Adaptive Sampling In Ocean Observation

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Adaptive Sampling in Ocean ObservationYanwu Zhang*, James Bellingham, John Ryan,Julio Harvey, Robert McEwen, and Michael GodinMonterey Bay Aquarium Research InstituteNovember 2011

Outline Adaptive sampling Adapting sampling strategy based onobservations, to make observations more effective and efficient. Brief review of adaptive sampling for moored instruments Adaptive sampling for autonomous underwater vehicles (AUVs)o Capturing peak-chlorophyll water samples in a phytoplankton thin layero Tracking an upwelling fronto Targeted sampling when yo-yoing through distinct water columns Towards a synergistic adaptive ocean observing system (cabledobservatory AUVs)November 2011

Adaptive Sampling for Moored Instruments Increasing sensors’ sampling rate when some oceanographic event isdetected, e.g., on detection of internal waves [Irish et al., 1984]. Releasing profiling floats from a mooring when an eddy passes by[Bower et al., 2009].From Woods Hole Oceanographic Institution websitehttp://www.whoi.edu/oceanus/viewImage.do?id 58546&aid 34106November 2011

Phytoplankton Thin LayersFrom Ryan et al., Continental Shelf Research, Vol. 30, pp. 7-16, 2010.

MBARI Dorado AUVCourtesy of Larry Bird and Alana Sherman

An Adaptive Triggering Method for the Dorado AUV toCapture Peak-Chlorophyll Water Samples in a Phytoplankton Thin LayerPeak signal height savedin a sliding windowZhang, McEwen, Ryan, and Bellingham, IEEEJournal of Oceanic Engineering, Vol. 35, No. 4, pp.785-796, October 2010.delaytriggeringPeak detected at a delay, butthe peak height has been saved.time

Peak-Capture Performance in an AUV Mission in BloomEx in October 2010

Dorado AUV Used in the 2010 Gulf of MexicoOil Spill Response Scientific SurveyNovember 2011

Dorado AUV Survey TracksNovember 2011

Dorado AUV Survey TracksNovember 2011

Capturing Peak-CDOM-Signal Water Samples Using an AUVNovember 2011

Capturing Peak-CDOM Water SamplesY. Zhang, R. S. McEwen, J. P. Ryan, J. G. Bellingham, H. Thomas, C. H. Thompson, and E. Rienecker “APeak-Capture Algorithm Used on an Autonomous Underwater Vehicle in the Gulf of Mexico OilNovemberSpill 2011Response Scientific Survey,” Journal of Field Robotics, Vol. 28, No. 4, pp. 484-496, July/August 2011.

Coastal upwelling in Monterey BayNovember 2011

Tethys Long-Range AUVNovember 2011

Front-Tracking by the Tethys AUVNovember 2011

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Targeted Sampling when Yo-yoing throughThree Distinct Water Columns (Dorado AUV)AVHRR data courtesy of Kudela Lab (UCSC) and NOAA CoastWatchNovember 2011

Targeted Sampling when Yo-yoing throughThree Distinct Water Columns (Dorado AUV)November 2011

Peak-capture algorithm:[Zhang, McEwen,Ryan, and Bellingham,IEEE JOE, 2010]Chlorophyll bloomFrontVertically mixedupwelled waterFront detection:when horizontalgradient of (T5m-T20m)exceeds a threshold.Upwelling detection:when (T5m-T20m) 1 Clasting for a number ofAUV yo-yo profiles.

Towards Synergistic Adaptive Ocean Observation:Cabled Observatory AUVsNovember 2011

AUV Docking Autonomous homing and dockingBatteries rechargeData downloadMission uploadVehicle sleep/wakeupCode modification & recompileBellingham, Hobson, McEwen, and McBrideNovember 2011

AUV DockingBellingham, Hobson, McEwen, and McBrideNovember 2011

Summary Adaptive sampling techniques are important for both mooredinstruments and mobile platforms. Adaptive sampling algorithms we developed for AUVs have enabledaccurately targeted samplings in different water columns. On a cabled observatory that incorporates docked AUVs, adaptivetriggering/sampling techniques are key to efficient use of the system.November 2011

Acknowledgments The David and Lucile Packard Foundation F. Chavez, R. Vrijenhoek, and C. Scholin for helpful discussions. H. Thomas, D. Thompson, and D. Conlin for Dorado AUV operations T. Hoover, B. Kieft, B. Hobson, and D. Klimov for helping withthe planning and operation of the Tethys AUV missions. November 2011, ShanghaiNovember 2011

Adaptive sampling Adapting sampling strategy based on observations, to make observations more effective and efficient. Brief review of adaptive sampling for moored instruments Adaptive sampling for autonomous underwater vehicles (AUVs) o Capturing peak-chlorophyll water samples in a phytoplankton thin layer

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