Shortraker Rockfish, Sebastes borealis, Observed from a Manned Submersible

These are the first documented observations of shortraker rockfish, Sebastes borealis, in their natural habitat. The in situ observations were made from a manned submersible in 1991 in the eastern Gulf of Alaska. Eleven dives were completed from 207 to 357 m (679-1,171 feet); shortraker rockfish were observed during four dives. Their apparent indifference to the submersible allowed observations of their spatial distribution and habitat. The shortraker rockfish observed (20 total) were not schooled and were at least 50 m (164 feet) apart. Nineteen were on the bottom, and one was 0.5 m (20 inches) above the bottom. They were using 3-12° sloping terrain composed of either silt or pebbles interspersed with boulders (diameter 0.5-4.0 m (1.6-13 feet)); six were next to boulders.

Reactions of fishes to two underwater survey tools, a manned submersible and a remotely operated vehicle

We examined the reactions of fishes to a manned submersible and a remotely operated vehicle (ROV) during surveys conducted in habitats of rock and mud at depths of 30–408 m off central California in 2007. We observed 26 taxa for 10,550 fishes observed from the submersible and for 16,158 fishes observed from the ROV. A reaction was defined as a distinct movement of a fish that, for a benthic or hovering individual, was greater than one body length away from its initial position or, for a swimming individual, was a change of course or speed. Of the observed fishes, 57% reacted to the ROV and 11% reacted to the submersible. Aggregating species and those species initially observed off the seafloor reacted most often to both vehicles. Fishes reacted more often to each vehicle when they were >1 m above the seafloor (22% of all fishes >1 m above the seafloor reacted to the submersible and 73% to the ROV) than when they were in contact with the seafloor (2% of all reactions to the submersible and 18% to the ROV). Fishes reacted by swimming away from both vehicles rather than toward them. Consideration of these reactions can inform survey designs and selection of survey tools and can, thereby, increase the reliability of fish assemblage metrics (e.g., abundance, density, and biomass) and assessments of fish and habitat associations.

Multi-sensors data acquisition and information fusion for manned submersible vehicle

本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。

(Table 2) Biomass and size characteristics of Aurelia aurita in the Black Sea as determined from the Argus manned submersible

Based on estimate of Aurelia aurita concentration in the Black Sea from the Argus manned submersible in April-May 1984, as well as on author's data and published information on metabolic rate and feeding of medusa, biomass of medusa Aurelia aurita in the epipelagic zone of the Black Sea is estimated to be about 400 million tons of wet weight, and its mean annual production to be 400-900 million tons wet weight or about 1.1-2.5 million tons of organic carbon, equivalent to approximately 1-3% of primary production.

Integration of submersible transect data and high-resolution multibeam sonar imagery for a habitat-based groundfish assessment of Heceta Bank, Oregon

In the face of dramatic declines in groundfish populations and a lack of sufficient stock assessment information, a need has arisen for new methods of assessing groundfish populations. We describe the integration of seafloor transect data gathered by a manned submersible with high-resolution sonar imagery to produce a habitat-based stock assessment system for groundfish. The data sets used in this study were collected from Heceta Bank, Oregon, and were derived from 42 submersible dives (1988–90) and a multibeam sonar survey (1998). The submersible habitat survey investigated seafloor topography and groundfish abundance along 30-minute transects over six predetermined stations and found a statistical relationship between habitat variability and groundfish distribution and abundance. These transects were analyzed in a geographic information system (GIS) by using dynamic segmentation to display changes in habitat along the transects. We used the submersible data to extrapolate fish abundance within uniform habitat patches over broad areas of the bank by means of a habitat classification based on the sonar imagery. After applying a navigation correction to the submersible-based habitat segments, a good correlation with major boundaries on the backscatter and topographic boundaries on the imagery were apparent. Extrapolation of the extent of uniform habitats was made in the vicinity of the dive stations and a preliminary stock assessment of several species of demersal fish was calculated. Such a habitat-based approach will allow researchers to characterize marine communities over large areas of the seafloor.

(Table 2) Abundance of the main groups of planktonic animals in the 250-900 m water layer at the Broken Spur and Lost City sites according to visual counts from the Mir manned submersibles in 2002 and 2005

Three dives of the Mir manned submersibles with plankton counts and two vertical plankton hauls with a BR net were carried out above the Lost City (Atlantis underwater massif) and the Broken Spur hydrothermal fields during cruise 50 of R/V Akademik Mstislav Keldysh. Above the Atlantis seamount no significant increase in plankton concentration was found. Above the Lost City field horizontal heterogeneity of plankton distribution in the near-bottom layer and in overlying water layers was shown. Near-bottom aggregations of euphausiids and amphipods previously reported by other scientists seem to be related to attraction of these animals by the submersible's headlights rather than represent a natural phenomenon.

Biogeographic analysis of the Tortugas Ecological Reserve: Examining the refuge effect following reserve establishment

Almost 120 days at sea aboard three NOAA research vessels and one fishing vessel over the past three years have supported biogeographic characterization of Tortugas Ecological Reserve (TER). This work initiated measurement of post-implementation effects of TER as a refuge for exploited species. In Tortugas South, seafloor transect surveys were conducted using divers, towed operated vehicles (TOV), remotely operated vehicles (ROV), various sonar platforms, and the Deepworker manned submersible. ARGOS drifter releases, satellite imagery, ichthyoplankton surveys, sea surface temperature, and diver census were combined to elucidate potential dispersal of fish spawning in this environment. Surveys are being compiled into a GIS to allow resource managers to gauge benthic resource status and distribution. Drifter studies have determined that within the ~ 30 days of larval life stage for fishes spawning at Tortugas South, larvae could reach as far downstream as Tampa Bay on the west Florida coast and Cape Canaveral on the east coast. Together with actual fish surveys and water mass delineation, this work demonstrates that the refuge status of this area endows it with tremendous downstream spillover and larval export potential for Florida reef habitats and promotes the maintenance of their fish communities. In Tortugas North, 30 randomly selected, permanent stations were established. Five stations were assigned to each of the following six areas: within Dry Tortugas National Park, falling north of the prevailing currents (Park North); within Dry Tortugas National Park, falling south of the prevailing currents (Park South); within the Ecological Reserve falling north of the prevailing currents (Reserve North); within the Ecological Reserve falling south of the prevailing currents (Reserve South); within areas immediately adjacent to these two strata, falling north of the prevailing currents (Out North); and within areas immediately adjacent to these two strata, falling south of the prevailing currents (Out South). Intensive characterization of these sites was conducted using multiple sonar techniques, TOV, ROV, diver-based digital video collection, diver-based fish census, towed fish capture, sediment particle-size, benthic chlorophyll analyses, and stable isotope analyses of primary producers, fish, and, shellfish. In order to complement and extend information from studies focused on the coral reef, we have targeted the ecotone between the reef and adjacent, non-reef habitats as these areas are well-known in ecology for indicating changes in trophic relationships at the ecosystem scale. Such trophic changes are hypothesized to occur as top-down control of the system grows with protection of piscivorous fishes. Preliminary isotope data, in conjunction with our prior results from the west Florida shelf, suggest that the shallow water benthic habitats surrounding the coral reefs of TER will prove to be the source of a significant amount of the primary production ultimately fueling fish production throughout TER and downstream throughout the range of larval fish dispersal. Therefore, the status and influence of the previously neglected, non-reef habitat within the refuge (comprising ~70% of TER) appears to be intimately tied to the health of the coral reef community proper. These data, collected in a biogeographic context, employing an integrated Before-After Control Impact design at multiple spatial scales, leave us poised to document and quantify the postimplementation effects of TER. Combined with the work at Tortugas South, this project represents a multi-disciplinary effort of sometimes disparate disciplines (fishery oceanography, benthic ecology, food web analysis, remote sensing/geography/landscape ecology, and resource management) and approaches (physical, biological, ecological). We expect the continuation of this effort to yield critical information for the management of TER and the evaluation of protected areas as a refuge for exploited species. (PDF contains 32 pages.)

Demersal groundfish densities in trawlable and untrawlable habitats off Washington: implications for the estimation of habitat bias in trawl surveys

Demersal groundfish densities were estimated by conducting a visual strip-transect survey via manned submersible on the continental shelf off Cape Flattery, Washington. The purpose of this study was to evaluate the statistical sampling power of the submersible survey as a tool to discriminate density differences between trawlable and untrawlable habitats. A geophysical map of the study area was prepared with side-scan sonar imagery, multibeam bathymetry data, and known locations of historical NMFS trawl survey events. Submersible transects were completed at randomly selected dive sites located in each habitat type. Significant differences in density between habitats were observed for lingcod (Ophiodon elongatus), yelloweye rockfish (Sebastes ruberrimus), and tiger rockfish (S. nigrocinctus) individually, and for “all rockfish” and “all flatfish” in the aggregate. Flatfish were more than ten times as abundant in the trawlable habitat samples than in the untrawlable samples, whereas rockfish as a group were over three times as abundant in the untrawlable habitat samples. Guidelines for sample sizes and implications for the estimation of the continental shelf trawl-survey habitat-bias are considered. We demonstrate an approach that can be used to establish sample size guidelines for future work by illustrating the interplay between statistical sampling power and 1) habitat specific-density differences, 2) variance of density differences, and 3) the proportion of untrawlable area in a habitat.

Sedimentary processes and development of the Zenisu deep-sea channel, Philippine Sea

Zenisu deep-sea channel originated from a volcanic arc region, Izu-Ogasawara Island Arc, and vanished in the Shikoku Basin of the Philippine Sea. According to the swath bathymetry, the deep-sea channel can be divided into three,segments. They are Zenisu canyon, E-W fan channel and trough-axis channel. A lot of volcanic detritus were deposited in the Zenisu Trough via the deep-sea channel because it originated from volcanic arc settings. On the basis of the swath bathymetry, submersible and seismic reflection data, the deposits are characterized by turbidite and debrite deposits as those in the other major deep-sea channels. Erosion or few sediments were observed in the Zenisu canyon, whereas a lot of turbidites and debrites occurred in the E-W channel and trough axis channel. Cold seep communities, active fault and fluid flow were discovered along the lower slope of the Zenisu Ridge. Vertical sedimentary sequences in the Zenisu Trough consist of the four post-rift sequence units of the Shikoku Basin, among which Units A and B are two turbidite units. The development of Zenisu canyon is controlled by the N-S shear fault, the E-W fan channel is related to the E-W shear fault, and the trough-axis channel is related to the subsidence of central basin.

载人潜水器信息显示与存储技术

本文介绍了基于工业以太网的载人潜水器的信息显示与存储技术。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中数据信息流的传递显示与存储做了详细的介绍。目前,该系统已在水池中进行了实验,实验效果良好。

一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。

载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。