C-MORE 1: Dawn in the age of robotic oceanography

Oscar SchofieId
Scott
GIenn
Josh
Kohut
Oscar
SchofieId
HOW WE ARE TRAINED TO GO TO SEA
Ocean is hard to sampIe
CoIor vuriubiIity ut muItipIe scuIes
uround Tusmuniu from CZCS imuqe
Cuuses? Stronq winds, stronq
currents, bottom toqoqruphy, etc
$$
NATURAL VARIAILITY: Where do you put u moorinq? NATURAL VARIAILITY: Where do you put u moorinq?
Where do drive the ship? When shouId I be out there? Where do drive the ship? When shouId I be out there?
Thonks Mossion (MASA) ond WiIkins (Pufqers)
Sediment Transport Studies at LEO Site -earIy 1990's
Benthic Acoustic Stress Sensor (BASS) Tripod
Before and After Summer DepIoyment at LEO
BASS Tripod
For LEO-15
Late 1990's
Lesson: The importunce of huvinq u
continuous picture to the seu
MVCO/CBLAST
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Hudson River
Nested Ocean ModeIs
+
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S4DVAR procedure
Lagrange function
Lagrange multiplier
At extrema of , we require:
S4DVAR procedure:
(1) Choose an
(2) ntegrate NLROMS and compute J
(3) ntegrate ADROMS to get
(4) Compute
(5) Use a descent algorithmto determine a Ndown gradientcorrection to that will yield a
smaller value of J
(6) Back to (2) until converged


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Nested Models
Data Assimilation
4-D Forecasts
+
=
3-D Nowcasts
Remote Sensing Robots
OUR GENERATION WILL THE FIRST TO HAVE A WELL-SAMPLED OCEAN
W %housands of satellites
W uman launches in 100s
Space
W Millions of humans
W andful of Robots
Ocean
The ocean expIoration
paradigm must change
There are Iarge and medium There are Iarge and medium- -sized AUVs sized AUVs
Autosub
Southampton Oceanography Centre, UK
Martin-600
Maridan, Denmark
Hugin
Kongsberg Simrad, Norway
Odyssey
BlueIin Robotics, USA
Explorer Iamily
ISE Research, Canada
%hanks to Gwynn Griffiths
Slocum glider Rutgers University, USA
Spray glider, Scripps
The Mauve AUV
France
Remus - a 1.8 m long AUV
Hydroid Inc., USA
Gavia - a one person AUV
HaImynd, Iceland
C-Scout, IMD, Canada
Sea glider U. Washington & APL, USA
However AUVs do not need to be Iarge .
%hanks to Gwynn Griffiths
%he robots can cover a range of space and time
scales can be covered effectively
Moline & Schofield 2009 J. Atm Oce %ech
1E10 bioluminscent photons/s
Longitude
(~2km)
Latitude
(~5km)
D
e
p
t
h

(
m
)

0
15
Ship SampIing for BioIuminescent Photons
3E10 bioluminscent photons/s
.eons ore .ompIex ond hord fo sompIe: SmoII s.oIe voriobiIify
D
e
p
t
h

(
m
)

Longitude
(~500m)
Latitude
(~300m)
Robot SampIing for
BioIuminescent Photons
GIider Specs.
Length: 1.5 m
HuII Diameter: 21.3 cm
Weight: 52 kg
Science Bay Specs.
Length: 30 cm
Diameter: 21.3 cm
Max. PayIoad Weight: 4 kg
hat can we do? ill rapidly changing technology change our science?
=30 years ago
AppIe II introduces 4k
of memory
ill it be useful? Or will we be inducted into the patheon of the world's most useless inventions?
RU-COOL GIobaI SIocum GIider FIeet DepIoyments
Fleet Statistics:
W 259 Deployments
W 3987 n-water days
W 93000km flown (2.3 times around the Earth)
ridium and wireless comms allow distributed glider fleets to be controlled remotely.
Summer 2006 (NJ, Monterey, awaii)
Darwin's Odyssey - January 11, 2006
%he science interactions enabled through social network tools
Gliders can maintain a sustained presence. t directly complements the ARGO network which
collects hydrographic profiles providing a signature of a water mass. eavily weighted in time
to deep ocean. %he gliders can provide data across water masses allowing flux issues between
water masses.
Iiders cun provide u sustuined oceun presence ReqionuI time series in the Iiders cun provide u sustuined oceun presence ReqionuI time series in the
NorthEust United Stutes NorthEust United Stutes
Coordination PortaI
GoogIe Earth PIanning TooI
Interactive BIog - 127 Briefs
GIider FIeet Coordination
G||der # Dep|oyed 1ot Days 1ot D|st (km)
8u21 1 33 607
8u23 3 87 1382
uu 134 3 31 11113
8ass 3 31 332
Waldo 4 74 1476
Sam 2 39 677
1C1AL5 18 317 60055
Iiders cun provide un uduptive oceun presence An eumpIe of the Deep Iiders cun provide un uduptive oceun presence An eumpIe of the Deep
Horizon OiI SpiII Sprinq und Summer of Z010 Horizon OiI SpiII Sprinq und Summer of Z010
Deepwater Horizon OiI SpiII: Coordinated Rapid Response
Contributed Assets:
HF Radar Networks
USF, USM
GIiders
iRobot, Mote, Rutgers,
SIO, UDel, USF, Navy
Drifters & ProfiIers
Horizon Marine, Navy
SateIIite Imagery
CSTARS, UDel
Ocean Forecasts
Navy, NCSU
Data/Web Services
ASA, Rutgers, SIO
TropicaI Storm Bonnie crosses the GuIf of Mexico
USM HFR
USF HFR
TS Bonnie
USM HFR vaIidation of SABGOM Forecast
in region with sateIIite detected oiI sIicks
HFR used for OiI SIick Forecasts
by NOAA/NOS/OR&R
ou can send gIiders into conditions that University does not aIIow me
to send graduate students
Delaware Bay Buoy
Storm Peak Conditions
ind Speed = 16 m/s
ave eight = 3.8 m
Peak Period = 8 s
Backscatter 470 nm
%emperature
How much can you carry?
weather
mixing
actual
water column
physics
MSSON
PLANNNG
MCM, acoustic
propagation
Mean
water column
hydrography
2
nd
and higher
trophic levels
n situ
Acoustic
Field
MSSON
PLANNNG
Food webs, "Bio-clutter
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S
ow we fund the
sensor integration
phytoplankton
OP%CAL
PROPER%ES
MSSON
PLANNNG
MCM, DVER &
Luminscence detection
sediment
CDOM
Detritus
light
nutrients
rivers
Seasonal Seasonal climatologies climatologies (from 42 missions) (from 42 missions)
weather
mixing
actual
water column
physics
MSSON
PLANNNG
MCM, acoustic
propagation
Mean
water column
hydrography
2
nd
and higher
trophic levels
n situ
Acoustic
Field
MSSON
PLANNNG
Food webs, "Bio-clutter
E
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L
S
M
O
D
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L
S
ow we fund the
sensor integration
phytoplankton
OP%CAL
PROPER%ES
MSSON
PLANNNG
MCM, DVER &
Luminscence detection
sediment
CDOM
Detritus
light
nutrients
rivers
ChiPod attached to glider for 1 and 18 day missions
External Modular Sensors
weather
mixing
actual
water column
physics
MSSON
PLANNNG
MCM, acoustic
propagation
Mean
water column
hydrography
2
nd
and higher
trophic levels
n situ
Acoustic
Field
MSSON
PLANNNG
Food webs, "Bio-clutter
E
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O
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S
M
O
D
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L
S
ow we fund the
sensor integration
phytoplankton
OP%CAL
PROPER%ES
MSSON
PLANNNG
MCM, DVER &
Luminscence detection
sediment
CDOM
Detritus
light
nutrients
rivers
CDOM
Backscatter
salinity
Ed491 (nm)
Kd491 (nm)
0
0.5
1
1.5
2
400 500 600 700
WaveIength (nm)
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Phytoplankton Group 1
Phytoplankton Group 2
Phytoplankton Group 3
CDOM
Detritus
20
10
0
10 25 >35
phytoplankton (440
nm)
D
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(
m
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5 10 15 20
5 10 15 20
27 30 >33
20
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20
10
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35 50 >60
CDOM (440 nm)
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Distance OIIshore
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Phytoplankton communities
Phytoplankton biomass
Phtyoplankton
response
%o passage of
Nor'Easter
storm
- Z3. 92 -Z 3.91 -Z3. 9 -Z 3.89 - Z3.8 8 -Z3.8Z -Z 3.8
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Towed MCM detection system
MIREM ApriI 2005
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again.
Clear water
Real water
ApriI 26, 2005 ApriI 26, 2005
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it again.
Clear water Real water
ApriI 24, 2005 ApriI 24, 2005
probabiIity of detection
at an aItitude of 10m
off bottom
Red = poor detection
%he Problem: hat can you see?
elicopter or diver..
weather
mixing
actual
water column
physics
MSSON
PLANNNG
MCM, acoustic
propagation
Mean
water column
hydrography
2
nd
and higher
trophic levels
n situ
Acoustic
Field
MSSON
PLANNNG
Food webs, "Bio-clutter
E
C
O
S

S
T
E
M
E
C
O
S

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A
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A
G
E
M
E
N
T
M
O
D
E
L
S
M
O
D
E
L
S
ow we fund the
sensor integration
phytoplankton
OP%CAL
PROPER%ES
MSSON
PLANNNG
MCM, DVER &
Luminscence detection
sediment
CDOM
Detritus
light
nutrients
rivers
Oxygen
oing after biological rates: Oxygen concentration and potentially
production over time
temperature
Fv/Fm
0
.
5
0
.
1
-
0
.
5
1
weather
mixing
actual
water column
physics
MSSON
PLANNNG
MCM, acoustic
propagation
Mean
water column
hydrography
2
nd
and higher
trophic levels
n situ
Acoustic
Field
MSSON
PLANNNG
Food webs, "Bio-clutter
E
C
O
S

S
T
E
M
E
C
O
S

S
T
E
M
M
A
N
A
G
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M
E
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A
N
A
G
E
M
E
N
T
M
O
D
E
L
S
M
O
D
E
L
S
ow we fund the
sensor integration
phytoplankton
OP%CAL
PROPER%ES
MSSON
PLANNNG
MCM, DVER &
Luminscence detection
sediment
CDOM
Detritus
light
nutrients
rivers
W June '06 UR visits Rutgers with
hydrophone
W August '06 ydrophone attached to
glider for 15 minute segment
W Sept. '06 ydrophone attached to
glider for 14 day mission
W April '07 UR visits Rutgers for two
days of experiments to test beam
forming capability
Proposed location but
vibrations from glider
contaminated acoustic
signals
Final configuration with hydrophone
towed behind glider with no rigid
connection between the two
Future focus areas will be on recording
marine sounds with specific focus on
higher trophic levels.
160 Acoustic pings from
transmitter over 2 hour period
NOAA National Marine Fisheries Service (NMFS) Collaboration
Vemco "Fish Finder Attached to glider for 1 and 12 day missions
External Modular Sensors
So what are some of the future developments?
%he hurdles are the limits we constrain on ourselves
Modeling assimilative efforts will require many gliders carrying different sensors,
thus they must fly as a swarm. Also the gliders swarms must be distributed to the
span regional scales relevant to ecosystems
The ongoing deveIopment of gIider swarms (ONR S06, MUR and Moore Foundation)
FIying swarms is doabIe
S06 Glider Statistics
- Deployments: 17
- Km Flown: >6,500
- C%D Profiles: >51,000
- Calendar Days: 93
- Glider Days: 360
GIiders fIying a distributed sensor
net coIIecting coherent data
(Antarctic 2010)
SHAREM 150 (GIenn et aI)
Sargasso Sea Front
Sargasso Sea Front
Sargasso Sea Front
CoId Core Eddy CoId Core Eddy
CoId Core Eddy
Warm Core Remnant Warm Core Remnant
Warm Core Remnant
mpact of data glider swarms are available now: ere 4 gliders changed Naval tactics
during a submarine war game 64 times in 1 month.
ere glider looked at its own data to make a decision underwater on its own.
%he glider brains will be key to provide adaptive sampling of ocean features
of high science priority
%hanks to Kremer et al . (Rutgers) & NSF Computer Sciences Directorate
I walk into our control room with its panoply of views
of the sea. There are the updated global pictures from
the remote sensors on satellites there the evolving
maps of subsurface variables there the charts that
show the position and status of all our $locum scientific
platforms and I am satisfied that we are looking at the
ocean more intensely and more deeply than anyone
anywhere else." Henry StommeI
Duwn in the uqe of observutories
THANK OU
Lessons Ieurned:
1) It tukes yeurs to buiId un inteqruted observinq
network, qood pIun is to set uside ~ b yrs
Z) Puy-off is worth it, however wuitinq for muturution
cun be sIow,
3) Puy-off is discoverinq unepected thinqs
4) Puy-off is qoinq to seu EVERY duy