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海洋ロボティクスarXiv:2209.04751

小型軽量・低電力ロボットによる氷下地球化学観測の実現

Enabling Under-Ice Geochemical Observations with a Size, Weight, and Power-Constrained Robot

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サイズ・重量・電力に制約のある水中ロボットと新規の地球化学サンプリングシステムを開発し、北極河口域の氷下での溶存ガス観測を可能にすることを実証した。

著者: Jess Horowitz, Victoria Preston, Anna P. M. Michel

分類: cs.RO

原文アブストラクト

Estimates of greenhouse gas emissions from Arctic estuarine environments are dominated by in situ summer-time ice-free dissolved gas measurements due to the logistical ease of performing field observations in these conditions. Recent evidence in coastal Arctic environments, however, has demonstrated that dissolved methane (CH4) and carbon dioxide (CO2) are strongly seasonally variable, and at least one significant gas ventilation event occurs during the spring freshet. Whether the Arctic serves as a source or sink of greenhouse emissions has significant implications on modeling climate change and its feedback mechanisms. To enable higher resolution spatiotemporal measurements of dissolved gases in typically undersampled conditions, remotely operated vehicles (ROVs) can be used to extract near continuous water samples below ice before and during the spring freshet. Here, we present a size, weight, and power-constrained (SWAP) underwater vehicle (UV) and novel geochemical sampling system suitable for taking under-ice geochemical observations and demonstrate the proposed system in a field-analog setting for Arctic estuarine studies.

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