Evaluation of the first year of scientific use of the French ROV Victor 6000

Sarradin, Pierre‐Marie; Leroy, K. Olu; Ondréas, Hélène; Sibuet, Myriam; Klages, Michaël; Fouquet, Yves; Savoye, Bruno; Drogou, J. F.; Michel, Jean-Louis

doi:10.1109/ut.2002.1002370

Cited by 5 publications

(3 citation statements)

References 2 publications

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“…[17] Previously documented mid-ocean ridge eruptions provided an abundance of seafloor and water column evidence allowing for confirmation of magmatic activity [e.g., Baker et al, 1999;Embley et al, 1999]. In situ observations of the high-temperature hydrothermal systems on the summit of Lucky Strike Seamount were performed in June -July 2003 using the remotely operated vehicle Victor off the R/V L'Atalante [Sarradin et al, 2001], just 3 months after the earthquake swarm. It needs to be noted that the survey performed using Victor was done without knowledge that a potentially magmatic earthquake swarm had occurred at Lucky Strike.…”

Section: In Situ Observationsmentioning

confidence: 99%

Evidence of a recent magma dike intrusion at the slow spreading Lucky Strike segment, Mid‐Atlantic Ridge

Dziak

2004

J. Geophys. Res.

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Mid‐ocean ridge volcanic activity is the fundamental process for creation of ocean crust, yet the dynamics of magma emplacement along the slow spreading Mid‐Atlantic Ridge (MAR) are largely unknown. We present acoustical, seismological, and biological evidence of a magmatic dike intrusion at the Lucky Strike segment, the first detected from the deeper sections (>1500 m) of the MAR. The dike caused the largest teleseismic earthquake swarm recorded at Lucky Strike in >20 years of seismic monitoring, and one of the largest ever recorded on the northern MAR. Hydrophone records indicate that the rate of earthquake activity decays in a nontectonic manner and that the onset of the swarm was accompanied by 30 min of broadband (>3 Hz) intrusion tremor, suggesting a volcanic origin. Two submersible investigations of high‐temperature vents located at the summit of Lucky Strike Seamount 3 months and 1 year after the swarm showed a significant increase in microbial activity and diffuse venting. This magmatic episode may represent one form of volcanism along the MAR, where highly focused pockets of magma are intruded sporadically into the shallow ocean crust beneath long‐lived, discrete volcanic structures recharging preexisting seafloor hydrothermal vents and ecosystems.

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Section: In Situ Observationsmentioning

confidence: 99%

Evidence of a recent magma dike intrusion at the slow spreading Lucky Strike segment, Mid‐Atlantic Ridge

Dziak

2004

J. Geophys. Res.

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“…Consider p = [x, y, z] T as the position of the origin of {B}, described in {I }, v = [u, v, w] T the linear velocity of the vehicle relative to {I }, expressed in body-fixed coordinates, and x = [ p, q,r ] T the angular velocity, also expressed in body-fixed coordinates. The vehicle linear motion kinematics can be written aṡ p = Rv (1) where R is the rotation matrix from {B} to {I } verifyinġ…”

Section: Problem Statementmentioning

confidence: 99%

“…Problem Statement: Consider an underactuated AUV with kinematics and dynamics given by (1) and (3), respectively. Assume that there is a target placed in a fixed position, in 3-D, that emits continuously a wellknown acoustic signal.…”

Section: Problem Statementmentioning

confidence: 99%

A time differences of arrival‐based homing strategy for autonomous underwater vehicles

Batista

Silvestre

Oliveira

2010

Intl J Robust & Nonlinear

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SUMMARYA new sensor-based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) toward a fixed target, in 3-D, using the information provided by an ultra-short baseline (USBL) positioning system. The guidance and control law is first derived at a kinematic level, expressed on the space of the time differences of arrival (TDOAs), as directly measured by the USBL sensor, and assuming the plane wave approximation. Afterwards, the control law is extended for the dynamics of an underactuated AUV resorting to backstepping techniques. The proposed Lyapunov-based control law yields almost global asymptotic stability (AGAS) in the absence of external disturbances and is further extended, keeping the same properties, to the case where known ocean currents affect the motion of the vehicle. Simulations are presented and discussed that illustrate the performance and behavior of the overall closed-loop system in the presence of realistic sensor measurements and actuator saturation.

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