot systems; also has been introduced additive noise in the number of pending loads and has been generated dynamic tasks over time. Learning automata methods: It describes the experiments to test the learning automata-based probabilistic algorithms. The approach was tested to evaluate the system performance index with additive noise and with dynamic tasks generation for the same problem of the distribution of heterogeneous multi-tasks in multi-robot systems. Ant colony optimization: The goal of the experiments presented is to test the ant colony optimization-based deterministic algorithms, to achieve the distribution of heterogeneous multi-tasks in multi-robot systems. In the experiments performed, the system performance index is evaluated by introducing additive noise and dynamic tasks generation over time.

Abundance of copepods from multinet samples during POLARSTERN cruise ANT-XXII/2 (ISPOL)

The mesozooplankton community, with special emphasis on calanoid copepods, was studied with respect to its species composition, abundance, vertical distribution and developmental structure during the ISPOL expedition to the ice covered western Weddell Sea. Stratified zooplankton tows were carried out nine times between December 1, 2004 and January 2, 2005 with a multiple opening-closing net between 0 and 1000 m depth. Copepods were by far the most abundant taxon contributing more than 94% of the total mesozooplankton. Numerical dominants were cyclopoid copepods, mostly Oncaea spp. A total of 66 calanoid copepod species were identified, but the calanoid copepod community was characterised by the dominance of only a few species. The most numerous species was Microcalanus pygmaeus, which comprised on average 70% of all calanoids. Calanoides acutus and Metridia gerlachei represented other abundant calanoid species contributing an average of 8 and 7%, respectively. All other species comprised less than 3%. The temporal changes in the abundance and population structure of M. pygmaeus and M. gerlachei were small while a shift in the stage frequency distribution of C. acutus was observed during the study: CIV dominated the C. acutus population with 48 to 50% during the first week of December, while CV comprised 48% in late December. CI and CII of C. acutus were absent in the samples and males occurred only in very low numbers in greater depths. In M. gerlachei, CI was not found, whereas all developmental stages of M. pygmaeus occurred throughout the study. All three species showed migratory behaviour, and they occurred in upper water layers towards the end of the investigation. This vertical ascent was most pronounced in C. acutus and relatively weak in the other two species. In M. pygmaeus and M. gerlachei, copepodite stages were responsible for the upward migration in late December, while the vertical distribution of adults did not change. In C. acutus all abundant developmental stages (CIV, CV and females) ascended to upper water layers. Almost exclusively (93%) medium- and semi-ripe females of C. acutus and M. gerlachei were found, and only 3 - 4% of the ovaries were ripe. The absence of CI and the low number of ripe females indicate that the main reproductive period had not started in C. acutus and M. gerlachei until the end of our study in early January. In contrast, the high portion of CI and CII of M. pygmaeus suggests that reproduction of this species had started in October-November and hence, before the onset of the phytoplankton bloom in the water. The community structure did not differ between stations with one exception on December 26, when the station was strongly influenced by the continental shelf.

(Table 1) Number of invertebrate species per bottom trawl haul in the Kapp Norvegia to Halley Bay area on cruise EASIZ I (ANT-XIII/3) and in the Kapp Norvegia - Austasen area on cruise EASIZ III (ANT-XVII/3)

Ecological work carried out on the Antarctic and Magellan shelves since the first IBMANT conference held at the UMAG, Punta Arenas in 1997 is summarized to identify areas where progress has been made and others, where impor- tant gaps have remained in understanding past and present interaction between the Antarctic and the southern tip of South America. This information is complementary to a review on shallow-water work along the Scotia Arc (Barnes, 2005) and recent work done in the deep sea (Brandt and Hilbig, 2004). While principally referring to shipboard work in deeper water, above all during the recent international EASIZ and LAMPOS campaigns, relevant work from shore stations is also included. Six years after the first IBMANT symposium, significant progress has been made along the latitudinal gradient from the Magellan region to the high Antarctic in the fields of biodiversity, biogeography and community structure, life strategies and adaptations, the role of disturbance and its significance for biodiversity, and trophic coupling of the benthic realm with the water column and sea ice. A better understanding has developed of the role of evolutionary and ecological factors in shaping past and present-day environmental conditions, species composition and distribution, and ecosystem functioning. Furthermore, the science community engaged in unravelling Antarctic-Magellan interactions has advanced in methodological aspects such as new analytical approaches for comparing biodiversity derived from visual methods, growth and age determination, trophic modelling using stable isotope ratios, and molecular approaches for taxonomic and phylogenetic purposes. At the same time, much effort has been invested to complement the species inventory of the two adjacent regions. However, much work remains to be done to fill the numerous gaps. Some perspectives are outlined in this review, and sug- gestions are made where particular emphasis should be placed in future work, much of which will be developed in the frame of SCAR's EBA (Evolution and Biodiversity in the Antarctic) programme.

Abundance and characteristics of Polychaeta taxa and associated sediment during POLARSTERN campaign ANT-XXII/3 (ANDEEP-IIII)

During the austral summer of 2005, the Weddell deep sea and adjacent basins were sampled in the course of the ANDEEP III project. In this study, 19 epibenthic-sledge stations are analyzed, with a focus on species diversity and distribution patterns of polychaetes. The polychaete fauna of the deep Southern Ocean has been found to be similarly speciose and diverse compared with deep-sea basins worldwide. Also, in depths below 2,000 m many polychaete species do not seem to be endemic for certain areas but are rather far spread within the Southern Ocean and beyond. Therefore, ongoing faunal exchanges between adjacent basins, even beyond the Antarctic convergence, are strongly suggested, ruling out a general isolation of the Southern Ocean deep-sea benthos. Driving forces behind species distribution patterns were investigated. The findings indicate that polychaete species' distribution in the Southern Ocean deep sea is rather dependent on local environment than depths.

Nematode absolute densities and genus counts from four stations near the Antarctic Peninsula, collected with a multicorer device during POLARSTERN cruise ANT-XXIX/3 in January-March 2013

Marine free-living nematode communities were studied at similar depths (~500m) at two sides of the Antarctic Peninsula, characterised by different environmental and oceanographic conditions. At the Weddell Sea side, benthic communities are influenced by cold deep-water formation and seasonal sea-ice conditions, whereas the Drake Passage side experiences milder oceanic conditions and strong dynamics of the Antarctic Circumpolar Current. Surface primary productivity contrasted with observed benthic pigment patterns and varied according to the area studied: chlorophyll a concentrations (as a proxy for primary production) were high in the Weddell Sea sediments, but low in the surface waters above; this pattern was reversed in the Drake Passage. Differences between areas were largely mirrored by the nematode communities: nematode densities peaked in Weddell stations and showed deeper vertical occurrence in the sediment, associated with deeper penetration of chlorophyll a. Generic composition did not differ markedly between both areas, but rather showed distinct community shifts with depth in the sediment.