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  • Ice shelves  (2)
  • Marine robotics  (2)
  • Cambridge University Press  (2)
  • Wiley  (2)
  • Oxford University Press
  • 2020-2023  (4)
  • 1955-1959
  • 1
    Publication Date: 2022-10-26
    Description: © The Author(s), 2019. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Baker, M. G., Aster, R. C., Anthony, R. E., Chaput, J., Wiens, D. A., Nyblade, A., Bromirski, P. D., Gerstoft, P., & Stephen, R. A. Seasonal and spatial variations in the ocean-coupled ambient wavefield of the Ross Ice Shelf. Journal of Glaciology, 65(254), (2019): 912-925, doi:10.1017/jog.2019.64.
    Description: The Ross Ice Shelf (RIS) is host to a broadband, multimode seismic wavefield that is excited in response to atmospheric, oceanic and solid Earth source processes. A 34-station broadband seismographic network installed on the RIS from late 2014 through early 2017 produced continuous vibrational observations of Earth's largest ice shelf at both floating and grounded locations. We characterize temporal and spatial variations in broadband ambient wavefield power, with a focus on period bands associated with primary (10–20 s) and secondary (5–10 s) microseism signals, and an oceanic source process near the ice front (0.4–4.0 s). Horizontal component signals on floating stations overwhelmingly reflect oceanic excitations year-round due to near-complete isolation from solid Earth shear waves. The spectrum at all periods is shown to be strongly modulated by the concentration of sea ice near the ice shelf front. Contiguous and extensive sea ice damps ocean wave coupling sufficiently so that wintertime background levels can approach or surpass those of land-sited stations in Antarctica.
    Description: This research was supported by NSF grants PLR-1142518, 1141916, 1142126, 1246151 and 1246416. JC was additionally supported by Yates funds in the Colorado State University Department of Mathematics. PDB also received support from the California Department of Parks and Recreation, Division of Boating and Waterways under contract 11-106-107. We thank Reinhard Flick and Patrick Shore for their support during field work, Tom Bolmer in locating stations and preparing maps, and the US Antarctic Program for logistical support. The seismic instruments were provided by the Incorporated Research Institutions for Seismology (IRIS) through the PASSCAL Instrument Center at New Mexico Tech. Data collected are available through the IRIS Data Management Center under RIS and DRIS network code XH. The PSD-PDFs presented in this study were processed with the IRIS Noise Tool Kit (Bahavar and others, 2013). The facilities of the IRIS Consortium are supported by the National Science Foundation under Cooperative Agreement EAR-1261681 and the DOE National Nuclear Security Administration. The authors appreciate the support of the University of Wisconsin-Madison Automatic Weather Station Program for the data set, data display and information; funded under NSF grant number ANT-1543305. The Ross Ice Shelf profiles were generated using the Antarctic Mapping Tools (Greene and others, 2017). Regional maps were generated with the Generic Mapping Tools (Wessel and Smith, 1998). Topography and bathymetry data for all maps in this study were sourced from the National Geophysical Data Center ETOPO1 Global Relief Model (doi:10.7289/V5C8276M). We thank two anonymous reviewers for suggestions on the scope and organization of this paper.
    Keywords: Antarctic glaciology ; Ice shelves ; Seismology
    Repository Name: Woods Hole Open Access Server
    Type: Article
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  • 2
    Publication Date: 2022-10-26
    Description: © The Author(s), 2021. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Baker, M. G., Aster, R. C., Wiens, D. A., Nyblade, A., Bromirski, P. D., Gerstoft, P., & Stephen, R. A. Teleseismic earthquake wavefields observed on the Ross Ice Shelf. Journal of Glaciology, 67(261), (2021): 58-74, https://doi.org/10.1017/jog.2020.83.
    Description: Observations of teleseismic earthquakes using broadband seismometers on the Ross Ice Shelf (RIS) must contend with environmental and structural processes that do not exist for land-sited seismometers. Important considerations are: (1) a broadband, multi-mode ambient wavefield excited by ocean gravity wave interactions with the ice shelf; (2) body wave reverberations produced by seismic impedance contrasts at the ice/water and water/seafloor interfaces and (3) decoupling of the solid Earth horizontal wavefield by the sub-shelf water column. We analyze seasonal and geographic variations in signal-to-noise ratios for teleseismic P-wave (0.5–2.0 s), S-wave (10–15 s) and surface wave (13–25 s) arrivals relative to the RIS noise field. We use ice and water layer reverberations generated by teleseismic P-waves to accurately estimate the sub-station thicknesses of these layers. We present observations consistent with the theoretically predicted transition of the water column from compressible to incompressible mechanics, relevant for vertically incident solid Earth waves with periods longer than 3 s. Finally, we observe symmetric-mode Lamb waves generated by teleseismic S-waves incident on the grounding zones. Despite their complexity, we conclude that teleseismic coda can be utilized for passive imaging of sub-shelf Earth structure, although longer deployments relative to conventional land-sited seismometers will be necessary to acquire adequate data.
    Description: This research was supported by NSF grants PLR-1142518, 1141916, 1142126, 1246151, 1246416 and OPP-1744852 and 1744856.
    Keywords: Glacier geophysics ; Ice shelves ; Seismology
    Repository Name: Woods Hole Open Access Server
    Type: Article
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  • 3
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Rypkema, N., Schmidt, H., & Fischell, E. Synchronous-clock range-angle relative acoustic navigation: a unified approach to multi-AUV localization, command, control, and coordination. Journal of Field Robotics, 2(1), (2022): 774–806, https://doi.org/10.55417/fr.2022026.
    Description: This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communications, which becomes impractical with large vehicle numbers; or they require bi-directional intervehicle acoustic communications to achieve limited coordination when submerged, with limited scalability due to the physical properties of the acoustic channel. Our approach utilizes a single, periodically broadcasting beacon acting as a navigation reference for the group of AUVs, each of which carries a chip-scale atomic clock and fixed ultrashort baseline array of acoustic receivers. One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine their relative position to the beacon. The operator can command different vehicle behaviors by selecting between broadcast signals from a predetermined set, while coordination between AUVs is achieved without intervehicle communication by defining individual vehicle behaviors within the context of the group. Vehicle behaviors are designed within a beacon-centric moving frame of reference, allowing the operator to control the absolute position of the AUV group by repositioning the navigation beacon to survey the area of interest. Multiple deployments with a fleet of three miniature, low-cost SandShark AUVs performing closed-loop acoustic navigation in real-time provide experimental results validated against a secondary long-baseline positioning system, demonstrating the capabilities and robustness of our approach with real-world data.
    Description: This work was partially supported by the Office of Naval Research, the Defense Advanced Research Projects Agency, Lincoln Laboratory, and the Reuben F. and Elizabeth B. Richards Endowed Funds at WHOI.
    Keywords: Underwater robotics ; Navigation ; Multirobot systems ; Localization ; Marine robotics
    Repository Name: Woods Hole Open Access Server
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  • 4
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Billings, G., Walter, M., Pizarro, O., Johnson-Roberson, M., & Camilli, R. Towards automated sample collection and return in extreme underwater environments. Journal of Field Robotics, 2(1), (2022): 1351–1385, https://doi.org/10.55417/fr.2022045.
    Description: In this report, we present the system design, operational strategy, and results of coordinated multivehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of remotely operated vehicle (ROV) manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an analog to a planetary lander, which must be capable of high-level autonomy. Our field trials involve two underwater vehicles, the SuBastian ROV and the Nereid Under Ice (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous) missions, both equipped seven-degrees-of-freedom hydraulic manipulators. We describe an adaptable, hardware-independent computer vision architecture that enables high-level automated manipulation. The vision system provides a three-dimensional understanding of the workspace to inform manipulator motion planning in complex unstructured environments. We demonstrate the effectiveness of the vision system and control framework through field trials in increasingly challenging environments, including the automated collection and return of biological samples from within the active undersea volcano Kolumbo. Based on our experiences in the field, we discuss the performance of our system and identify promising directions for future research.
    Description: This work was funded under a NASA PSTAR grant, number NNX16AL08G, and by the National Science Foundation under grants IIS-1830660 and IIS-1830500. The authors would like to thank the Costa Rican Ministry of Environment and Energy and National System of Conservation Areas for permitting research operations at the Costa Rican shelf margin, and the Schmidt Ocean Institute (including the captain and crew of the R/V Falkor and ROV SuBastian) for their generous support and making the FK181210 expedition safe and highly successful. Additionally, the authors would like to thank the Greek Ministry of Foreign Affairs for permitting the 2019 Kolumbo Expedition to the Kolumbo and Santorini calderas, as well as Prof. Evi Nomikou and Dr. Aggelos Mallios for their expert guidance and tireless contributions to the expedition.
    Keywords: Underwater robotics ; Mobile manipulation ; Marine robotics ; Exploration
    Repository Name: Woods Hole Open Access Server
    Type: Article
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