A demonstration of wireless sensing for long-term monitoring of water quality

At a time when technological advances are providing new sensor capabilities, novel network capabilities, long-range communications technologies and data interpreting and delivery formats via the World Wide Web, we never before had such opportunities to sense and analyse the environment around us. However, the challenges exist. While measurement and detection of environmental pollutants can be successful under laboratory-controlled conditions, continuous in-situ monitoring remains one of the most challenging aspects of environmental sensing. This paper describes the development and test of a multi-sensor heterogeneous real-time water monitoring system. A multi-sensor system was deployed in the River Lee, County Cork, Ireland to monitor water quality parameters such as pH, temperature, conductivity, turbidity and dissolved oxygen. The R. Lee comprises of a tidal water system that provides an interesting test site to monitor. The multi-sensor system set-up is described and results of the sensor deployment and the various challenges are discussed.

Swordfish: an Autonomous Surface Vehicle for Network Centric Operations

The design and development of the swordfish autonomous surface vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).

High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle

This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.

TEC4SEA - A Modular Platform for Research, Test and Validation of Technologies Supporting a Sustainable Blue Economy

This paper presents the TEC4SEA research infrastructure created in Portugal to support research, development, and validation of marine technologies. It is a multidisciplinary open platform, capable of supporting research, development, and test of marine robotics, telecommunications, and sensing technologies for monitoring and operating in the ocean environment. Due to the installed research facilities and its privileged geographic location, it allows fast access to deep sea, and can support multidisciplinary research, enabling full validation and evaluation of technological solutions designed for the ocean environment. It is a vertically integrated infrastructure, in the sense that it possesses a set of skills and resources which range from pure conceptual research to field deployment missions, with strong industrial and logistic capacities in the middle tier of prototype production. TEC4SEA is open to the entire scientific and enterprise community, with a free access policy for researchers affiliated with the research units that ensure its maintenance and sustainability. The paper describes the infrastructure in detail, and discusses associated research programs, providing a strategic vision for deep sea research initiatives, within the context of both the Portuguese National Ocean Strategy and European Strategy frameworks.

Shipboard Techniques for Oceanographic Observations

This report gives the details of water sampling methods and chemical analyses used during MLML participation in the EOS MODIS investigations. It is intended to be used as a reference manual for those engaged in shipboard work. (PDF contains 50 pages)

Analytical intercomparison results from the 1990 Intergovernmental Oceanographic Commission open-ocean baseline survey for trace metals: Atlantic Ocean

“Dissolved” (< 0.4 μm filtered) and “total dissolvable” (unfiltered) trace element samples were collected using “clean” sampling techniques from four vertical profiles in the eastern Atlantic Ocean on the first IOC Trace Metals Baseline expedition. The analytical results obtained by 9 participating laboratories for Mn, Fe, Co, Ni, Cu, Zn, Cd, Pb, and Se on samples from station 4 in the northeast Atlantic have been evaluated with respect to accuracy and precision (intercomparability). The data variability among the reporting laboratories was expressed as 2 × SD for a given element and depth, and was comparable to the 95% confidence interval reported for the NASS seawater reference standards (representing analytical variability only). The discrepancies between reporting laboratories appear to be due to inaccuracies in standardization (analytical calibration), blank correction, and/or extraction efficiency corrections.Several of the sampling bottles used at this station were not adequately pre-cleaned (anomalous Pb results). The sample filtration process did not appear to have been a source of contamination for either dissolved or particulate trace elements. The trace metal profiles agree in general with previously reported profiles from the Atlantic Ocean. We conclude that the sampling and analytical methods we have employed for this effort, while still in need of improvement, are sufficient for obtaining accurate concentration data on most trace metals in the major water masses of the oceans, and to enable some evaluation of the biogeochemical cycling of the metals.

Development of Time - Frequency Techniques for Sonar Applications

Sonar signal processing comprises of a large number of signal processing algorithms for implementing functions such as Target Detection, Localisation, Classification, Tracking and Parameter estimation. Current implementations of these functions rely on conventional techniques largely based on Fourier Techniques, primarily meant for stationary signals. Interestingly enough, the signals received by the sonar sensors are often non-stationary and hence processing methods capable of handling the non-stationarity will definitely fare better than Fourier transform based methods.Time-frequency methods(TFMs) are known as one of the best DSP tools for nonstationary signal processing, with which one can analyze signals in time and frequency domains simultaneously. But, other than STFT, TFMs have been largely limited to academic research because of the complexity of the algorithms and the limitations of computing power. With the availability of fast processors, many applications of TFMs have been reported in the fields of speech and image processing and biomedical applications, but not many in sonar processing. A structured effort, to fill these lacunae by exploring the potential of TFMs in sonar applications, is the net outcome of this thesis. To this end, four TFMs have been explored in detail viz. Wavelet Transform, Fractional Fourier Transfonn, Wigner Ville Distribution and Ambiguity Function and their potential in implementing five major sonar functions has been demonstrated with very promising results. What has been conclusively brought out in this thesis, is that there is no "one best TFM" for all applications, but there is "one best TFM" for each application. Accordingly, the TFM has to be adapted and tailored in many ways in order to develop specific algorithms for each of the applications.

Satellite borne radar altimetry : empirical orbit refinement and ocean signal recovery techniques

Measurements of the sea surface obtained by satellite borne radar altimetry are irregularly spaced and contaminated with various modelling and correction errors. The largest source of uncertainty for low Earth orbiting satellites such as ERS-1 and Geosat may be attributed to orbital modelling errors. The empirical correction of such errors is investigated by examination of single and dual satellite crossovers, with a view to identifying the extent of any signal aliasing: either by removal of long wavelength ocean signals or introduction of additional error signals. From these studies, it was concluded that sinusoidal approximation of the dominant one cycle per revolution orbit error over arc lengths of 11,500 km did not remove a significant mesoscale ocean signal. The use of TOPEX/Poseidon dual crossovers with ERS-1 was shown to substantially improve the radial accuracy of ERS-1, except for some absorption of small TOPEX/Poseidon errors. The extraction of marine geoid information is of great interest to the oceanographic community and was the subject of the second half of this thesis. Firstly through determination of regional mean sea surfaces using Geosat data, it was demonstrated that a dataset with 70cm orbit error contamination could produce a marine geoid map which compares to better than 12cm with an accurate regional high resolution gravimetric geoid. This study was then developed into Optimal Fourier Transform Interpolation, a technique capable of analysing complete altimeter datasets for the determination of consistent global high resolution geoid maps. This method exploits the regular nature of ascending and descending data subsets thus making possible the application of fast Fourier transform algorithms. Quantitative assessment of this method was limited by the lack of global ground truth gravity data, but qualitative results indicate good signal recovery from a single 35-day cycle.

Using multifractals to evaluate oceanographic model skill

We are in an era of unprecedented data volumes generated from observations and model simulations. This is particularly true from satellite Earth Observations (EO) and global scale oceanographic models. This presents us with an opportunity to evaluate large scale oceanographic model outputs using EO data. Previous work on model skill evaluation has led to a plethora of metrics. The paper defines two new model skill evaluation metrics. The metrics are based on the theory of universal multifractals and their purpose is to measure the structural similarity between the model predictions and the EO data. The two metrics have the following advantages over the standard techniques: a) they are scale-free, b) they carry important part of information about how model represents different oceanographic drivers. Those two metrics are then used in the paper to evaluate the performance of the FVCOM model in the shelf seas around the south-west coast of the UK.

Using multifractals to evaluate oceanographic model skill

We are in an era of unprecedented data volumes generated from observations and model simulations. This is particularly true from satellite Earth Observations (EO) and global scale oceanographic models. This presents us with an opportunity to evaluate large scale oceanographic model outputs using EO data. Previous work on model skill evaluation has led to a plethora of metrics. The paper defines two new model skill evaluation metrics. The metrics are based on the theory of universal multifractals and their purpose is to measure the structural similarity between the model predictions and the EO data. The two metrics have the following advantages over the standard techniques: a) they are scale-free, b) they carry important part of information about how model represents different oceanographic drivers. Those two metrics are then used in the paper to evaluate the performance of the FVCOM model in the shelf seas around the south-west coast of the UK.

Multi-Disciplinary Applications of Oceanographic Geophysical Data Collection

Thesis (Ph.D.)--University of Washington, 2016-08