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ins umen a ion iewpOin - 23 - MARTECH 24
ID15 A NEW GLIDER FACILITY IN THE SE BAY OF BISCAY: AN OPPORTUNITY FOR INTEGRATED
SCIENCE
Asie Nie o72, I an Manso-Na a e10, I ene Ruiz73, Guille mo Boy a74, Bea iz Sob adillo75, Almudena Fon an76,
Ma ina Chi le 77, Julien Made 14, Anna Rubio4
Abs ac
The ans o ma i e in luence o glide s on ocean explo a ion is al-
eady e iden . Glide missions silen ly co e ex ensi e dis ances
and dep hs wi h a wide empo al co e age ( om week o mon hs
o endu ance). They employ a unique p opulsion sys em wi h
buoyancy adjus men s and ba e y linea mo emen -based na -
iga ion o pe o m scien i ic obse a ions and collec high- esolu-
ion mul idisciplina y ocean da a. The acquisi ion o a small lee
o glide s a AZTI s eng hens he exis ing coas al obse a o y,
p omo ing in e disciplina y s udies. Wi h he ocus o p omo ing
in eg a ed science, se e al missions ha e been pe o med, in-
ol ing adi ional senso s o hyd og aphy and en i onmen al
moni o ing and some o he inno a i e solu ions like an Imagenex
853 echosoude and a SUNA senso o eal- ime ni a es moni-
o ing. E icien and au onomous ope a ions make glide s sui able
o endu ing esea ch ini ia i es o e long du a ions and hey a e
expec ed o play an impo an ole in he coming imes in bo h
science and socie y in he amewo k o he Pasaia Glide Po .
Keywo ds – Glide , AUV, ocean explo a ion, high- esolu-
ion da a, ocean obse ing sys em.
INTRODUCTION
Glide s ha e e olu ionized ocean explo a ion wi h hei unique
p opulsion sys em, elying on changes in buoyancy and ba e y
displacemen -based na iga ion o silen and e icien mo emen .
This dis inc i e capabili y allows glide s o co e ex ensi e dis-
ances and p o ide high- esolu ion da a on a ious hyd og aphic
and en i onmen al pa ame e s. They exhibi a minimal ca bon
oo p in in he ocean, becoming en i onmen ally iendly con-
ibu o s o scien i ic esea ch and moni o ing e o s. Glide s
can ope a e in ela i ely shallow wa e s, making hem sui able o
moni o ing coas al egions whe e adi ional pla o ms (e.g.: e-
sea ch essels) may ha e limi a ions. The e o e, hey clea ly con-
ibu e o he challenge o implemen ing u u e In eg a ed Ocean
Obse ing Sys ems o coas al moni o ing. Pe ec ly in eg a ing
in o hese sys ems, glide s enhance da a collec ion, o e ing e-
al- ime insigh s in o coas al dynamics and p ocesses.
Two glide s comple e oday he capaci y o he coas al ocean ob-
se a o y EuskOOS (h ps://www.euskoos.eus/en/) in he SE Bay
o Biscay. Equipped wi h mul idisciplina y senso s, hese glide s
acili a e s udies ha in eg a e di e en disciplines such as phys-
ical oceanog aphy, ma ine ecosys ems, clima e change, ma ine
en i onmen al managemen and sus ainable ishe ies. The i s
campaigns pe o med in he amewo k o he #ebegi p ojec
(h ps://www.az i.es/en/p oyec os/ebegi/) ha e been designed in
iew o enhancing he in eg a ion be ween he di e en compo-
nen s o he ocean obse a ion o he Bay o Biscay an he coas al
zone o he Basque Coun y o he de elopmen o an op imized
obse a o y. Bo h glide s (SeaExplo e model, ALSEAMAR), a e
equipped wi h a se o mul idisciplina y senso s, housed in h ee
di e en payloads (noses) ha can be easily in e changed be-
ween he wo glide s depending on he aim o he mission. One
payload is equipped wi h a CTD senso and an echosounde . The
second payload is equipped wi h CTD, biogeochemical and SUNA
(ni a es) senso s. The hi d one is equipped wi h CTD and BGC
senso s.
MISSIONS AND PRELIMINARY RESULTS
The inaugu al mission, conduc ed om Sep embe 23 o Oc obe
13, 2022, ocused on moni o ing he mig a ion pa e ns o Eu ope-
an ancho y ju eniles in he Bay o Biscay. This mission showcased
he capaci y o in eg a ing physical oceanog aphy and pelagic
ish ecology by combining adi ional ishe y acous ic me hods
wi h glide da a. The glide , equipped wi h he nose housing a
CTD and echosounde , execu ed a ansec pe pendicula o he
Basque coas . This ou e coincided wi h concu en acous ical
moni o ing ca ied ou by he JUVENA su ey [1], an annual ship-
based ini ia i e p ima ily aimed a de e mining he dis ibu ion
and abundance o ancho y ju eniles.
In he weeks ollowing he JUVENA su ey, he glide con inued o
collec acous ic da a on he wa e column, p o iding a empo al
and spa ial pe spec i e on he mig a ion pa e ns o ancho y and
o he ish species. An in ense s o m occu ed du ing he i s days
o he glide mission, and he consequen de elopmen (and e-
laxa ion) o a downwelling e en could be moni o ed in eal ime.
The salini y and empe a u e p o iles showed a ma ked downli
o he isopycnals o a ound 20 m in he nea -su ace wa e mass-
es a he shel -b eak, showing a downwelling e en which was
also moni o ed by he HF ada and he coas al upwelling index
desc ibed in [2]. This collabo a i e app oach be ween glide ech-
nology, he EuskOOS obse a o y and adi ional su eys enhance
ou unde s anding o he dynamic mo emen s o ma ine li e in
he s udied egion [3].
The second mission was conduc ed be ween No embe 23 and
Decembe 4, 2023, using he payload housing CTD, BGC and
SUNA. This mission aimed o assess he glide ’s pe o mance in
sampling he s a ions ou inely co e ed by in-si u sampling (CTD
and wa e samples o nu ien s) by AZTI`s ¿? Clima e Change
Obse a o y eam [4]. Fo his mission, wo addi ional A gos ags
we e appended o he glide an enna in an expe imen o com-
pa e and calib a e he en i onmen al pa ame e s measu ed by
hese ags used o ma k, moni o and model uppe p eda o s
beha iou . P elimina y da a showed he in luence o an anoma-
lously ex ended Adou i e plume along he Basque con inen al
shel which depic ed high ni a e su ace concen a ions and map
o he i s ime, a such spa io- empo al esolu ion and up o
1000m dep h, he physical and biogeochemical condi ions along
he Basque coas .
FUTURE LINES
The es ablishmen o he Pasaia Glide Po has been possible
hanks o he HUB Oa soaldea U dina p ojec (h ps://www.az i.
es/en/blue-economy- o-boos -oa soaldea/), pa o he PAA (P e -
e en ial Ac ion A eas) s a egy o he Basque Go e nmen . The
Pasaia Glide Po is a co ne s one o a s a egy in ol ing he de-
elopmen o he blue economy in he egion by boos ing high
ech and inno a i e ac i i ies ela ed o coas al ocean ope a ional
obse a ion, ma ine obo ics and elec i ica ion and deca bon-
iza ion o po s. In his amewo k a su ace au onomous ehicle
equipped wi h acous ic senso s is expec ed o be ully ope a ional
in 2024.
Thanks o he comple ion o hese wo missions, he an icipa ed
ad an ages o glide echnology ha e been u he solidi ied in he
SE Bay o Biscay. E icien da a collec ion, quick ba e y echa ge,
and swi elaunch capabili ies enable he es ablishmen o a new
Glide Po , which is eady o o e obse a ional se ices o ex e -
nal use s unde demand. The plan o a sus ained endu ance line
which will moni o he along shel -slope seasonal dynamics in he
a ea, ela ed o he Ibe ian Polewa d Cu en and i s a iabili y, is
also being delinea ed.
36 ins umen a ion iewpOin - 23 - MARTECH 24
REFERENCES
[1] U. Co ano, M. San os, X. I igoien, A. U ia e, G. Boy a, and U. Ma ı, “and Spa ial Dis ibu ion Pa e ns,” ol. 70, pp. 1354–1368, 2013.
[2] P. Lo en e e al., “High- equency ada -de i ed coas al upwelling index,” S a e o he Plane , ol. 1-os 7, p. 8, 2023, [Online]. A ailable: h ps://sp.cope nicus.o g/
a icles/1-os 7/8/2023/
[3] I. M. Na a e, G. Boy a, A. Nie o, B. Sob adillo, U. Ma ínez, and A. Rubio, “In eg a ing oceanog aphy and pelagic ish dis ibu ion in he Bay o Biscay using a
glide JUVENILE FISH DISTRIBUTION : DEPARTING HYPOTHESIS Objec i es :,” ol. 25, p. 2016, 2016.
[4] G. Chus e al., “Clima e egime shi s and biodi e si y edis ibu ion in he Bay o Biscay,” Sci. To al En i on., ol. 803, 2022, doi: 10.1016/j.sci o en .2021.149622.
ID16 AUTOMATION OF HARMFUL CYANOBACTERIA BLOOMS MONITORING WITH SMART ASVS
Al edo González-Cal ín78, Diego Vela-Calce ada79, Lía Ga cía-Pé ez80, José An onio López-O ozco81, José
Ma ía Gi ón-Sie a82, E a Besada-Po as83
Abs ac
Cyanobac e ial blooms a e dynamic biological p ocesses, ha m ul
o he inhabi an s and use s o wa e esou ces, as hey can p o-
duce highly oxic compounds. The au oma ic h ee-dimensional
moni o ing o wa e bodies, suppo ed by sma ASVs (equipped
wi h mul i-pa ame ic p obes held by a c ane, and wi h posi ion-
ing, sensing, planning, guidance, na iga ion & con ol sys ems and
algo i hms) can help au ho i ies o de ec hem and an icipa e de-
cisions o mi iga e hei isks. This a icle p esen s he pa icula
solu ions on his app oach, cu en ly p oposed by he Sys ems
Enginee ing, Con ol, Au oma ion and Robo ics g oup o he Com-
plu ense Uni e si y o Mad id.
Keywo ds – Au onomous Su ace Vehicles, A i icial In-
elligence, Wa e Quali y Moni o ing, T ajec o y Plan-
ning, Na iga ion & Con ol
INTRODUCTION
Some species and s ains o cyanobac e ia p oduce oxins capable
o inducing se e e enal, hepa ic and neu ological damages o he
inhabi an s, consume s and ec ea ional use s o wa e esou c-
es. They become an ecological and public heal h h ead when
hei popula ions g ow massi ely, causing Ha m ul Cyanobac e ia
Blooms (HCBs). They also change he o ganolep ic p ope ies o
wa e and accumula e scums on he wa e su ace, sho es, and
wa e wi hd awal sys ems [1].
Cyanobac e ia complex 3-dimensional dynamical beha io de-
pends on many causes, such as hei biological g ow h, hei com-
pe i ion wi h o he o ganisms, hei buoyan capabili y, he wind,
he wa e cu en s and eu ophica ion [2]. They su i e hidden un-
de wa e , s a mo ing e ically o s ay a he app op ia e dep h
when he op imal p oli e a ion condi ions a e me , and eme ge
suddenly as HCBs. Al oge he makes cyanobac e ia de ec ion and
p edic ion challenging [3].
T adi ional cyanobac e ia moni o ing in ol es collec ing manually
wa e samples o de e mine, la e in he lab, he exis ing cyano-
bac e ia species and cyano oxins ypes [4]. This app oach lacks
he necessa y spa ial and empo al esolu ion o an icipa e HCBs,
a i is only applicable spo adically a ew loca ions o he wa e -
body. Mul i-pa ame ic p obes (MPP) loca ed a ixed buoys in-
c ease he empo al equency o he da a ela ed o HCB, wi hou
p o iding an app op ia e spa ial esolu ion [5]. In con as , sa el-
li e image y p o ides pe iodic in o ma ion abou HCB a he whole
wa e su ace, ailing due o cloud occlusions and wi h insu icien
empo al esolu ion o cha ac e ize p ope ly HBC e olu ion [6].
An al e na i e app oach, capable o p o iding in o ma ion wi h
he co ec spa ial and empo al esolu ion, a e Au onomous
Su ace Vehicles (ASVs, [7-8]). In he ollowing, we will p esen he
mo e ele an aspec s o ou pa icula solu ion, which consis s
on equipping he ASV wi h: (1) a MPP capable o p o iding da a
ele an o asses he isk o cyanobac e ia; (2) a c ane o e ical-
ly mo e he MPP o cha ac e ize wa e columns a di e en lo-
ca ions o he wa e body; (3) posi ioning, sensing, planning, guid-
ance, na iga ion and con ol sys ems and algo i hms o making
he ASV au onomously and sma ly pe o m cyanobac e ia moni-
o ing missions; and (4) a G ound Con ol S a ion (GCS) o le hu-
man ope a o s in e ac wi h he ASV and supe ise he moni o ing
mission.
SMART ASVS FOR CYANOBACTERIA BLOOM MONITORING
We ha e designed, de eloped and au oma ed ASVs since 1997,
wi h he pu pose o ha ing pla o ms ha bes sui s each ype o
mission (e.g. boom owing, ha bou su eillance, o esea ch in
ASVs swa ms). Fo HCB moni o ing, we ha e designed and de el-
oped se e al ca ama ans o mode a e size (up o 120 cm long and
30 kg weigh ), easy o anspo o di icul places and capable o
na iga ing on shallow wa e s. They a e equipped wi h an elec ic
p opulsion sys em ( o educe he wa e pollu ion), a posi ioning
sys em (consis ing o a GPS and an ine ial measu emen uni ), a
MPP held by a c ane ( o measu e, a di e en wa e dep hs, em-
pe a u e, pH, oxygen, and chlo ophyl and phycocyanin concen-
a ion), and an onboa d con ol sys em (deployed on an STM32
Nucleo-64 digi al p ocesso ). Examples o ou ASVs can be seen in
9] and in Fig. 1a.
The onboa d con ol sys em (in cha ge o egula ing he ASV ho i-
zon al and MPP e ical displacemen s) and GCS a e p og ammed
ad-hoc o eusing pa o he unc ionali y p o ided by Papa azzi
[10], which is an open-sou ce so wa e p ojec , o iginally in ended
o de eloping au opilo s and GCS o unmanned ae ial ehicles
and cu en ly unde adap a ion o e es ial obo s [11] and su -
ace ehicles. In his ega d, we ha e al eady inco po a ed in o
Papa azzi au opilo a guidance and con ol subsys em o make
he ASV ollow pa ame ic cu es (e.g. cubic splines and Bezzie
cu es) and s op a hei con ol-poin s while displacing he MPP
e ically [12]. Figu e 1b shows a snapsho o Papa azzi CGS wi h
he commanded (in g een) and eal ajec o y (in ed) o a ecen
expe imen o he ASV in a small wa e ese oi .
The planning sys em consis s o di e en a i icial in elli-
gen -based op imiza ion ools, ha de e mine he ASV ho izon al
and MPP e ical ajec o y. In pa icula , we use a mul i-objec i e
cons ain gene ic algo i hm o de e mine he con ol-poin s o
he pa ame ic cu es o be ollowed by he ASV and MPP ha