Kunz Clayton G.

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Kunz
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Clayton G.
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  • Preprint
    Toward extraplanetary under-ice exploration : robotic steps in the Arctic
    ( 2009-01-12) 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
    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 hydrothermal vents. These robots are the first to be deployed and recovered through ice to the deep ocean (> 3500m) for scientific research. We examine the mechanical design, software architecture, navigation considerations, sensor suite and issues with deployment and recovery in the ice based on the missions they carried out. Successful recoveries of vehicles deployed under the ice requires two-way acoustic communication, flexible navigation strategies, redundant localization hardware, and software that can cope with several different kinds of failure. The ability to direct an AUV via the low bandwidth and intermittently functional acoustic channel, is of particular importance. Based on our experiences, we also discuss the applicability of the technology and operational approaches of this expedition to the exploration of Jupiter's ice-covered moon Europa.
  • Preprint
    Explosive volcanism on the ultraslow-spreading Gakkel ridge, Arctic Ocean
    ( 2007-11-26) 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.
    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 and/or sampled, the available evidence suggests that explosive eruptions are rare on MORs, particularly at depths below the critical point for steam (3000 m). A pyroclastic deposit has never been observed on the seafloor below 3000 m, presumably because the volatile content of mid-ocean ridge basalts is generally too low to produce the gas fractions required to fragment a magma at such high hydrostatic pressure. We employed new deep submergence technologies during an International Polar Year expedition to the Gakkel Ridge in the Arctic Basin at 85°E, to acquire the first-ever photographic images of ‘zero-age’ volcanic terrain on this remote, ice-covered MOR. Our imagery reveals that the axial valley at 4000 m water depth is blanketed with unconsolidated pyroclastic deposits, including bubble wall fragments (limu o Pele), covering a large area greater than 10 km2. At least 13.5 wt% CO2 is required to fragment magma at these depths, which is ~10x greater than the highest values measured to-date in a MOR basalt. These observations raise important questions regarding the accumulation and discharge of magmatic volatiles at ultra-slow spreading rates on the Gakkel Ridge (6- 14 mm yr-1, full-rate), and demonstrate that large-scale pyroclastic activity is possible along even the deepest portions of the global MOR volcanic system.
  • Preprint
    Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations
    ( 2008-05-19) Jakuba, Michael V. ; Roman, Christopher N. ; Singh, Hanumant ; Murphy, Christopher A. ; Kunz, Clayton G. ; Willis, Claire ; Sato, Taichi ; Sohn, Robert A.
    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 bottom surveys. These surveys were unique among AUV operations to date in requiring georeferenced navigation in proximity to the seafloor beneath permanent and moving ice cover. We report results for long-baseline (LBL) acoustic navigation during autonomous under-ice surveys near the seafloor and adaptation of the LBL concept for several typical operational situations including navigation in proximity to the ship during vehicle recoveries. Fixed seafloor transponders were free-fall deployed from the ship for deep positioning. The ship’s helicopter collected acoustic travel times from several locations to geo-reference the transponders’ locations, subject to the availability of openings in the ice. Two shallow beacons suspended from the ship provided near-surface spherical navigation in ship-relative coordinates. During routine recoveries, we used this system to navigate the vehicles into open water near the ship before commanding them to surface. In cases where a vehicle was impaired, its position was still determined acoustically through some combination of its acoustic modem, the fixed seafloor transponders, the ship-deployed transponders, and an on-board backup relay transponder. The techniques employed included ranging adapted for a moving origin and hyperbolic navigation.