Autonomous CTD Profiling from the Robotic Oceanographic Surface Sampler

Nash, Jonathan D.; Marion, J. R.; McComb, Nick; Nahorniak, Jasmine; Jackson, R. H.; Perren, Corwin; Winters, Dylan S.; Pickering, Andy; Bruslind, Jorian; Yong, Onn Lim; Lee, Sam

doi:10.5670/oceanog.2017.229

Cited by 10 publications

(6 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The near-terminus region was surveyed extensively with autonomous kayaks (Nash et al, 2017) over a 7-day period in September 2018 (Figure 1a). Within 350 m of the terminus, the kayaks collected 37 cross-fjord transects of velocity and 166 profiles of temperature and salinity.…”

Section: Autonomous Near-terminus Surveying At Leconte Glacier Alaskamentioning

confidence: 99%

Meltwater Intrusions Reveal Mechanisms for Rapid Submarine Melt at a Tidewater Glacier

Jackson

Nash

Kienholz

et al. 2020

Geophysical Research Letters

166

View full text Add to dashboard Cite

Submarine melting has been implicated as a driver of glacier retreat and sea level rise, but to date melting has been difficult to observe and quantify. As a result, melt rates have been estimated from parameterizations that are largely unconstrained by observations, particularly at the near‐vertical termini of tidewater glaciers. With standard coefficients, these melt parameterizations predict that ambient melting (the melt away from subglacial discharge outlets) is negligible compared to discharge‐driven melting for typical tidewater glaciers. Here, we present new data from LeConte Glacier, Alaska, that challenges this paradigm. Using autonomous kayaks, we observe ambient meltwater intrusions that are ubiquitous within 400 m of the terminus, and we provide the first characterization of their properties, structure, and distribution. Our results suggest that ambient melt rates are substantially higher (×100) than standard theory predicts and that ambient melting is a significant part of the total submarine melt flux. We explore modifications to the prevalent melt parameterization to provide a path forward for improved modeling of ocean‐glacier interactions.

show abstract

Section: Autonomous Near-terminus Surveying At Leconte Glacier Alaskamentioning

confidence: 99%

Meltwater Intrusions Reveal Mechanisms for Rapid Submarine Melt at a Tidewater Glacier

Jackson

Nash

Kienholz

et al. 2020

Geophysical Research Letters

166

View full text Add to dashboard Cite

show abstract

“…The second type of vehicle is the ROSS, shown in Figure 2b, which is an ASV developed at Oregon State University and has been used in oceanographic experiments in the Bay of Bengal (MacKinnon et al, 2016) and the Gulf of Alaska (Nash et al, 2017). Approximately 10 feet long, the ROSS is powered by a gasoline engine, and is capable of traveling up to about 1 m/s, with an endurance of 12–18 h depending on ocean conditions.…”

Section: System Overviewmentioning

confidence: 99%

Ocean front detection and tracking using a team of heterogeneous marine vehicles

McCammon

Santos

Frantz

et al. 2021

Journal of Field Robotics

View full text Add to dashboard Cite

Ocean monitoring is an expensive and time consuming endeavor, but it can be made more efficient through the use of teams of autonomous robots. In this paper, we present a system for the autonomous identification and tracking of ocean fronts by coordinating the sampling efforts of a heterogeneous team of autonomous surface vehicles (ASVs) and autonomous underwater vehicles (AUVs). The primary contributions of this study are (1) our algorithm for performing autonomous coordination using general autonomy principles: Sequential Allocation Monte Carlo Tree Search (SA‐MCTS) which incorporates domain knowledge into the environmental estimation through both augmenting a standard Gaussian process with a nearest neighbors prior and planning in a drifting reference frame, (2) our decision support user interface to help human operators oversee the autonomous system, and (3) the demonstration of the system's operation in a 2‐week long deployment in the Gulf of Mexico using a heterogeneous team of four Slocum gliders and two robotic ocean surface samplers. With these contributions, we aim to bridge the gap between state of the art autonomy algorithms and marine vehicle planning methods that have been tested in large‐scale field trials. This paper presents the first deployment of a general, heuristic‐based, multi‐robot coordination algorithm for an extended sampling mission.

show abstract

“…ROSS cruises autonomously at 2-3 m s −1 (Nash et al, 2017) with a towed thermistor string, a Teledyne RDI 300 kHz ADCP, and a Hemisphere Vector V102 differential GPS compass. ROSS surveyed along with Kemedukl, allowing for simultaneous measurements of submesoscale wake eddies at two nearby locations.…”

Section: Surveysmentioning

confidence: 99%

Energy and Momentum Lost to Wake Eddies and Lee Waves Generated by the North Equatorial Current and Tidal Flows at Peleliu, Palau

Johnston¹,

MacKinnon²,

Colin³

et al. 2019

Oceanog

Self Cite

View full text Add to dashboard Cite

Autonomous CTD Profiling from the Robotic Oceanographic Surface Sampler

Cited by 10 publications

References 2 publications

Meltwater Intrusions Reveal Mechanisms for Rapid Submarine Melt at a Tidewater Glacier

Meltwater Intrusions Reveal Mechanisms for Rapid Submarine Melt at a Tidewater Glacier

Ocean front detection and tracking using a team of heterogeneous marine vehicles

Energy and Momentum Lost to Wake Eddies and Lee Waves Generated by the North Equatorial Current and Tidal Flows at Peleliu, Palau

Contact Info

Product

Resources

About