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  • 1
    Publication Date: 2022-05-25
    Description: Author Posting. © The Author(s), 2015. 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 40 (2016): 1207–1227, doi:10.1007/s10514-016-9547-3.
    Description: Survey-class Autonomous Underwater Vehi- cles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid- water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Cur- rent Profiler (ADCP) mode of the DVL during descent, along with data from other sensors, the method dis- cussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Map- ping (SLAM) and on descents up to 3km deep with the Sentry AUV.
    Description: This work is supported in part by NCRIS IMOS, the Australian Research Council (ARC), the New South Wales Government and the Woods Hole Oceanographic Institution.
    Description: 2017-02-11
    Keywords: AUV ; ADCP ; Underwater ; Localization ; Mid-water ; Navigation
    Repository Name: Woods Hole Open Access Server
    Type: Preprint
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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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