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© The Author(s), 2017. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of FIeld Robotics 35 (2018): 421-434, doi:10.1002/rob.21746., This paper extends the progress of single beacon one‐way‐travel‐time (OWTT) range measurements for constraining XY position for autonomous underwater vehicles (AUV). Traditional navigation algorithms have used OWTT measurements to constrain an inertial navigation system aided by a Doppler Velocity Log (DVL). These methodologies limit AUV applications to where DVL bottom‐lock is available as well as the necessity for expensive strap‐down sensors, such as the DVL. Thus, deep water, mid‐water column research has mostly been left untouched, and vehicles that need expensive strap‐down sensors restrict the possibility of using multiple AUVs to explore a certain area. This work presents a solution for accurate navigation and localization using a vehicle's odometry determined by its dynamic model velocity and constrained by OWTT range measurements from a topside source beacon as well as other AUVs operating in proximity. We present a comparison of two navigation algorithms: an Extended Kalman Filter (EKF) and a Particle Filter(PF). Both of these algorithms also incorporate a water velocity bias estimator that further enhances the navigation accuracy and localization. Closed‐loop online field results on local waters as well as a real‐time implementation of two days field trials operating in Monterey Bay, California during the Keck Institute for Space Studies oceanographic research project prove the accuracy of this methodology with a root mean square error on the order of tens of meters compared to GPS position over a distance traveled of multiple kilometers., This work was supported in part through funding from the Weston Howland Jr. Postdoctoral Scholar Award (BCC), the U.S. Navy's Civilian Institution program via the MIT/WHOI Joint Program (JHK),W. M. Keck Institute for Space Studies, and theWoods Hole Oceanographic Institution.

Author Posting. © The Oceanography Society, 2017. This article is posted here by permission of The Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 30, no. 2 (2017): 160–168, doi:10.5670/oceanog.2017.238., Future ocean observing systems will rely heavily on autonomous vehicles to achieve the persistent and heterogeneous measurements needed to understand the ocean’s impact on the climate system. The day-to-day maintenance of these arrays will become increasingly challenging if significant human resources, such as manual piloting, are required. For this reason, techniques need to be developed that permit autonomous determination of sampling directives based on science goals and responses to in situ, remote-sensing, and model-derived information. Techniques that can accommodate large arrays of assets and permit sustained observations of rapidly evolving ocean properties are especially needed for capturing interactions between physical circulation and biogeochemical cycling. Here we document the first field program of the Satellites to Seafloor project, designed to enable a closed loop of numerical model prediction, vehicle path-planning, in situ path implementation, data collection, and data assimilation for future model predictions. We present results from the first of two field programs carried out in Monterey Bay, California, over a period of three months in 2016. While relatively modest in scope, this approach provides a step toward an observing array that makes use of multiple information streams to update and improve sampling strategies without human intervention., This work is funded by the Keck Institute for Space Studies (generously supported by the W.M. Keck Foundation) through the project “Science-driven Autonomous and Heterogeneous Robotic Networks: A Vision for Future Ocean Observation”

Author Posting. © American Geophysical Union, 2016. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geochemistry, Geophysics, Geosystems 17 (2016): 1435–1453, doi:10.1002/2015GC006144., Time-series measurements of diffuse exit-fluid temperature and velocity collected with a new, deep-sea camera, and temperature measurement system, the Diffuse Effluent Measurement System (DEMS), were examined from a fracture network within the ASHES hydrothermal field located in the caldera of Axial Seamount, Juan de Fuca Ridge. The DEMS was installed using the HOV Alvin above a fracture near the Phoenix vent. The system collected 20 s of 20 Hz video imagery and 24 s of 1 Hz temperature measurements each hour between 22 July and 2 August 2014. Fluid velocities were calculated using the Diffuse Fluid Velocimetry (DFV) technique. Over the ∼12 day deployment, median upwelling rates and mean fluid temperature anomalies ranged from 0.5 to 6 cm/s and 0°C to ∼6.5°C above ambient, yielding a heat flux of 0.29 ± 0.22 MW m−2 and heat output of 3.1± 2.5 kW. Using a photo mosaic to measure fracture dimensions, the total diffuse heat output from cracks across ASHES field is estimated to be 2.05 ± 1.95 MW. Variability in temperatures and velocities are strongest at semidiurnal periods and show significant coherence with tidal height variations. These data indicate that periodic variability near Phoenix vent is modulated both by tidally controlled bottom currents and seafloor pressure, with seafloor pressures being the dominant influence. These results emphasize the importance of local permeability on diffuse hydrothermal venting at mid-ocean ridges and the need to better quantify heat flux associated with young oceanic crust., NSF Grant Numbers: OCE-1131772, OCE-1131455, OCE-1337473; University of Washington, and the NSF award Grant Number: OCE-0957938, 2016-10-27

Author Posting. © American Geophysical Union, 2016. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geophysical Research Letters 43 (2016): 6205–6211, doi:10.1002/2016GL069430., High-resolution geophysical data have been collected using the Autonomous Underwater Vehicle (AUV) Sentry over the ASHES (Axial Seamount Hydrothermal Emission Study) high-temperature (~348°C) vent field at Axial Seamount, on the Juan de Fuca Ridge. Multiple surveys were performed on a 3-D grid at different altitudes above the seafloor, providing an unprecedented view of magnetic data resolution as a function of altitude above the seafloor. Magnetic data derived near the seafloor show that the ASHES field is characterized by a zone of low magnetization, which can be explained by hydrothermal alteration of the host volcanic rocks. Surface manifestations of hydrothermal activity at the ASHES vent field are likely controlled by a combination of local faults and fractures and different lava morphologies near the seafloor. Three-dimensional inversion of the magnetic data provides evidence of a vertical, pipe-like upflow zone of the hydrothermal fluids with a vertical extent of ~100 m., Royal Society of New Zealand Grant Number: GNS1003; New Zealand Ministry of Business, Innovation and Employment (MBIE) Grant Numbers: OCE-1131455, OCE-1337473, OCE-1131772; NSF, 2016-12-24

© The Author(s), 2015. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of Field Robotics 32 (2015): 632–654, doi:10.1002/rob.21572., We report the derivation and experimental evaluation of a stable adaptive identifier to estimate rigid body rotations using rotors in Geometric Algebra (GA). This work is motivated by the need for in situ estimation of the alignment between sensors commonly used in underwater vehicle navigation. Here we derive an adaptive identifier using a geometric interpretation of the error to drive first-order rotor kinematics. We prove that it is Lyapunov stable, and we show that it is asymptotically stable in the presence of persistent excitation. We use the identifier to estimate the alignment between the Doppler velocity log sonar and the fiber optic gyrocompass used by underwater vehicles for dead reckoning (DR). We evaluate this method in the laboratory with a remotely operated vehicle (ROV), and then with an autonomous underwater vehicle (AUV) operating in the field at 1,200 m depth. Our results show that this technique reduces dead reckoning navigation errors on these platforms and provides comparable performance to previously reported SO(3) constrained Linear Algebra (LA) approaches. The rotor identifier has a number of advantages over these previously reported methods, including a more straightforward derivation, simpler gain tuning, increased computational efficiency, and reduced data manipulation., This work was supported in part by the National Defense Science and Engineering Graduate Program (MJS), the Edwin A. Link Foundation (MJS), the WHOI Academic Programs Office (MJS), The Jessie B. Cox Endowed Fund in Support of Scientific Staff (JCK), and The Penzance Endowed Fund in Support of Assistant Scientists (JCK).

Author Posting. © American Geophysical Union, 2013. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geochemistry, Geophysics, Geosystems 14 (2013): 4667–4680, doi:10.1002/ggge.20278., Catastrophic collapses of submarine volcanoes have the potential to generate major tsunami, threatening many coastal populations. Recognizing the difficulties surrounding anticipations of these events, quantitative assessment of collapse-prone regions based on detailed morphological, geological, and geophysical mapping can still provide important information about the hazards associated with these collapses. Rumble III is one of the shallowest, and largest, submarine volcanoes found along the Kermadec arc, and is both volcanically and hydrothermally active. Previous surveys have delineated major collapse features at Rumble III; based on time-lapse bathymetry, dramatic changes in the volcano morphology have been shown to have occurred over the interval 2007–2009. Furthermore, this volcano is located just ∼300 km from the east coast of the North Island of New Zealand. Here, we present a geophysical model for Rumble III that provides the locations and sizes of potential weak regions of this volcano. Shipborne and near-seafloor geological and geophysical data collected by the AUV Sentry are used to determine the subsurface distribution of weak and unstable volcanic rocks. The resulting model provides evidence for potentially unstable areas located in the Southeastern flank of this volcano which should be included in future hazard predictions., This contribution was funded by the Royal Society of New Zealand by theMarsden Fund (grant GNS1003)., 2014-04-18

Catastrophic collapses of submarine volcanoes have the potential to generate major tsunami, threatening many coastal populations. Recognizing the difficulties surrounding anticipations of these events, quantitative assessment of collapse-prone regions based on detailed morphological, geological, and geophysical mapping can still provide important information about the hazards associated with these collapses. Rumble III is one of the shallowest, and largest, submarine volcanoes found along the Kermadec arc, and is both volcanically and hydrothermally active. Previous surveys have delineated major collapse features at Rumble III; based on time-lapse bathymetry, dramatic changes in the volcano morphology have been shown to have occurred over the interval 2007–2009. Furthermore, this volcano is located just ∼300 km from the east coast of the North Island of New Zealand. Here, we present a geophysical model for Rumble III that provides the locations and sizes of potential weak regions of this volcano. Shipborne and near-seafloor geological and geophysical data collected by the AUV Sentry are used to determine the subsurface distribution of weak and unstable volcanic rocks. The resulting model provides evidence for potentially unstable areas located in the Southeastern flank of this volcano which should be included in future hazard predictions.

Understanding the global carbon budget and its changes is crucial to current and future life on Earth. The marine component represents the largest reservoir of the global carbon cycle. In addition to physical processes that govern carbon fluxes at the air-sea interface and regulate the atmospheric carbon budget, complex internal sources and sinks, including inorganic, geologic, microbiological and biological processes also impact carbon distributions and storage. Therefore, it is essential to observe and understand the whole system. This is a daunting task, as many of the processes are distributed throughout the ocean, laterally and vertically over scales ranging from centimeters to thousands of kilometers. Ship and satellite observations both offer a partial view but, for ships, are either too short term and localized and satellites, despite their large spatial coverage, lack the spatial resolution. Ocean robots, such as deep diving autonomous underwater vehicles (AUVs) and gliders, provide in-situ observations of the seafloor and water column while the surface can be observed in-situ by autonomous surface vehicles (ASVs). Presently, these assets are used disparately with each operating independently and requiring direct human intervention for data interpretation and mission retasking. This paradigm is insufficient for the task of obtaining the millions of in-situ and remote measurements necessary for quantifying the ocean’s contribution to the global carbon cycle. This study brings together scientists, who understand the imperative and scope of quantifying the global carbon budget, with technologists, who may be able to glimpse a possible way of solving it. A coordinated network of ocean robots and satellites that autonomously interpret data and communicate sampling strategies could significantly advance our ability to monitor the marine carbon (and other biogeochemical) cycles. The principal goal of this study is to determine whether emerging technologies could e

Author Posting. © American Geophysical Union, 2012. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Journal of Geophysical Research 117 (2012): B10102, doi:10.1029/2012JB009349., We describe and apply a new inversion method for 3-D modeling of magnetic anomalies designed for general application but which is particularly useful for the interpretation of near-seafloor magnetic anomalies. The crust subsurface is modeled by a set of prismatic cells, each with uniform magnetization, that together reproduce the observed magnetic field. This problem is linear with respect to the magnetization, and the number of cells is normally greater than the amount of available data. Thus, the solution is obtained by solving an under-determined linear problem. A focused solution, exhibiting sharp boundaries between different magnetization domains, is obtained by allowing the amplitudes of magnetization to vary between a pre-determined range and by minimizing the region of the 3-D space where the source shows large variations, i.e., large gradients. A regularization functional based on a depth-weighting function is also introduced in order to counter-act the natural decay of the magnetic field intensity with depth. The inversion method has been used to explore the characteristics of the submarine hydrothermal system of Brothers volcano in the Kermadec arc, by inverting near-bottom magnetic data acquired by Autonomous Underwater Vehicles (AUVs). Different surface expressions of the hydrothermal vent fields show specific vertical structures in their underlying demagnetization regions that we interpret to represent hydrothermal upflow zones. For example, at focused vent sites the demagnetized conduits are vertical, pipe-like structures extending to depths of ~1000 m below the seafloor, whereas at diffuse vent sites the demagnetization regions are characterized by thin and inclined conduits., This contribution was made possible through funding by the New Zealand Foundation for Research, Science and Technology (FRST contract C05X0406) and by the Royal Society of New Zealand by the Marsden Fund (grant GNS1003)., 2013-04-11

This paper reports the results of sea trials of the Nereus hybrid underwater robotic vehicle (HROV) conducted in May and June 2009 in the Challenger Deep of the Mariana Trench, where the vehicle successfully performed scientific observation and sampling operations at hadal depths of 10,903 m. The Nereus underwater vehicle is designed to perform scientific survey and sampling to the full depth of the ocean - significantly deeper than the depth capability of all other present-day operational vehicles. For comparison, the second deepest underwater vehicle currently operational worldwide can dive to 7,000 m maximum depth. Nereus operates in two different modes. For broad-area survey, the vehicle can operate untethered as an autonomous underwater vehicle (AUV) capable of exploring and mapping the sea floor with sonars and cameras. Nereus can be converted at sea to become a remotely operated vehicle (ROV) to enable close-up imaging and sampling. The ROV configuration incorporates a lightweight fiber-optic tether for high-bandwidth, real-time video and data telemetry to the surface enabling highquality teleoperation. A manipulator, lightweight hydraulic power unit, and sampling instruments are added to provide sampling capabilities. This paper reports a brief overview of the Nereus vehicle design, and reviews the initial results of the eight dives conducted on this expedition, including two dives to more than 10,900 m depth. The Nereus vehicle is designed to render all parts of the Earth's seafloor reachable and the sea trials of its fullocean depth capability in May and June 2009 were successful., See also ADM202806. Proceedings of the Oceans 2009 MTS/IEEE Conference held in Biloxi, Mississippi on 26-29 October 2009. U.S. Government or Federal Purpose Rights License. The original document contains color images.

Author Posting. © American Geophysical Union, 2008. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geochemistry Geophysics Geosystems 9 (2008):Q11T04, doi:10.1029/2008GC002070., Four seafloor benchmarks were deployed with ROV Jason2 at frequently visited areas along the northern East Pacific Rise (NEPR) ridge crest near 9°50′N, within the Ridge2000 EPR integrated study site (ISS) bull's eye. When used in concert with established deep-ocean acoustic positioning techniques, these benchmarks provide navigational infrastructure to facilitate the integration of near-bottom data at this site by allowing efficient and quantitative coregistration of data and observations collected on multiple dives and over multiple cruises. High-resolution, near-bottom multibeam bathymetric surveys also were conducted along and across the ridge crest to provide a morphological and geological context for the benchmark areas. We describe the navigation and data processing techniques used to constrain the benchmark positions and outline operational details to effectively use benchmarks at this and other deep-ocean sites where multidisciplinary time series studies are conducted. The well-constrained positions of the benchmarks provide a consistent geospatial framework that can be used to limit navigational uncertainties during seafloor sampling and mapping programs and enable accurate spatial coregistration and integration of observations. These data are important to test a range of multidisciplinary hypotheses that seek to link geological, chemical, and biological processes associated with crustal accretion and energy transfer from the mantle to the hydrosphere at mid-ocean ridges.

Author Posting. © The Authors, 2010. This is the author's version of the work. It is posted here by permission of National Academy of Sciences for personal use, not for redistribution. The definitive version was published in Proceedings of the National Academy of Sciences of the United States of America 107 (2010): 14020-14025, doi:10.1073/pnas.1009205107., Thirty years after the first discovery of high-temperature submarine venting, the vast majority of the global Mid Ocean Ridge remains unexplored for hydrothermal activity. Of particular interest are the world’s ultra-slow spreading ridges which were the last to be demonstrated to host high-temperature venting, but may host systems particularly relevant to pre-biotic chemistry and the origins of life. Here we report first evidence for diverse and very deep hydrothermal vents along the ~110 km long, ultra-slow spreading Mid-Cayman Rise. Our data indicate that the Mid- Cayman Rise hosts at least three discrete hydrothermal sites, each representing a different type of water-rock interaction, including both mafic and ultra-mafic systems and, at ~5000 m, the deepest known hydrothermal vent. Although submarine hydrothermal circulation, in which seawater percolates through and reacts with host lithologies, occurs on all mid-ocean ridges, the diversity of vent-types identified here and their relative geographic isolation make the Mid-Cayman Rise unique in the oceans. These new sites offer prospects for: an expanded range of vent-fluid compositions; varieties of abiotic organic chemical synthesis and extremophile microorganisms; and unparalleled faunal biodiversity - all in close proximity., This research was funded through NASA (ASTEP) and WHOI (Ocean Ridge Initiative).

This paper reports an overview of the new Nereus hybrid underwater vehicle and summarizes the vehicle's performance during its first sea trials in November 2007. Nereus is a novel operational underwater vehicle designed to perform scientific survey and sampling to the full depth of the ocean of 11,000 meters -- almost twice the depth of any present-day operational vehicle. Nereus operates in two different modes. For broad area survey, the vehicle can operate untethered as an autonomous underwater vehicle (AUV) capable of exploring and mapping the sea floor with sonars and cameras. For close up imaging and sampling, Nereus can be converted at sea to operate as a tethered remotely operated vehicle (ROV). This paper reports the overall vehicle design and design elements including ceramic pressure housings and flotation spheres; manipulator and sampling system; light fiber optic tether; lighting and imaging; power and propulsion; navigation; vehicle dynamics and control; and acoustic communications., Presented at the IEEE/MTS Oceans Conference held in Quebec City, Canada on 15-18 Sep 2008. Published in the Proceedings of the IEEE/MTS Oceans Conference, 2008. Sponsored in part by NSF and NOAA. The original document contains color images.

Four seafloor benchmarks were deployed with ROV Jason2 at frequently visited areas along the northern East Pacific Rise (NEPR) ridge crest near 9°50′N, within the Ridge2000 EPR integrated study site (ISS) bull's eye. When used in concert with established deep-ocean acoustic positioning techniques, these benchmarks provide navigational infrastructure to facilitate the integration of near-bottom data at this site by allowing efficient and quantitative coregistration of data and observations collected on multiple dives and over multiple cruises. High-resolution, near-bottom multibeam bathymetric surveys also were conducted along and across the ridge crest to provide a morphological and geological context for the benchmark areas. We describe the navigation and data processing techniques used to constrain the benchmark positions and outline operational details to effectively use benchmarks at this and other deep-ocean sites where multidisciplinary time series studies are conducted. The well-constrained positions of the benchmarks provide a consistent geospatial framework that can be used to limit navigational uncertainties during seafloor sampling and mapping programs and enable accurate spatial coregistration and integration of observations. These data are important to test a range of multidisciplinary hypotheses that seek to link geological, chemical, and biological processes associated with crustal accretion and energy transfer from the mantle to the hydrosphere at mid-ocean ridges.