Adaptive Sampling of Surface Fronts in the Arctic Using an Autonomous Underwater Vehicle
Adaptive Sampling of Surface Fronts in the Arctic Using an Autonomous Underwater Vehicle
复制标题
使用自主水下航行器对北极地表锋面进行自适应采样
DOI：
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发表时间：
2021
影响因子：
4.1
通讯作者：
M. Ludvigsen
中科院分区：
文献类型：
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作者：
T. Fossum;Petter Norgren;I. Fer;F. Nilsen;Z. Koenig;M. Ludvigsen
北极和南极起源的沃茨之间的锋面的特点是温度和盐度的横向梯度很强。与锋面有关的海洋过程十分复杂，具有相当大的空间和时间变异性。因此，通过观测解决锋区的过程具有挑战性，但对于了解相关的物理-生物相互作用及其对海洋生态系统的影响至关重要。自动机器人车辆和现场数据驱动采样的使用有助于改进和加强传统的采样做法，如船舶和剖面分析仪器。在这里，我们介绍了使用集成在自主水下航行器上的自主代理对北极锋进行检测和采样的开发和结果。该代理是基于一个包容架构实现的有限状态机中的行为。一旦检测到前方，前方跟踪行为就使用观察来连续地调整车辆的路径，以在前方界面上执行横断面。在特隆赫姆峡湾成功进行海上试验后，前沿跟踪剂被部署在斯瓦尔巴群岛以北82$^{circ}$N附近，靠近海冰边缘，执行全面的使命。该代理能够检测和跟踪北极锋面特征，共进行了六次穿越，同时收集了水柱上部90米的垂直剖面。测量产生了详细的体积描述的锋面特征与高分辨率沿着锋面区，增强船为基础的采样，并行运行。
Fronts between Arctic- and Atlantic-origin waters are characterized by strong lateral gradients in temperature and salinity. Ocean processes associated with fronts are complex with considerable space and time variability. Therefore, resolving the processes in frontal zones by observation is challenging but important for understanding the associated physical–biological interactions and their impact on the marine ecosystem. The use of autonomous robotic vehicles and in situ data-driven sampling can help improve and augment the traditional sampling practices, such as ships and profiling instruments. Here, we present the development and results of using an autonomous agent for detection and sampling of an Arctic front, integrated on board an autonomous underwater vehicle. The agent is based on a subsumption architecture implemented as behaviors in a finite-state machine. Once a front is detected, the front tracking behavior uses observations to continuously adapt the path of the vehicle to perform transects across the front interface. Following successful sea trials in the Trondheimsfjord, the front-tracking agent was deployed to perform a full-scale mission near 82$^{circ}$N north of Svalbard, close to the sea ice edge. The agent was able to detect and track an Arctic frontal feature, performing a total of six crossings while collecting vertical profiles in the upper 90 m of the water column. Measurements yield a detailed volumetric description of the frontal feature with high resolution along the frontal zone, augmenting ship-based sampling that was run in parallel.