Adaptive Sampling in Ocean Observation Yanwu Zhang*, James Bellingham, John Ryan, Julio Harvey, Robert McEwen, and Michael Godin
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1 Adaptive Sampling in Ocean Observation Yanwu Zhang*, James Bellingham, John Ryan, Julio Harvey, Robert McEwen, and Michael Godin Monterey Bay Aquarium Research Institute
2 Outline 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 o Tracking an upwelling front o Targeted sampling when yo-yoing through distinct water columns Towards a synergistic adaptive ocean observing system (cabled observatory + AUVs)
![Adaptive Sampling for Moored Instruments Increasing sensors sampling rate when some oceanographic event is detected, e.g., on detection of internal waves [Irish et al., 1984].](/docs-images/85/92888996/images/3-1.jpg "Releasing profiling floats from a mooring when an eddy passes by [Bower et al., 2009]. From Woods Hole Oceanographic Institution website http://www.whoi.edu/oceanus/viewimage.do?")
3 Adaptive Sampling for Moored Instruments Increasing sensors sampling rate when some oceanographic event is detected, 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 website
4 Phytoplankton Thin Layers From Ryan et al., Continental Shelf Research, Vol. 30, pp. 7-16, 2010.
5 MBARI Dorado AUV Courtesy of Larry Bird and Alana Sherman
6 An Adaptive Triggering Method for the Dorado AUV to Capture Peak-Chlorophyll Water Samples in a Phytoplankton Thin Layer Peak signal height saved in a sliding window Zhang, McEwen, Ryan, and Bellingham, IEEE Journal of Oceanic Engineering, Vol. 35, No. 4, pp , October delay Peak detected at a delay, but the peak height has been saved. triggering time
7 Peak-Capture Performance in an AUV Mission in BloomEx in October 2010
8 Dorado AUV Used in the 2010 Gulf of Mexico Oil Spill Response Scientific Survey
9 Dorado AUV Survey Tracks
10 Dorado AUV Survey Tracks
11 Capturing Peak-CDOM-Signal Water Samples Using an AUV
12 Capturing Peak-CDOM Water Samples Y. Zhang, R. S. McEwen, J. P. Ryan, J. G. Bellingham, H. Thomas, C. H. Thompson, and E. Rienecker A Peak-Capture Algorithm Used on an Autonomous Underwater Vehicle in the Gulf of Mexico Oil Spill Response Scientific Survey, Journal of Field Robotics, Vol. 28, No. 4, pp , July/August 2011.
13 Coastal upwelling in Monterey Bay
14 Tethys Long-Range AUV
15 Front-Tracking by the Tethys AUV
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21 Targeted Sampling when Yo-yoing through Three Distinct Water Columns (Dorado AUV) AVHRR data courtesy of Kudela Lab (UCSC) and NOAA CoastWatch
22 Targeted Sampling when Yo-yoing through Three Distinct Water Columns (Dorado AUV)
![Chlorophyll bloom Peak-capture algorithm: [Zhang, McEwen, Ryan, and Bellingham, IEEE JOE, 2010] Front Vertically mixed upwelled water Front detection:](/docs-images/85/92888996/images/23-0.jpg "when horizontal gradient of (T 5m -T 20m ) exceeds a threshold.")
23 Chlorophyll bloom Peak-capture algorithm: [Zhang, McEwen, Ryan, and Bellingham, IEEE JOE, 2010] Front Vertically mixed upwelled water Front detection: when horizontal gradient of (T 5m -T 20m ) exceeds a threshold. Upwelling detection: when (T 5m -T 20m ) < 1 C lasting for a number of AUV yo-yo profiles.
24 Towards Synergistic Adaptive Ocean Observation: Cabled Observatory + AUVs
25 AUV Docking Autonomous homing and docking Batteries recharge Data download Mission upload Vehicle sleep/wakeup Code modification & recompile Bellingham, Hobson, McEwen, and McBride
26 AUV Docking Bellingham, Hobson, McEwen, and McBride
27 Summary Adaptive sampling techniques are important for both moored instruments and mobile platforms. Adaptive sampling algorithms we developed for AUVs have enabled accurately targeted samplings in different water columns. On a cabled observatory that incorporates docked AUVs, adaptive triggering/sampling techniques are key to efficient use of the system.
28 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 with the planning and operation of the Tethys AUV missions., Shanghai
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