A new glider facility in the SE Bay of Biscay: an opportunity for integrated science

35 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