A system of coordinated autonomous robots for Lagrangian studies of microbes in the oceanic deep chlorophyll maximum
A system of coordinated autonomous robots for Lagrangian studies of microbes in the oceanic deep chlorophyll maximum
复制标题
用于海洋深部叶绿素最大值微生物拉格朗日研究的协调自主机器人系统
DOI：
10.1126/scirobotics.abb9138
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发表时间：
2021
期刊：
影响因子：
25
通讯作者：
Pargett, Douglas
中科院分区：
文献类型：
--
作者：
Zhang, Yanwu;Ryan, John P.;Hobson, Brett W.;Kieft, Brian;Romano, Anna;Barone, Benedetto;Preston, Christina M.;Roman, Brent;Raanan, Ben-Yair;Pargett, Douglas
深海叶绿素最大值（DCM）层是公海的一个重要生态特征。DCM无法使用航空或卫星遥感进行观测;因此，现场观测至关重要。此外，了解微生物对驱动其代谢和相互作用的环境过程的响应需要在参考系中进行观察，该参考系随着在洋流中漂流的浮游生物种群而移动，即，拉格朗日函数在这里，我们报告的协调机器人系统的开发和应用，研究海洋内漂流的浮游生物群落。拉格朗日系统使用三个协调的自主机器人平台。焦点平台由一个装有机器人水采样器的自主水下航行器组成。该平台在DCM社区内进行本地化和漂移，定期采集样本，同时持续监测当地环境。第二个平台是一个AUV，配备了环境传感和声学跟踪能力。该平台通过跟踪震源平台及其附近的垂直剖面来确定环境条件。第三个平台是一个自主水面航行器，配备卫星通信和海底声学跟踪能力。在声学跟踪焦点平台的同时，该潜水器还充当通信中继器，将海底机器人连接到人类操作员，从而提供态势感知并在需要时进行干预。部署在北太平洋内的气旋涡流的核心，这个协调的系统自主捕获的基本特征，在原地DCM微生物群落的方式是以前不可能的。
The deep chlorophyll maximum (DCM) layer is an ecologically important feature of the open ocean. The DCM cannot be observed using aerial or satellite remote sensing; thus, in situ observations are essential. Further, understanding the responses of microbes to the environmental processes driving their metabolism and interactions requires observing in a reference frame that moves with a plankton population drifting in ocean currents, i.e., Lagrangian. Here, we report the development and application of a system of coordinated robots for studying planktonic biological communities drifting within the ocean. The presented Lagrangian system uses three coordinated autonomous robotic platforms. The focal platform consists of an autonomous underwater vehicle (AUV) fitted with a robotic water sampler. This platform localizes and drifts within a DCM community, periodically acquiring samples while continuously monitoring the local environment. The second platform is an AUV equipped with environmental sensing and acoustic tracking capabilities. This platform characterizes environmental conditions by tracking the focal platform and vertically profiling in its vicinity. The third platform is an autonomous surface vehicle equipped with satellite communications and subsea acoustic tracking capabilities. While also acoustically tracking the focal platform, this vehicle serves as a communication relay that connects the subsea robot to human operators, thereby providing situational awareness and enabling intervention if needed. Deployed in the North Pacific Ocean within the core of a cyclonic eddy, this coordinated system autonomously captured fundamental characteristics of the in situ DCM microbial community in a manner not possible previously.
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影响因子：
4.5
作者：
Ricardo M Letelier;R. Bidigare;Dale V. Hebel;M. Ondrusek;C. D. Winn;D. Karl
通讯作者：
Ricardo M Letelier;R. Bidigare;Dale V. Hebel;M. Ondrusek;C. D. Winn;D. Karl
DOI：
10.23919/oceans.2009.5422316
发表时间：
2009-10
期刊：
OCEANS 2009
影响因子：
--
作者：
Sandipa Singh;Sarah E. Webster;L. Freitag;L. Whitcomb;K. Ball;J. Bailey;Chris L. Taylor
通讯作者：
Sandipa Singh;Sarah E. Webster;L. Freitag;L. Whitcomb;K. Ball;J. Bailey;Chris L. Taylor
使用远程 AUV 进行声学跟踪和寻的
DOI：
10.1109/oceans.2014.7003277
发表时间：
2014
期刊：
2014 Oceans - St. John's
影响因子：
--
作者：
M. J. Stanway;B. Kieft;T. Hoover;B. Hobson;A. Hamilton;J. Bellingham
通讯作者：
J. Bellingham
影响因子：
11
作者：
Kolody, B. C.;McCrow, J. P.;Allen, A. E.
通讯作者：
Allen, A. E.
北太平洋副热带环流有机物生产和光养微生物群落结构的持续和非周期性变化
影响因子：
4.5
作者：
D. Karl;R. Bidigare;Ricardo M Letelier
通讯作者：
Ricardo M Letelier