The Robots Come to the Monterey Bay

Steven R. Ramp

Outline

• Discuss program goals and operations

• Show and explain instruments/hardware

• Describe data communications

Activities in the Monterey Bay During August 2006 (MB06)

• The Adaptive Sampling and Prediction System (ASAP)

• Persistent Littoral Undersea SurveilenceNetwork (PLUSnet)

• Assessing the Effects of SubmesoscaleParameterizations (AESOP)

• Layered Organization of the Coastal Ocean (LOCO)

MBO6 Ship/Aircraft Time LineVersion 8, July 19, 2006

14 21 28 4 11 18 25 1 8July August Sept

POINT SUR

NEW HORZSPROUL

WECOMAREVELLE

FLIPSHANA RAE

ZEPHYRTWIN OTTER Ramp

Chavez/Ramp ChavezKunze/Girton

Pinkel/Klymak

15

Lee/D’Asaro

Stewart/Schmidt

Johnston/Rudnick

THOMPSON Cowles

D’Spain

Davis (as needed)

Gregg/Miller

Chavez

CYPR. SEA Healey

RampLeonardMONTAGUE

Denny

Sanford

McDonaldDavis (as needed) Davis

PLUSNetPLUSNet5 10

ASAP

Sprays (4)

Slocums (6)Dorado (1)Bluefin (2)REMUS (2)Solar AUV (1)

M2

M1

PLUS

FLIP (tent.)

AESOP

LOCO

M0

MB06 Operating AreasMB06 Operating Areas

MBARI

0 nm

Slocum (2)

Learn how to deploy, direct, and utilize autonomous vehicles most efficiently to sample the ocean, assimilate the data into numerical models in real or near-real time, and predict future conditions with minimal error.

The Adaptive Sampling and Prediction (ASAP) Program

ASAP Science Goal

Close the heat budget in a three dimensional upwelling center in a major eastern boundary current

Sanctuary Boundary

Nominal ASAP Box

Nominal DORADO Line

Glider

ADCPMooring

ASAPPlan

Nominal REMUS Line

The Players

• Princeton University– Control Theory, Adaptive Sampling

• Naval Postgraduate School– Aircraft, Real-Time Bottom Moorings, AUVs, Seaweb

• Harvard University– Numerical Modeling and Prediction

• Massachusetts Institute of Technology– Odyssey AUVs, Autonomous Kayaks, Acoustic Data

Assimilation (ADA)

• Woods Hole Oceanographic Institution– Shallow Water Gliders

• Scripps Institution of Oceanography– Deep Water Gliders

The Players(continued)

• California Institute of Technology– Lagrangian Coherent Structures

• MBARI– DORADO AUV– Data Management– Virtual Control Room

• NRL– The ICON Model, COAMPS Model

• JPL/CalTech– Regional Ocean Modeling System (ROMS)

• Un. Of Miami– Atmospheric Modeling and Prediction

What Does Adaptive Sampling Mean?What Does Adaptive Sampling Mean?

•• One:One: Collect RealCollect Real--Time DataTime Data•• Two:Two: Quality Control/Move to WWWQuality Control/Move to WWW•• Three:Three: Assimilate into Numerical ModelsAssimilate into Numerical Models•• Four:Four: Predict TomorrowPredict Tomorrow’’s Conditionss Conditions•• Five:Five: Blend Model Output: Blend Model Output: ““BestBest”” ForecastForecast•• Six:Six: Reposition AssetsReposition Assets•• Seven:Seven: Collect RealCollect Real--Time DataTime Data•• Eight:Eight: RepeatRepeat

The Collaborative Ocean Observatory Portal

EFFECT OF GLIDERS ON FORECAST ERROR

Naomi's ASAP Glider Homepage

ASAP DataASAP Data--Assimilating Numerical ModelsAssimilating Numerical Models

•• Innovative CoastalInnovative Coastal--ocean Observing ocean Observing System (ICON)System (ICON)

•• Harvard Ocean Prediction System Harvard Ocean Prediction System (HOPS)(HOPS)

•• Regional Ocean Modeling System Regional Ocean Modeling System (ROMS)(ROMS)

OBS

HOPS

ROMS

ICON

OBS

ICONHOPS

ROMS

Hardware DescriptionsHardware Descriptions

AUTONOMOUS VEHICLES OTHER ASSETS

AOSN-II 2003

Scripps Spray GliderASAP Spray Glider Page

WHOI Shallow Water GliderWHOI Shallow Water Glider

•10 – 200 m depth•30-40 cm/s headway•3 month duration•T, S, Chla, b470, PAR

example observations: sections

d. fratantoni

APL/UWSeaglider

ASAP Glider Formations(Fiorelli et al.)

Sense Temperature

Gradients in an upwelling front

REMUS (Cal Poly, NPS)REMUS (Cal Poly, NPS)Battery Powered, Acoustic NavigationBattery Powered, Acoustic Navigation

Mark Moline, Cal Poly

ARIES Vehicle in the Azores

Data Modem

Current Profiler

Housing

DATA BUS EXPERIMENT:Real-Time Data from Bottom-Mounted Profiler

DATA

DATA

Tony HealeySteve Ramp

ARIES AUV

• Fully autonomous or acoustically controlled

• 60 km range @ 3 kts• 120 - 160 kg dry weight• 6000 m depth rating

Odyssey Class AUVs

• Payloads include CTD, ADCP, fluorometer, OBS, sidescan sonar, and more

• Docking capability• Deployed in 20 field

experiments • 5 Odyssey IIb/IIc systems..

Dorado Vehicle (MBARI)

De Havilland De Havilland Twin OtterTwin Otter

Maximum endurance/altitude: 12 hours at 25,000 feet

Payload: 6000 lbs

Operational Speed Range: 70-160 KIAS

Aircraft InstrumentationAircraft Instrumentation

•• ATMOSPHEREATMOSPHERE–– Atmospheric PressureAtmospheric Pressure–– Air and Dew Point TemperatureAir and Dew Point Temperature–– Wind Speed and DirectionWind Speed and Direction–– Turbulent Flux MeasurementsTurbulent Flux Measurements–– AerosolsAerosols

•• OCEANOCEAN–– Sea Surface TemperatureSea Surface Temperature–– Ocean ColorOcean Color–– Sun GlintSun Glint–– Surface Wave HeightSurface Wave Height

6 mp Digital Cameras (Canon 10D)

HOBILabs Hydro RAD-3 Mounted in the NPS

TWIN OTTER

UNDERSIDE VIEW

HydroRAD Sensor

Digital Cameras

WIND FORCING DURING AOSN-II SUMMER 2003

AUGUST 4 AUGUST 5 AUGUST 6

AUGUST 10 AUGUST 11 AUGUST 13PHOTO NEXT SLIDE

August 13, 2003

15

10

5

0

30

20

10

0

-10

-20

-30

Aircraft Wind

Aircraft Curl

COAMPS 3km Wind COAMPS 9km Wind

COAMPS 3km Curl COAMPS 9km Curl

15Aug

N/m2 m/day

NPS BEACH LAB

RECEIVE

TRANSMIT

Greater Monterey Bay Expanded HF Radar Coverage

CENCAL Surface Currents Home Page

Monterey Bay:Pseudo-Drifter Movie

Thanks to: Jeff Paduan, NPSBruce Lipphardt, UDel

CommunicationsCommunications

SPAWAR Systems Center, San Diego

Seaweb

Seaweb Enabling technology for distributed undersea systems

Joseph A. Rice, PISPAWAR Systems Center, San DiegoNaval Postgraduate School, Monterey

831 402 5666rice@spawar.navy.mil

SPAWAR Systems Center, San Diego

SeawebDemonstrated capabilities:

Seaweb network with UUVsUS/Canada collaborationGulf of Mexico, Feb 1-8, 2003

6 fixed repeater nodes

FreeWave radio links

3 glider UUV mobile nodes

Shipboardcommand center

Over-the-horizoncommand center

2 Racom buoy gateway nodes

Iridium satellite radio links

Mobile gateway nodes

Mobile sensor nodes

200 km logged by UUVs

300 hrs logged by UUVs

Node-to-multinode com/nav

UUV nosesection

PROPOSED SEAWEB GRID FOR THE ADAPTIVE SAMPLING AND PREDICTION SYSTEM (ASAP)

Joe Rice, NPS

COMMUNICATIONSPATHWAYS

1. PRIMARY

Each sensor node has its own surface buoy

COMMUNICATIONSPATHWAYS

2. SECONDARY

Multiple bottom nodes use the same surface buoy

Real-Time Data Web Site

ASAP 2006 RIGHT NOW

AUG 1

AUG 4

AUG 3

AUG 7AUG 5

AUG 2

Summary

• The Adaptive Sampling and Prediction Program is underway!

• All hardware is in the ocean and operating well• Six gliders are under autonomous coordinated

control• Data are being assimilated by all three numerical

models• The shift from local to virtual control is an

exciting new advancement

The End

Steven R. Ramp, Naval Postgraduate School

On behalf of many others