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  • 1
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    A dual sensor device to estimate fluid flow velocity at diffuse hydrothermal vents (2010)
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    Publication Date: 2022-05-25
    Description: Author Posting. © The Author(s), 2009. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Deep Sea Research Part I: Oceanographic Research Papers 56 (2009): 2065-2074, doi:10.1016/j.dsr.2009.06.008.
    Description: Numerous attempts have been made over the last thirty years to estimate fluid flow rates at hydrothermal vents, either at the exit of black smoker chimneys or within diffuse flow areas. In this study, we combine two methods to accurately estimate fluid flow velocities at diffuse flow areas. While the first method uses a hot film anemometer that performs high frequency measurements, the second allows a relatively rapid assessment of fluid flow velocity through video imagery and provides in situ data to calibrate the sensor. Measurements of flow velocities on hydrothermal diffuse flow areas were obtained on the Mid-Atlantic Ridge (MAR). They range from 1.1 to 4.9 mm/sec., at the substratum level, in low temperature (4.5 to 16.4°C) diffuse flow areas from the Tour Eiffel sulfide edifice. A strong correlation was observed between fluid flow velocities and temperature, supporting the possible use of temperature as a proxy to estimate flow rates in diffuse flow areas where such a simple linear flow/temperature relation is shown to dominate.
    Description: The first part of this research was sponsored by a NOAA/NURP grant award #NA96RU0221 and NSF grant OCE-9901563 to MKT and JS. JS was also supported by a FCAR (Quebec) post-doctoral fellowship. The last part of the project was supported through the ANR DEEP OASES (ANR06 BDV005).
    Keywords: Fluid flow velocity ; Hydrothermal vent ; Hot film anemometer ; Video imagery ; Diffuse flow
    Repository Name: Woods Hole Open Access Server
    Type: Preprint
    Format: application/pdf
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  • 2
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    Map building fusing acoustic and visual information using autonomous underwater vehicles (2013)
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    Publication Date: 2022-05-25
    Description: Author Posting. © The Author(s), 2012. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 30 (2013): 763–783, doi:10.1002/rob.21473.
    Description: We present a system for automatically building 3-D maps of underwater terrain fusing visual data from a single camera with range data from multibeam sonar. The six-degree of freedom location of the camera relative to the navigation frame is derived as part of the mapping process, as are the attitude offsets of the multibeam head and the on-board velocity sensor. The system uses pose graph optimization and the square root information smoothing and mapping framework to simultaneously solve for the robot’s trajectory, the map, and the camera location in the robot’s frame. Matched visual features are treated within the pose graph as images of 3-D landmarks, while multibeam bathymetry submap matches are used to impose relative pose constraints linking robot poses from distinct tracklines of the dive trajectory. The navigation and mapping system presented works under a variety of deployment scenarios, on robots with diverse sensor suites. Results of using the system to map the structure and appearance of a section of coral reef are presented using data acquired by the Seabed autonomous underwater vehicle.
    Description: The work described herein was funded by the National Science Foundation Censsis ERC under grant number EEC-9986821, and by the National Oceanic and Atmospheric Administration under grant number NA090AR4320129.
    Repository Name: Woods Hole Open Access Server
    Type: Preprint
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  • 3
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    An entropic framework for AUV sensor modelling (2012)
    Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
    Details
    Publication Date: 2022-05-25
    Description: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Woods Hole Oceanographic Institution and the Massachusetts Institute of Technology May 1995
    Description: This thesis examines the general task of active sensing by defining a measure of efficiency for sensing in a particular environment. We focus on fine-scale acoustic mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of the acoustic sensing modality- are considered in defining an entropic measure of sensor efficiency. 675-kHz pencil-beam sonar data acquired using the JASON remotely operated vehicle in a challenging shallow water environment and 200-kHz echo-sounder data acquired using the ABE AUV are used to demonstrate the utility of the en tropic framework. We show the utility of an entropic framework for the following: (i) Optimizing the speed of the AUV for maximizing the information gathered with a particular sensor. (ii) the rate of convergence and the stability of our mapping efforts in the face of typical uncertainties in navigation and attitude; (iii) as a methodology for actual sensor deployment and use on a real vehicle; and (iv) in tasks such as post-mission analysis for applications such as change detection and path planning for subsequent missions.
    Description: Thanks to the Office of Naval Technology which paid for it all. This work was sponsored by ONT Contract# N00014-90-C-0098.
    Keywords: Detectors ; Imaging systems ; Coherence ; Optical oceanography
    Repository Name: Woods Hole Open Access Server
    Type: Thesis
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  • 4
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    Effusive and explosive volcanism on the ultraslow-spreading Gakkel Ridge, 85°E (2012)
    American Geophysical Union
    Details
    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 Geochemistry Geophysics Geosystems 13 (2012): Q10005, doi:10.1029/2012GC004187.
    Description: We use high-definition seafloor digital imagery and multibeam bathymetric data acquired during the 2007 Arctic Gakkel Vents Expedition (AGAVE) to evaluate the volcanic characteristics of the 85°E segment of the ultraslow spreading Gakkel Ridge (9 mm yr−1 full rate). Our seafloor imagery reveals that the axial valley is covered by numerous, small-volume (order ~1000 m3) lava flows displaying a range of ages and morphologies as well as unconsolidated volcaniclastic deposits with thicknesses up to 10 cm. The valley floor contains two prominent volcanic lineaments made up of axis-parallel ridges and small, cratered volcanic cones. The lava flows appear to have erupted from a number of distinct source vents within the ~12–15 km-wide axial valley. Only a few of these flows are fresh enough to have potentially erupted during the 1999 seismic swarm at this site, and these are associated with the Oden and Loke volcanic cones. We model the widespread volcaniclastic deposits we observed on the seafloor as having been generated by the explosive discharge of CO2 that accumulated in (possibly deep) crustal melt reservoirs. The energy released during explosive discharge, combined with the buoyant rise of hot fluid, lofted fragmented clasts of rapidly cooling magma into the water column, and they subsequently settled onto the seafloor as fall deposits surrounding the source vent.
    Description: We gratefully acknowledge the financial support of the National Aeronautics and Space Administration, the National Science Foundation (N.S.F.), the International Polar Year 2007–2008, and Woods Hole Oceanographic Institution; and the graduate support provided by N.S.F., the NDSEG Fellowship, and WHOI Deep Ocean Exploration Institute.
    Description: 2013-04-06
    Keywords: Mid-ocean ridge ; Seafloor morphology ; Submarine explosive volcanism ; Ultraslow spreading
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Format: text/plain
    Format: application/msword
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    Format: video/mp4
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