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  • 1
    Publication Date: 2022-05-25
    Description: Author Posting. © The Author(s), 2010. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 29 (2010): 67-83, doi:10.1007/s10514-010-9187-y.
    Description: In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical inputs from submarine hot spring systems into the overlying ocean. The Woods Hole Oceanographic Institution's Autonomous Benthic Explorer (ABE) AUV has successfully localized previously undiscovered hydrothermal vent fields in several recent vent prospecting expeditions. These expeditions utilized the AUV for a three-stage, nested survey strategy approach (German et al., 2008). Each stage consists of a survey flown at successively deeper depths through easier to detect but spatially more constrained vent fluids. Ideally this sequence of surveys culminates in photographic evidence of the vent fields themselves. In this work we introduce a new adaptive strategy for an AUV's movement during the first, highest-altitude survey: the AUV initially moves along pre-designed tracklines but certain conditions can trigger an adaptive movement that is likely to acquire additional high value data for vent localization. The trigger threshold is changed during the mission, adapting the method to the different survey profiles the robot may find. The proposed algorithm is vetted on data from previous ABE missions and measures of efficiency presented.
    Keywords: AUV ; Adaptive survey ; Hydrothermal vents prospecting ; Chemical plume tracing
    Repository Name: Woods Hole Open Access Server
    Type: Preprint
    Format: application/pdf
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  • 2
    Publication Date: 2022-05-26
    Description: 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.
    Description: 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.
    Description: 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).
    Description: 2013-04-11
    Keywords: AUV ; Brothers volcano ; Hydrothermal systems ; Magnetic data inversion
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Format: text/plain
    Format: application/pdf
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