Chris Roman

Marine Investigations of Greece's Santorini Volcanic Field

The most recent major explosive eruption of the Santorini volcano in Greece—around 3600 years before present (B.P.), often referred to as the Minoan eruption—is one of the largest volcanic events known in historical time and has been the subject of intense volcanological and archeological studies [Druitt et al., 1999]. The submarine volcano Kolumbo, located seven kilometers northeast of Santorini and associated with Santorinis tectonic system, erupted explosively in 1650 A.D., resulting in fatalities on the island of Thera [Fouque, 1879]. A large fraction of the erupted products from the Minoan eruption has been deposited in the sea but, up to now, only has been studied in distal marine sediments. As part of a collaborative project between the University of Rhode Island (Narragansett), the Hellenic Centre of Marine Research (Athens, Greece), and the Institute of Geology and Mineral Exploration (Athens), a marine geological survey was conducted around Santorini from April to June 2006. he new work now shows that the volume of the Minoan eruption may be comparable to that of the largest known historical eruption, the 1815 eruption of Tambora in Indonesia [Sigurdsson and Carey, 1989]; provides insights into the depositional processes and size of the Minoan eruption; and led to the discovery of important submarine hydrothermal vents with active mineralization.

Seabed AUV offers new platform for high‐resolution imaging

A number of marine biological, geological, and archaeological applications share the need for high-resolution optical and acoustic imaging of the sea floor [Ballard et al., 2002; Greene et al., 2000; Shank et al., 2002]. In particular,there is a compelling need to conduct studies in depths beyond those considered reasonable for divers (∼50 m) down to depths at the shelf edge and continental slope (∼1000–2000 m). Some of the constraints associated with such work include the requirement to work off of small coastal vessels or fishing boats of opportunity,and the requirement for the vehicle components to be air-shippable to enable inexpensive deployments at far-flung oceanographic sites of interest.

Robotic Tools for Deep Water Archaeology : Surveying an Ancient Shipwreck with an Autonomous Underwater Vehicle

The goals of this article are twofold. First, we detail the operations and discuss the results of the 2005 Chios ancient shipwreck survey. This survey was conducted by an international team of engineers, archaeologists, and natural scientists off the Greek island of Chios in the northeastern Aegean Sea using an autonomous underwater vehicle (AUV) built specifically for high‐resolution site inspection and characterization. Second, using the survey operations as context, we identify the specific challenges of adapting AUV technology for deep water archaeology and describe how our team addressed these challenges during the Chios expedition. After identifying the state of the art in robotic tools for deep water archaeology, we discuss opportunities in which new developments and research (e.g., AUV platforms, underwater imaging, remote sensing, and navigation techniques) will improve the rapid assessment of deep water archaeological sites. It is our hope that by reporting on the Chios field expedition we can both describe the opportunities that AUVs bring to fine‐resolution seafloor site surveys and elucidate future opportunities for collaborations between roboticists and ocean scientists. (Less)

A Self-Consistent Bathymetric Mapping Algorithm

The achievable accuracy of bathymetric mapping in the deep ocean using robotic systems is most often limited by the available guidance or navigation information used to combine the measured sonar ranges during the map making process. This paper presents an algorithm designed to mitigate the affects of poor ground referenced navigation by applying the principles of map registration and pose filtering commonly used in simultaneous localization and mapping (SLAM) algorithms. The goal of the algorithm is to produce a self-consistent point cloud representation of the bottom terrain with errors that are on a scale similar to the sonar range resolution rather than any direct positioning measurement. The presented algorithm operates causally and utilizes sensor data that are common to instrumented underwater robotic vehicles used for mapping and scientific explorations. Real world results are shown for data taken on several expeditions with the JASON remotely operated vehicle (ROV). Comparisons are made between more standard mapping approaches and the proposed method is shown to significantly improve the map quality and reveal scene information that would have otherwise been obscured due to poor direct navigation information.

Towards High-resolution Imaging from Underwater Vehicles

Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution optical and acoustic maps that are a consistent representation of the environment. This work is presented in the context of real-world data acquired using autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) working in diverse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic at a depth of 4100 m using the Hercules ROV, and a survey of the TAG hydrothermal vent area in the mid-Atlantic at a depth of 3600 m using the Jason II ROV. Specifically, the focus is on the related problems of structure from motion from underwater optical imagery assuming pose instrumented calibrated cameras. General wide baseline solutions are presented for these problems based on the extension of techniques from the simultaneous localization and mapping (SLAM), photogrammetric and the computer vision communities. It is also examined how such techniques can be extended for the very different sensing modality and scale associated with multi-beam bathymetric mapping. For both the optical and acoustic mapping cases it is also shown how the consistency in mapping can be used not only for better global mapping, but also to refine navigation estimates.

Improved vehicle based multibeam bathymetry using sub-maps and SLAM

This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation of the vehicle trajectory. The mapping is implemented using a delayed state extended Kalman filter (EKF) and results are shown for a real world multibeam data set collected at the mid-Atlantic ridge using the JASON ROV.

Deep sea underwater robotic exploration in the ice-covered Arctic ocean with AUVs

The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated with hydrothermal venting on the section of the mid-ocean ridge known as the Gakkel Ridge. Unlike previous research expeditions to the Arctic the focus was on high resolution imaging and sampling of the deep seafloor. To accomplish our goals we designed two new Autonomous Underwater Vehicles (AUVs) named Jaguar and Puma, which performed a total of nine dives at depths of up to 4062m. These AUVs were used in combination with a towed vehicle and a conventional CTD (conductivity, temperature and depth) program to characterize the seafloor. This paper describes the design decisions and operational changes required to ensure useful service, and facilitate deployment, operation, and recovery in the unique Arctic environment.

Application of structured light imaging for high resolution mapping of underwater archaeological sites

This paper presents results from recent work using structured light laser profile imaging to create high resolution bathymetric maps of underwater archaeological sites. Documenting the texture and structure of submerged sites is a difficult task and many applicable acoustic and photographic mapping techniques have recently emerged. This effort was completed to evaluate laser profile imaging in comparison to stereo imaging and high frequency multibeam mapping. A ROV mounted camera and inclined 532 nm sheet laser were used to create profiles of the bottom that were then merged into maps using platform navigation data. These initial results show very promising resolution in comparison to multibeam and stereo reconstructions, particularly in low contrast scenes. At the test sites shown here there were no significant complications related to scattering or attenuation of the laser sheet by the water. The resulting terrain was gridded at 0.25 cm and shows overall centimeter level definition. The largest source of error was related to the calibration of the laser and camera geometry. Results from three small areas show the highest resolution 3D models of a submerged archaeological site to date and demonstrate that laser imaging will be a viable method for accurate three dimensional site mapping and documentation.

Variable morphologic expression of volcanic, tectonic, and hydrothermal processes at six hydrothermal vent fields in the Lau back-arc basin

Ultrahigh-resolution bathymetric maps (25 cm grid) are used to quantify the physical dimensions of and spatial relationships between tectonic, volcanic, and hydrothermal features at six hydrothermal vent fields in the Lau back-arc basin. Supplemented with near-bottom photos, and nested within regional DSL-120A side-scan sonar data, these maps provide insight into the nature of hydrothermal systems along the Eastern Lau Spreading Center (ELSC) and Valu Fa Ridge (VFR). Along-axis transitions evident in localized volcanic morphology and tectonic characteristics include a change from broad low-relief volcanic domes (hundreds of meters wide, <10 m tall) that are dominated by pillow and lobate lava morphologies and are cut by faults and fissures to higher aspect ratio volcanic domes (tens of meters wide, tens of meters tall) dominated by aa-type lava morphologies, with finger-like flows, and few tectonic structures. These along-axis differences in localized seafloor morphology suggest differences in hydrothermal circulation pathways within the shallow crust and correlate with regional transitions in a variety of ridge properties, including the large-scale morphology of the ridge axis (shallow axial valley to axial high), seafloor lava compositions, and seismic properties of the upper crust. Differences in morphologic characteristics of individual flows and lava types were also quantified, providing an important first step toward the remote characterization of complex terrains associated with hydrothermal vent fields.

CO2 degassing from hydrothermal vents at Kolumbo submarine volcano, Greece, and the accumulation of acidic crater water

Discharge of volcanic gases in the marine environment can lead to local perturbations in ocean acidity, with consequences for biological communities and the potential for hazards related to depressurization and release of gases at the surface. Numerous hydrothermal vents in the crater of Kolumbo submarine volcano (Aegean Sea) are discharging virtually pure gaseous CO 2 together with clear fluids at temperatures up to 220 °C. Acoustic imaging of the ascending bubbles suggests that the gas is being dissolved into seawater within ∼10 m above the crater floor (500 m below sea level). Dissolution of the gas likely causes local increases in water density that result in sequestration of CO 2 within the enclosed crater, and the accumulation of acidic seawater. Lack of macrofauna at the Kolumbo hydrothermal vents, occurrence of carbonate-poor sediment in the crater, and pH values as low as 5.0 in recovered water samples point to acidic conditions within the crater. Buildup of CO 2 -rich water in the bowl-shaped crater of Kolumbo may be producing conditions analogous to some African volcanic lakes (Lake Monoun and Lake Nyos, Cameroon) where overturn of gas-rich bottom waters led to abrupt releases of CO 2 at the surface. A minimum estimate of 2.0 × 10 5 m 3 (STP) of excess CO 2 may currently exist in the bottom 10 m of the Kolumbo crater.