Rita Salisbury: Robots and Sound Waves, April 19, 2013

NOAA Teacher at Sea
Rita Salisbury
Aboard NOAA Ship Oscar Elton Sette
April 14–29, 2013

Mission: Hawaii Bottomfish Survey
Geographical Area of Cruise: Hawaiian Islands
Date: April 19 2013 

Weather Data from the Bridge
Partly cloudy, winds ENE 10-15 knots, sunrise 603, sunset 1846
77 degrees F (25 degrees C)
Humidity 85%
Barometer 30.09” (1019.5 mb)
Dewpoint 72 degrees F (22 degrees C)
Heat Indes 78 degrees F (26 degrees C)
Visibility 10 miles

Science and Technology Log

We have been calibrating the acoustic equipment for a few days in order to be ready for our survey of bottomfish. It was a long process, but necessary. Four of us worked on moving a small titanium sphere under the boat by maneuvering it to different positions. A scientist working in the e-lab (electronics lab) used different frequencies from the transducers to locate the sphere and record the results. Graduate students and NOAA scientists worked until 1:00 in the morning to get the job done.

The ROV on it's first deployment
The ROV on it’s first deployment

While we were working on the acoustics, other scientists were working on a test run of the ROV. The currents were very strong when they deployed the ROV but it performed well and was successfully retrieved. Operating it is a lot like the controls to a video game, only the stakes are much higher. 

The AUV was deployed on Wednesday. The first step was to do a rehearsal of the procedures for deploying and retrieving the AUV. Everyone had a job to do and it was made clear who would be doing what and when. While it was obvious that certain people were in charge, they asked that if anyone thought they had a better idea of how to do something, or had a question, to speak up.  At one point, the captain, CO Koes, asked everyone who was not actually part of the procedure to move to one of the side of the deck so she could see who was  actually supposed to be working.

After the walk-through rehearsal, the AUV was lifted off the deck by a large crane and placed into the water off the fantail of the ship. At first it was tethered to the ship, but after awhile it was released and became independent of the ship. The scientists want to be as sure as they can be that the AUV will operate properly before letting it go so they run through a checklist. If everything is working correctly, they release the AUV.

OLYMPUS DIGITAL CAMERA
The AUV being deployed.
OLYMPUS DIGITAL CAMERA
The AUV going solo!

The AUV is pre-programmed for the mission so it is important to know about the underwater geography of an area. The AUV needs to be within 30 to 35 meters of the ocean floor in order to know where it is. Other than that, it follows the pattern that the scientists created. If the AUV doesn’t return to the ship, it’s a big deal. It’s very expensive and difficult to replace. The scientists designed it with that thought in mind.

In addition to the high-tech solutions programmed into the AUV, the scientists also included low-tech ideas into the equipment to retrieve the AUV in case something goes wrong and the AUV is submerged and unretrievable. There is a “drop weight” attached to a strand of zinc. Zinc corrodes quickly in salt water. Through testing the scientists have already determined how thick the zinc strand should be in order to corrode through in a given amount of time at a particular water temperature. The strand that they are using on this cruise is constructed to corrode through in 5 1/2 hours. Once it corrodes, the weight drops off and the AUV rises to the top of the water where it can be seen and picked up. The zinc strand is replaced and another weight is attached. All the weights are the same size and weight so they are interchangeable. Otherwise, the scientists would have to recalibrate the AUV every time they changed weights. I was really impressed to see that the scientists use a combination of high and low tech to make their AUV successful.

Heat-sealing the ground up squid and sardines for bait.
Heat-sealing the ground up squid and sardines for bait.

The scientists on the Oscar Elton Sette use some smaller boats to assist with their research. One thing that I do to help out is make bait for the small boats to use to attract fish. We take frozen squid and sardines out of the freezer a few hours before we need them and put them on a protected place on the deck. After they thaw, we put them in a commercial quality food processor and grind them up into marble-sized chunk. Then we put the chunky bait into plastic bags, seal them, and put them back in the freezer until they can be delivered to the boats that need them.

Personal Log

This ship is amazing! It’s big and packed with the scientific equipment. The “wet lab” has become the acoustics lab for this trip and the e-lab is above that. The mess is open 24 hours for snacks, (as long as you clean up after yourself), and serves three meals a day. The cooks are really talented and are always providing fresh new ways of serving something. Fortunately, there’s a gym a couple of decks beneath mine!

There’s a movie room, a laundry, a tv room with books and computers, and a ship’s store. There’s even a full-time medical officer on board. My stateroom is set up well. There are 6 spacious bunks, drawers under the bottom ones and lockers for everyone, built-in desks with ethernet access, and a large bathroom. Since everyone is on a slightly different schedule we do our best to be quiet and to keep the lights low.

Uli Uli Manu taking a break on my bunk.
Uli Uli Manu taking a break on my bunk.

 On Tuesday, we had emergency drills. Everyone has a specific place that have to go to when the alarms sound. If it’s a fire alarm or a man-overboard drill, I have to go to the Texas Deck. If it’s an abandon ship drill, I go to the boat deck and put on my orange gumby suit. That was a little tricky and very hot, but I’m glad they let us practice it.

One thing I’ve noticed on the ship is how everyone has a job to do, but they are always ready to pitch in and help someone else. Meals are really interesting. The mess is small and has several tables set up with 4 chairs at each table. People sit with different people all the time. It doesn’t seem to matter who is an officer, a crew member, or a scientist. Everyone sits with everyone else.

 The captain gave me a tour of the bridge on Tuesday. It was late and we ran out of time, so she has invited me to come back up and finish the tour

The Oscar Elton Sette as seen from a small boat off the coast of Maui.
The Oscar Elton Sette as seen from a small boat off the coast of Maui.

soon. I was impressed by the number of back-up plans in place. There didn’t seem to be one piece of equipment that didn’t have another piece doing the same job in a slightly different way. This allows the ship to continue working properly on the chance that something stops working. The bridge is the control center of the ship and has alarms and notifications for anything that might crop up–low fresh water levels, smoke, fire, and anything else you can think of.

Did You Know?

Sound is vibration transmitted through a solid, liquid, or gas. The speed of the vibrations, or how quickly they cycle, determines the frequency. Frequency is measured in cycles per second, or hertz (Hz). Humans can hear certain frequencies, while bats and dogs can hear others. Whales and dolphins hear even more frequencies.

The sound waves we are using on the Oscar Elton Sette will bounce off the fish and reflect back to the ship, allowing the scientists to locate the fish and determine their shape, size, and movement.

 

Animals I Have Seen

Whale fluke off Maui
Whale fluke off Maui

Seen off the coasts of Maui, Molokai, and Lanai:

Needlefish
I thought they were barracuda at first, but someone explained the difference to me
Humpback Whales
Dolphins–too far away to identify the species

Rita Salisbury: First Day at Sea, April 15, 2013

NOAA Teacher at Sea
Rita Salisbury
Aboard NOAA Ship Oscar Elton Sette
April 14–29, 2013
 

Mission: Hawaii Bottomfish Survey
Geographical Area of Cruise: Hawaiian Islands
Date: April 15 2012

Weather Data from the Bridge
77°F/25°C
Humidity 74%
Wind Speed Calm
Barometer 30.00 in (1015.7 mb)
Dewpoint 68°F (20°C)
Visibility 10.00 mi
Heat Index 79°F (26°C)

Science and Technology Log

NOAA ship Oscar Elton Sette, known as Sette,  is a large ship, by my standards. It’s 224 feet long, which is more than ⅔ of the length of a football field. It is one of the ships in NOAA’s fleet of oceanographic vessels and like their other vessels, it supports NOAA’s mission to protect and manage the use of ocean resources through ecosystem-based management.

On this cruise, we will be surveying fish populations by deploying a Remotely Operated Vehicle (ROV) and an Autonomous Underwater Vehicle (AUV) to gather information. The ROV is a small, unmanned submersible that is controlled from the Sette and attached by a cable. The AUV is also an unmanned submersible but its path is pre-programmed before it is deployed. Additionally, we will be using acoustics, or sound, to locate, identify, and estimate populations of fish. I met some of the scientists last night who are working with the submersibles and the acoustics. I think this might be one of those times that being good at video games could pay off!

The goal of the Hawaii Bottomfish Survey is to gain more information about the fish populations in the ocean around Hawaii. The survey will help scientists determine the effects of fishing and other factors on the overall health of different fish populations. By gathering information by non-lethal methods NOAA scientists are adding to their knowledge base without further reducing the fish population.

Personal Log

Yesterday, I met the Chief Scientist, Donald Kobayashi, PhD,  for the first time. Dr. Kobayashi is the man in charge of the scientific portion of our Hawaii Bottomfish Survey aboard the  Sette. Dr. Kobayashi took me to Ford Island so I could board the Sette prior to today’s workday getting ready for the survey.

I boarded the Sette and met the boatswain (pronounced bosun) and some of the science party. I also moved into my berth, or stateroom. It’s called the bunkhouse and has six bunks in it. I’ll be sharing it with four other scientists while we are out to sea. It’s important to be able to get along with other people and to be flexible when you are on a ship, just like it is in other situations. But on a ship, where you are in a confined space, it’s even more important to understand the hierarchy of the ship–the officers, the crew, and the science party–and the protocol (the proper way of doing things) so you don’t get in  someone’s way or make someone’s job more difficult. Knowing who is in charge, what the roles are, and the expectations for everyone will help make my adventure a success.

 

Did You Know?

The scientists can tell what type of fish they are tracking and how many of them there are by using sound waves? The scientist sends out a sound signal, or ping, from a transducer, an underwater device that emits sound waves. The Sette has several transducers to accomplish this. The density of the fish’s swim bladder is different than the rest of the fish so the sound, or echo, that bounces back from the fish to the ship can be recorded and interpreted by the scientists. They can tell what type of fish they are tracking, and how many of them there are. Dr. Kobayashi says the scientists can back up their interpretation by photography.

 

Teacher at Sea Rita Salisbury in front of the Oscar Elton Sette
Teacher at Sea Rita Salisbury in front of the Oscar Elton Sette

 

 

Sue Oltman: June 4, 2012

NOAA Teacher at Sea
Sue Oltman
Aboard R/V Melville
May 22 – June 6, 2012

Weather Data from the Bridge (Baltra Harbor, Ecuador)
Air temperature: 27.3 C / 81.1 F
Barometric pressure: 1010.22 mb
Relative humidity: 71.3
Precipitation: 0.3 mm
Wind speed: 12.7 knots, SE
Sea temperature: 25.01 C

Personal log

Everything was decluttered, packed, cleaned and mopped in the lab. We cleaned our staterooms and bathrooms to get ready for inspections by the captain.

Now that the work is done, a few of us have discovered the foosball table in the upper lab. It was great fun!  Playing foosball on a moving ship that is heaving, pitching and rolling puts a new dimension to the game.

Science ships are not the only ones that names cold storage areas for science needs, as my students can attest!
Science ships are not the only ones that names cold storage areas for science needs, as my students can attest to!

For our last dinner on the ship, wild game from South Africa was grilled. Not only was there kudu again (yum!) but we had ostrich and springbok.  Some type of squash was also grilled. All were tasty; the ostrich kind of sweet and surprisingly looked like steak, too.  I couldn’t decide which was more delicious, the springbok or the kudu.  It was fun to try some new foods, and I don’t know when I will get the opportunity to do so again. There was also some ice cream made from cheramoya, a Chilean fruit.

After dinner, which is served at 5, a group of us also were shown the crow’s nest above the bridge. We had to climb up a vertical ladder – no stairs – and pop out of a manhole to go into it and look out the windows, and only two people could fit at a time.  Part of the radar is housed here.  If you climbed up yet another ladder, there was the highest platform you could stand on, and the view was great!

From the platform above the crow’s nest:  me, Pamela, Magda, Eric, Jamie, Ursula, and Elsie
From the platform above the crow’s nest: me, Pamela, Magda, Eric, Jamie, Ursula, and Elsie

The sunset from here, and the full moon rising, was quite a sight. Still, there was no land on the horizon. Later in the evening, I went to one of the upper decks to just look at the stars. Even with the brilliant light from the moon, the clear view of the stars and the southern hemisphere constellations was breathtaking. In the morning, we would be in the Galapagos Islands.

Science and Technology Log

It’s a wrap!

The science team is ready to disembark and relax from working continuously for 14 days on the R/V Melville, not to mention the days working on the ground while the ship was in port. The data will be analyzed and soon the WHOI team will get ready for the next deployment and recovery in Hawaii. I will be back home, ready to begin my summer vacation from school!  I have really learned a lot from each member of this team.  It has been a privilege to work with them and know that they will go with me to my next students.

 The WHOI UOP group – Jamie, Jeff,Nan, Bob, me, Sean and Sebastien
The WHOI UOP group – Jamie, Jeff,Nan, Bob, me, Sean and Sebastien

If you hold fast to the stereotype that scientists are nerdy, introverted individuals with poor social skills and no outside interests, working with the WHOI group will quickly dispel this myth. While experts in their field, each person brings some personality to their work which adds up to a positive dynamic that anyone would enjoy being around. We have worked together for two weeks in the “main lab”- one big room on the main deck with ease, and had some laughs along the way.  In talking to everyone, each WHOI scientist has a unique story and set of skills that I wish I had the time and space to share in this blog.  I took the time to interview the Chief Scientist, Dr. Robert (Bob) Weller about his career in oceanography, and here is some of that conversation. (Italics are mine)

SO: When did you first become interested in oceanography?

RW: At first in college. I was a biochemistry major, but it seemed to be more memorization and not enough thinking skills. Also at the time, I was working for an Oceanography professor at Harvard, making deep sea pressure gauges, learning how to machine parts, very hands-on, and really liked that, so I changed to Engineering and Applied Physics to go into Oceanography.

SO: It’s such a broad field, how did you narrow your focus down to moorings?

RW: For graduate school, I went to Scripps Institute of Oceanography (part of University of California, San Diego) and my advisor was working in upper ocean physics. No one had had success observing the wind-driven or Ekman currents, and that became a goal. As part of work toward a thesis, I designed a new current meter capable of observing near-surface currents in the presence of wave motion.  This current meter was particularly needed for use on surface moorings, and is still in use. There was a lot of progress to be made in surface moorings – as of the mid 1970s the longest experiment using one was about 30 days, as one that was in the Gulf of Alaska did.  Meanwhile, at WHOI, after WWII, there were lots of resources and they were getting pretty good at sub-surface moorings (no surface float, the buoyancy is below the surface, away from wave motion). After grad school in the late 1970’s, I came to WHOI, and began to work on improving surface moorings and using them for studying the upper ocean. By the 1980’s, we were up to a surface mooring lasting 6 months.

SO: Have you been to all of the worlds’ oceans with buoys and moorings?

RW:  I have not been to the Arctic or the Southern Ocean, if defined as 45 beginning at South, but soon!

SO: Mistakes are something we like to avoid, but has there been some trial and error that has turned out helpful in the long run?

RW: We have made progress on changing the materials of buoy from aluminum to the materials we use now. There was a surface mooring near Iceland that did not last and the reason turned out to be a low-tech piece of forged metal hardware that failed from cyclical fatigue (flexing and bending, responding to tension changes) so we had to improve our mooring designs and the hardware we used.

Also, after that failure in 1989 the Navy funded work to improve how we design surface moorings for challenging locations.  This work continued as we prepared to deploy a surface mooring in the Arabian Sea in the mid-1990s.  That surface mooring survived the monsoon season so we knew we had improved our design.

With the Stratus project, we started out thinking that the cold water from upwelling was making its way out to the eastern tropical Pacific causing the cooler ocean temperatures. After studying this, we have found it was not the case, so we continue to look for the cause.

This year, we deployed the mechanical current meters deeper into the ocean to try to avoid the fouling by barnacles as well as the fishing line which causes them to stop working (gets into propellers) and also to get ocean currents over more of the water column.  What we found was that the battery life was shorter where the temperatures were colder at these depths, so we did not recover a year of data from them. We also tried some new current meters which worked really well.

SO: You are working on a small part of climate research, a very long-term issue and a big picture, what is the reward of your part of the research?

RW: Getting to go on cruises like this one, working in the field with great people like we have is very rewarding. Recovering one buoy and deploying another is a big accomplishment and it is great to be involved in this. (note: There are 3 such deployments each year.)

SO: WHOI maintains 2 other buoys; can you talk about the importance of these locations?

RW: The 3 buoys together occupy the trade winds areas. One is north of Hawaii, and there is a rising level of carbon dioxide there. We are seeing the ocean’s absorption of CO2 has been rising faster than the rate of increase of CO2 in the atmosphere. Also, over a decade, weather patterns have been changing near Hawaii and the ocean is becoming more salty due to less precipitation; the hydrologic cycle is changing which has practical implications, too. The trade wind regions are where tropical storms transit, strengthening with energy out of the ocean; we should know more about this.  The other location, near Barbados in the Atlantic, is where Atlantic hurricanes often transit.

SO: Can you tell me some more about the drifters we have launched?

RW: The drifters are an international program that NOAA is invested with, and first of all, they take sea surface temperature (SST) measurements. SST is measured worldwide by satellites, but this is through clouds and aerosols (atmospheric impurities) and is hard to get SST precise to a tenth of a degree. The satellites are calibrated using the SST provided by the surface drifters. The goal is to have 2 drifters per 5 degree (latitude and longitude) square which is a challenge.  In the southern ocean, they add barometers to the surface drifters to help predict storms.

The ARGO floats are also an international effort; the goal is to try to have one in every 3 degree square of ocean, to surface every 10 days to calibrate ocean models. This helps us understand rising sea levels, which happen as the ocean warms and expands as well as when polar ice melts. They go to 1,500 to 2,000 m to find the heat content of the ocean. They last about 4 years and there are about 3,000 of them worldwide.

SO: If you were to go into another area of ocean research, what would it be?

RW: We have seen that there is a warm salty layer and a fresher cooler layer below. It would be interesting to study what is causing the mixing between these layers and how the wind plays in.

SO: In what areas of Oceanography do you foresee a lot of career paths and job opportunities?

RW: In terms of locations, The National Science Foundation in international collaboration is looking to have a 25-year study including the Gulf of Alaska, Greenland, and off the Southern tip of Chile and Argentina. There is a lack in information about these important high latitude areas.

There is a growing demand for AUVs (Autonomous unmanned vehicles) which have many applications. Designing and applying AUVs as well as surveying the ocean floor.

Ocean acoustics is another field of growth.

Bathymetry and physics of the ocean as well as marine policy/ social science are other areas.  There are lots of applications of technology.

SO: What about in biology of the oceans?

RW: In studying fisheries, you quickly learn that you can’t study a species in isolation and that other factors such as the physical structure and variability of the ocean and local human activities that affect the habitat are important.

The other members of the science team bring varied backgrounds that have transferred well into oceanographic research. Their college degrees were not all oceanography, but their skills and knowledge are helpful in their jobs. Some of their former experience includes computer programming, biology, finance, data analysis, and mechanical design. Two attended the Scripps Institution of Oceanography, and one Florida State, before coming to Woods Hole. There are yet more WHOI folks behind the scenes, back in Cape Cod, supporting this research cruise in other ways. Not everyone is needed (or cares to participate) in a hands on, 24/7 research cruise.  The team collaborates with other nations and with the global science community of oceans and climate research not only by sharing data, but by lending their expertise in a hands-on way. Jeff will be traveling straight to Australia to support a project there before he even goes home to Cape Cod. Some of our others include a biology graduate student, who works on the biological changes at the Mt. St. Helen’s volcano with Washington State University; international participants in the cruise are studying topics such as oceanography of the fjords in southern Chile and phytoplankton in the Pacific Ocean.  By working with these folks, I have seen that the Scripps Institution of Oceanography (at University of California San Diego) and WHOI are two of the USA’s preeminent institutions in preparing for ocean science careers.  Both have excellent outreach to schools, not only by supporting the Teacher at Sea program, but by providing web based educational resources and student activities.

Enjoying one of our last sunsets: Keith (Scripps), Bob Weller (WHOI), me, Jamie Holte (WHOI), Ursula Cifuentes (Concepcion), Sebastien Bigorre (WHOI), and front, Pamela Labbe also fromChile
Enjoying one of our last sunsets: Keith (Scripps), Bob Weller (WHOI), me, Jamie Holte (WHOI), Ursula Cifuentes (Concepcion), Sebastien Bigorre (WHOI), and front, Pamela Labbe also fromChile
This is my UCTD watch – Sebastien, Ursula and I held down to 8 watches and launched hourly UCTDs to gather salinity, temperature, and salinity data.
This is my UCTD watch – Sebastien, Ursula and I held down to 8 watches and launched hourly UCTDs to gather salinity, temperature, and salinity data.

WHOI’s mission statement reads – “The Woods Hole Oceanographic Institution mission is to promote research and education to advance understanding of the ocean and its interaction with the Earth system and to communicating this understanding for the benefit of society.”  I have been enriched and am very grateful to have had a part in carrying out this mission.  Thank you, NOAA, WHOI and Scripps!


Linda Tatreau, MARCH 5, 2010

NOAA Teacher at Sea: Linda Tatreau
Onboard NOAA Ship Oscar Elton Sette

Mission: Fisheries Surveys
Geographical Area of Cruise: Equatorial Pacific
DAte: March 5, 2010

YouTube: AUV, BRUVs and BotCams

Mike Marino, an officer on the ship, made a great little movie showing the work done during the first two weeks of this expedition.You can find it at

Linda Tatreau, FEBRUARY 28, 2010

NOAA Teacher at Sea: Linda Tatreau
Onboard NOAA Ship Oscar Elton Sette

Mission: Fisheries Surveys
Geographical Area of Cruise: Equatorial Pacific
Date: February 28, 2010

 

Old Dog, New Trick

What is the most exciting, most awesome, most unusual event of the expedition? These are the most common questions I have received from students following the blog. The whole trip has been exciting and awesome. It’s also been unusual as I don’t normally spend a lot of time at sea.
Unexpectedly for me, on February 23rd came the most exciting,most awesome and most unusual event of this trip. By then, I was familiar with the Autonomous Underwater Vehicle. I had read about it, talked about it, written about it and taken dozens of pictures. What I didn’t know was that Chris (see Meet the Science Team) was working to teach the AUV a new trick. AUVs run a preprogrammed route for about 4 hours and then return to the surface. It’s not until the AUV is back in its cradle on deck that the cameras can be retrieved. Only then can the photos be seen. Chris spent the trip devising a method whereby the AUV can send pictures to the ship while still underwater.
Seven miles of cabel used by the Remotely Operated Vehicle Jason II.
Keep in mind that the AUV is not attached to the ship. Remotely Operated Vehicles (ROVs) are attached to the ship via cables and can send pictures and receive instructions from the control room on the ship. On the AUV’s last dive, Chris’s program worked―underwater pictures on his computer. He got 13 photos at about 20 minutes each. The information is sent to the computer in small bits that must be assembled. HE DID IT! I wanted to break out the champagne in celebration, but there is none onboard so we had to settle for enthusiastic applause. I still get chicken skin (goose bumps) just thinking about the magnitude of his success.
AUV, no cables.

In the following paragraph, Chris talks about AUVs and communication.”Wirelessly communicating with Autonomous Underwater Vehicles (AUVs) is very difficult―the type of wireless communications that we rely on in our day-to-day lives does not work underwater. Most wireless systems, like WiFi or mobile phones, rely upon high frequency electromagnetic waves―millions or billions of cycles per second. Underwater, high frequency signals are attenuated, or blocked, over short distances. That is part of why when you are snorkeling or SCUBA diving everything looks blue―the higher frequency red light has been blocked out. To communicate with SeaBED AUVs, we rely upon sound waves, which use only around 12 thousand cycles per second. Echoes, other noise, and a number of other challenges presented by the ocean result in us having a very slow connection to the robot. Also, like using a walkie talkie, only one person can be talking at a time. If we are sending commands to the robot, it can’t be sending us information. Finally, sound travels slowly through the water, so it takes time for the message to even get to the boat (this is called latency). That all means we have to heavily compress images so that they are very small on disk before we transmit them, and we don’t get all the pieces in the right order. Putting together the image ends up being like putting together a puzzle―you have to make sure you have all the pieces, and then put them together in the right order. The compression means that the images look pretty rough, but they still give us an idea of what the robot is doing, and an early glimpse at the seafloor. For the rest, you have to wait until it comes back up! SeaBED AUVs can take over a thousand images every hour! ”

OK, me again. Chris will continue working on this project. He wants to make it easier and faster. With this new trick, the scientists will know, while the AUV is still below, that all systems are working and the AUV is taking quality photos.