Now showing items 1-11 of 11

  • Autonomous and remotely operated vehicle technology for hydrothermal vent discovery, exploration, and sampling 

    Yoerger, Dana R.; Bradley, Albert M.; Jakuba, Michael V.; German, Christopher R.; Shank, Timothy M.; Tivey, Maurice A. (Oceanography Society, 2007-03)
    Autonomous and remotely operated underwater vehicles play complementary roles in the discovery, exploration, and detailed study of hydrothermal vents. Beginning with clues provided by towed or lowered instruments, ...
  • Detachment shear zone of the Atlantis Massif core complex, Mid-Atlantic Ridge, 30°N 

    Karson, J. A.; Fruh-Green, G. L.; Kelley, Deborah S.; Williams, E. A.; Yoerger, Dana R.; Jakuba, Michael V. (American Geophysical Union, 2006-06-21)
    Near-bottom investigations of the cross section of the Atlantis Massif exposed in a major tectonic escarpment provide an unprecedented view of the internal structure of the footwall domain of this oceanic core complex. ...
  • Diverse styles of submarine venting on the ultraslow spreading Mid-Cayman Rise 

    German, Christopher R.; Bowen, Andrew D.; Coleman, M. L.; Honig, D. L.; Huber, Julie A.; Jakuba, Michael V.; Kinsey, James C.; Kurz, Mark D.; Leroy, S.; McDermott, Jill M.; Mercier de Lepinay, B.; Nakamura, Ko-ichi; Seewald, Jeffrey S.; Smith, J. L.; Sylva, Sean P.; Van Dover, Cindy L.; Whitcomb, Louis L.; Yoerger, Dana R. (2010-06-24)
    Thirty years after the first discovery of high-temperature submarine venting, the vast majority of the global Mid Ocean Ridge remains unexplored for hydrothermal activity. Of particular interest are the world’s ultra-slow ...
  • Explosive volcanism on the ultraslow-spreading Gakkel ridge, Arctic Ocean 

    Sohn, Robert A.; Willis, Claire; Humphris, Susan E.; Shank, Timothy M.; Singh, Hanumant; Edmonds, Henrietta N.; Kunz, Clayton G.; Hedman, Ulf; Helmke, Elisabeth; Jakuba, Michael V.; Liljebladh, Bengt; Linder, Julia; Murphy, Christopher A.; Nakamura, Ko-ichi; Sato, Taichi; Schlindwein, Vera; Stranne, Christian; Tausenfreund, Upchurch; Winsor, Peter; Jakobsson, Martin; Soule, Samuel A. (2007-11-26)
    Roughly 60% of the Earth’s outer surface is comprised of oceanic crust formed by volcanic processes at mid-ocean ridges (MORs). Although only a small fraction of this vast volcanic terrain has been visually surveyed ...
  • Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations 

    Jakuba, Michael V.; Roman, Christopher N.; Singh, Hanumant; Murphy, Christopher A.; Kunz, Clayton G.; Willis, Claire; Sato, Taichi; Sohn, Robert A. (2008-05-19)
    The recent Arctic GAkkel Vents Expedition (AGAVE) to the Arctic Ocean’s Gakkel Ridge (July/August 2007) aboard the Swedish ice-breaker I/B Oden employed autonomous underwater vehicles (AUVs) for water-column and ocean ...
  • Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method 

    Ferri, Gabriele; Jakuba, Michael V.; Mondini, Alessio; Mattoli, Virgilio; Mazzolai, Barbara; Yoerger, Dana R.; Dario, Paolo (2011-06)
    In this paper we address the problem of autonomously localizing multiple gas/odor sources in an indoor environment without a strong airflow. To do this, a robot iteratively creates an occupancy grid map. The produced map ...
  • Mid-ocean ridge exploration with an autonomous underwater vehicle 

    Yoerger, Dana R.; Bradley, Albert M.; Jakuba, Michael V.; Tivey, Maurice A.; German, Christopher R.; Shank, Timothy M.; Embley, Robert W. (Oceanography Society, 2007-12)
    Human-occupied submersibles, towed vehicles, and tethered remotely operated vehicles (ROVs) have traditionally been used to study the deep seafloor. In recent years, however, autonomous underwater vehicles (AUVs) have ...
  • Modeling and control of an autonomous underwater vehicle with combined foil/thruster actuators 

    Jakuba, Michael V. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2003-02)
    The Sentry AUV represents a radical departure from conventional AUV design, particularly with respect to actuation. The vehicle's combined foil/thruster actuators have the potential to produce a vehicle both maneuverable ...
  • A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot 

    Ferri, Gabriele; Jakuba, Michael V.; Yoerger, Dana R. (2010-04)
    In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical ...
  • Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery 

    Jakuba, Michael V. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2007-02)
    This thesis presents a stochastic mapping framework for autonomous robotic chemical plume source localization in environments with multiple sources. Potential applications for robotic chemical plume source localization ...
  • Toward extraplanetary under-ice exploration : robotic steps in the Arctic 

    Kunz, Clayton G.; Murphy, Christopher A.; Singh, Hanumant; Pontbriand, Claire W.; Sohn, Robert A.; Singh, Sandipa; Sato, Taichi; Roman, Christopher N.; Nakamura, Ko-ichi; Jakuba, Michael V.; Eustice, Ryan M.; Camilli, Richard; Bailey, John (2009-01-12)
    This paper describes the design and use of two new autonomous underwater vehicles, Jaguar and Puma, which were deployed in the summer of 2007 at sites at 85°N latitude in the ice-covered Arctic Ocean to search for ...