Science Instrumentation

SIR: Sub-Ice ROVer

SIR
Sub-Ice ROVer (ROV = Robotically Operated Vehicle)
A robotic submarine
Conceptualized by Ross Powell (NIU), designed and built by DOER-Marine
 
The SIR a customized "slim-line" design similar to those used for pipeline investigations. The vehicle has a diameter of ~55cm (22in), has a length of 8.4m and is rated to 1500m depth. Power and data are transferred from and to the surface through a neutrally buoyant, strengthened, 3km-long umbilical tether of fiber optic and power cables. Navigation is by Doppler velocity logs (from two Doppler current meters) and a gyro (FOG) compass so the SIR is used either in automated mode with AUV technology to do spatial surveys, or is manually driven by a surface operator using real-time video imagery to investigate specific features and operate in enclosed spaces. The vehicle is highly instrumented for obtaining both remotely sensed data as well as collecting and recovering samples. The wide range of sensors and sample collectors provides data for studies in oceanography, sedimentology, stratigraphy, glaciology, biology, microbiology, geochemistry and geophysics, and includes:
 
 
Visual imaging
1 high-definition camera + HMI lights (broadcast quality images),
3 lower-resolution cameras + 4 quartz lights (piloting, down-hole viewing),
digital still camera (high-resolution images)
Vertical scanning sonar
long-range imaging for spatial orientation and navigation
Doppler current meter
determine water current velocities
Multi-beam sonar
image and swath map bottom topography
Sub-bottom Profiler
profile sub-sea-floor sediment for geological history
CTD
determine salinity, temperature and depth
DO meter
determine dissolved oxygen content in water
Fluorometer
determine organic matter in water
Transmissometer
determine suspended particulate concentrations in water
Laser particle-size analyzer
determine sizes of particles in water
Triple laser-beams
determine size and volume of objects
Thermistor probe
measure in situ temperatures of ice and sediment
Shear vane probe
determine in situ strength of sediment
Manipulator arm
deploy instrumentation packages, collect samples
Ice corer
collect ice samples and glacial debris
Water sampler
determine sea water/freshwater composition, calibrate real-time sensors, sample microbes
Sediment corer
sample sea floor, in-ice and subglacial sediment (stratigraphy, facies, particle size, composition, structure, fabric)

SIR is owned by NIU and designed, engineered, and built with all instruments fully integrated into it by DOER-Marine, a ROV manufacturer with a global reputation, being owned by Sylvia Earle, former Director of NOAA and currently Explorer in Residence at National Geographic.

 

SIR in its slim borehole mode ready for deployment. On the left is SIR during its construction and testing phase at the DOER-Marine facility in Alameda, CA. The other two figures are CAD images used during the design phase of SIR. The left has its protective fiberglass “skins” on and the right shows the foam floatation blocks (yellow) on upper half and the instrumentation packages on the lower half. The ”dongle” on top is where the umbilical tether attaches.

 

SIR during is construction and testing phase at the DOER-Marine facility. Shown here as it is unfolded into its operational mode.

 
 
A CAD image of SIR in its operational mode without its protective fiberglass skins. On the top level are foam floatation units (yellow) and on the lower level are the scientific instruments. Ballast bottles shown in red are for adjusting the SIR attitude. Thrusters, lights, and cameras are prominent units around the SIR. The “dongle” at the top is where the umbilical tether attaches.

 

 

 

 

 

 

 

 

 

SIR sampling hotel
The sampling hotel is a device with individual trays in which sampling devices and acquired samples or autonomous instrumentation packages can be placed and transferred to and from the surface. The sampling hotel is directly attached to the umbilical and is used to allow the Sir to continue operations while the samples are tripped up to the surface for recovery. This design makes for greater efficiency and time use. The design of the sampling hotel is modular, to adapt to scientific objectives of each deployment.
 
SIR command center
The command center houses all surface electronic and control components of the SIR system as well as its data acquisition system. The ISO-container provides work-space for 6 people: the pilot and co-pilot fly the SIR and oversee its control panel, the navigator is responsible for navigation, while the chief scientist oversees the science mission, making decisions about targets and directs the pilot accordingly. Another scientist assists the chief scientist, and both are responsible for science equipment operation such as the sampling arm or sampling devices, as well as overseeing data recording and data back up. The command center has a hard-wired and wireless computer network, connecting the command center to other facilities of science operations, with the potential for live-stream data and video sharing. A uninterrupted power-back system will provide continuous power supply to all critical electronic parts.
 
SIR storage and maintenance unit
The SIR storage and maintenance van is the home of the SIR during field operations. It contains a wall mounted storage rack for the six SIR frame segments, storage for SIR instrumentation, SIR spare parts, workbenches, and equipment for routine SIR maintenance. It is designed to have an overhead gantry track for moving the SIR to its launch location.
 

Development and construction of the SIR and the GIPSIE were funded by NOAA grants NA04OAR4600167 and NA05OAR4311117 to Northern Illinois University, with an  additional award to NIU from the Gordon and Betty Moore Foundation.  All Science and Field Deployment and Operational costs are supported by the WISSARD awards from NSF

 

GIPISIE: Geochemical Instrumentation Package for Sub-Ice Exploration

GIPSIE
Geochemical Instrumentation Package for Sub-Ice Exploration
Developed by Stefan W. Vogel (NIU)
 
The GIPSIE is owned by NIU and will be deployed as a standard wire-line oceanographic profiling system. This instrument consists of an array of standard oceanographic instrumentation having sensors and samplers that include: CTD, Doppler current meter, transmissometer, laser particle-size analyzer, DO meter, automated 48-port water sampler, water column nutrient analyzer (Si, NO3, PO4, NH4, CO2, CH4, chlorophyll), sediment porewater chemistry analyzer (T, pH, redox, O2, H2S, H2, N2O), and a down-looking color camera (see figure). Individual instruments are repacked and mounted in a profiling housing for deployment through narrow, 20 to 25cm diameter, ice boreholes. A borehole camera provides real-time video and a motorized porewater profiler extends the chemical measurements into the upper 50cm of subglacial sediment. The GIPSIE includes a real-time telemetry system, which allows focused investigations of specific targets as well as targeted sampling based on real-time information. The design is modular, allowing mission-specific configuration and the future addition of supplemental sensors. Each unit is also deployable individually as an autonomous instrumentation package for longer-term measurements, and as external instrument with the NIU Sub-Ice ROVer (SIR).
 
The GIPSIE serves two purposes:
(i)            to provide real-time in-situ measurements of critical physical and geochemical properties, which will guide
(ii)           the acquisition of water samples (multi-sampling capability).
 
GIPSIE data are intended for the following studies: (i) physical and geochemical properties of subglacial hydrology, (ii) water and nutrient fluxes across the ice sheet grounding zone, and (iii) sub-ice shelf circulation process. The real-time measurements visualize geochemical and physical properties in aqueous systems. Without such in-situ measurements water sampling is done blindly, based on assumptions, not data. In addition, temperature, pH, and gas pressure changes during sample recovery from a depth (~1000m in our case) initiate chemical processes. The results of these processes are later measured in the lab. In-situ measurements, together with on-site lab measurements of time critical parameters conducted directly after sample recovery, will provide information on the effect that the sample recovery process has on sample chemistry. This allows us to consider these effects in the interpretation of analytical data. The combination of in-situ with on-site measurements of time critical analytical work is especially important for pH and temperature dependent red-ox reactions, and pressure dependent outgassing of dissolved gases, as well as gas hydrate phase transition.
 
We anticipated deploying the GIPSIE or individual components at each RAGES drill site. Because of its modularity, the GIPSIE can be configured for mission-specific operations. By using fewer instruments, it can be configured so it is deployable into small subglacial cavities beneath ice, where the entire package would not fit. Opposite to conventional water samplers like bailers, the automated 48-port water sampler can sample water from a narrow gap at the ice-sediment interface and store the samples in sterilized and gas tight sampling bags. To prevent possible biological contamination, the instrumentation can be cleaned following environmental protection procedures like those used by Gaidos et al. (2004, 2008). The porewater profiler provides essential information on the red-ox state in subglacial and glacimarine sediment and the release of nutrients from sediment through microbes utilizing chemical energy of these processes.
 
The GIPSIE is an essential part of research intended to study: (i) the physical and geochemical properties of the subglacial hydrological system, (ii) associated fluxes of water and nutrients across the ice sheet grounding zone, (iii) sub-ice shelf circulation process and their role in the formation of Antarctic bottom water, and (iv) the dispersion of subglacially derived nutrients within the sub-ice shelf cavity, potentially contributing to the fertilization of the Antarctic ocean. A proper understanding of subglacial biogeochemistry allows the use of nutrients as natural biogeochemical tracers to quantify hydrological processes. It also enables improving interpretations of paleo-environmental and paleoclimatic conditions from the sedimentary record recovered from the base of the ice sheet by RAGES.
 
 
 

 

 

Contros
CO2 & CH4
Seabird 19plus-V2
CTD with dissolved oxygen
WET Labs ECO-FLNTU(RT)D
Chlorophyll & turbidity
WET Labs C-Star Deep
Transmissometer
Sequoia LIST-DEEP
Particle-size analyzer
Envirotech nutrient analyzer
NH4, NO3, Si, PO4
Envirotech
Automated water sampler
Deep-Sea multi-cam 2065
Color camera
Teledyne DVS-6000
Doppler current meter
Unisense Porewater profiler
pH, redox, T, H2, HS, O2, N2O

 

 

 

 

 

 

 

 

 Development Development and construction of the SIR and the GIPSIE were funded by NOAA grants NA04OAR4600167 and NA05OAR4311117 to Northern Illinois University, with an  additional award to NIU from the Gordon and Betty Moore Foundation.  All Science and Field Deployment and Operational costs are supported by the WISSARD awards from NSF

 

Oceanographic Instrumentation

Oceanographic Instrumentation
 
RAGES will employ a variety of oceanographic instruments that can be used in various combinations depending on the mission and objective of each deployment. The prime tool will be GIPSIE, Geochemical Instrumentation Package for Sub-Ice Exploration. Beyond GIPSIE we will have instrumentation to collect data from an oceanographic mooring at the borehole site while the SIR is operating over a larger area. The other forms of oceanographic instrumentation are long-term moorings that will be deployed during the last phase of operations when we are occupying a site. They will be left making their measurements for one year or more by relaying their data to surface recording units.
 
These instruments, owned by Northern Illinois University, are modular and components can be interchanged depending on borehole diameter and scientific data required. They can therefore take various forms, but are basically instrumented with CTD, DO meter, transmissometer, and Doppler current meter immediately below the ice
that will measure turbulent heat flux across the ice-water interface. This node is termed the basal energy balance station. Below this, on an inductive wireline, is a McLane “Ice Tethered Profiler” (CTD with an added Doppler current sensor) for documenting water column structure and currents in the sub-ice shelf cavity. The McLane profiler is a WHOI-design that has been used through sea ice deployments in the Arctic Ocean. All data are telemetered to a surface data logger. This unit can be exchanged with modular oceanographic sensors set at specific depths in the water as for a standard oceanographic mooring.
 
Various components of these instrument configurations include:
Long-Term Observatory
            Basal energy balance station
            ITP (CTD and DVS)
            Bottom node with CT and transmissometer
            Bottom DVS downward facing
 
Oceanographic mooring
There are several optional configurations of this cluster. The basic configuration is:
            Basal energy balance station
            Teledyne Sentinel DVS (500m range)
            2 CT mid-water nodes
            Bottom node with CT and transmissometer
            Bottom DVS downward facing
Other options for mid-water nodes include:
            5 node CT + 1 depth
            3 node transmissometer
            3 node current meter
Or:
            3 node CT + 1 depth
            2 node transmissometer
            3 node current meter (electromagnetic)
 
Within these two configurations there are two unique components:
 
ITP – Ice-Tethered Profiler
The ITP concept was developed at Woods Hole Oceanographic Institute (WHOI) for use in the arctic sea ice. RAGES version was constructed by McLane Research and is integrated with a Teledyne DVS current meter.
 
Basal Energy Balance Station (all inductive modem)
            4 CT nodes
            1 CTD node (Seabird16 IM) with O2 and transmissometer
            1 DVS upward facing
 
Abbreviations:
CT – conductivity and temperature
CTD – conductivity, temperature and depth
DVS - Doppler volume sampler current meter

Sediment Samplers

Sediment Sampling
 
A variety of sediment samplers are for recovering different types of sediment mainly based on their stiffness. Soft sediments are usually collected using short cores with wide barrels that do not disturb the sediment-water interface. Corers with deeper penetration usually encounter sediment with increasing stiffness and therefore need greater weight or other features, such as vibration or rotation to enable deeper penetration.
 
Wide barrel gravity corer
Simple gravity corers consist of a plastic liner inside a steel barrel with a weight on top that penetrates soft sediment by gravity. Water inside of the tube evacuates through a valve at the top. The wider the barrel the less disturbance and better penetration, in general. We plan to use a kasten-corer type that has a square barrel and are known to recover the sediment-water interface very well. Soft sediment can also be collected with the SIR.
 
Piston corer (Designed and built by Caltech – H. Engelhardt)
This is a corer has a cutting shoe made of steel protecting the core liner inside a steel barrel. It is able to recover up to 3m of sediment depending on the stiffness and the number and size of clasts in the sediment.
 
Percussion corer (Designed by DOER-Marine and S. Vogel and built by DOER-Marine)
A percussion sediment corer owned by NIU has been designed to permit recovery of up to 5m-long cores of stiff sediment. The tool will have some shared components and sensors GIPSIE. It is designed to fit through a 20cm (8in) borehole, and is a complementary technology to the SIR in that it can be used to collect larger samples from areas of particular interest as identified through SIR investigation.
 
This corer has an active hammer system driven by a water pump, which allows active penetration into stiffer sediment. Till deposited under the Antarctic Ice Sheet is notoriously difficult to penetrate due to is range of particle sizes (clay to boulder) and its high degree of consolidation from the overlying ice mass. The sediment corer has a double-wall barrel, which allows water from the top of the sediment corer to flow within the core barrel wall to the cutting shoe. This modification significantly reduces the amount of suction produced during recovery of the sediment corer without the need for an extra-heavy duty winch system to overcome the enormous suction during core recovery.
 
This is a significant technology development, intended to further Antarctic geoscience by significantly extending sedimentological sampling studies beyond the range currently accessible using piston coring and recovering sediment that rotary drilling cannot.

Thermistors and Inclinometers

Ice Strain Sensors
 
Borehole strings with inclinometers and thermistors are being constructed at UCSC. They will be frozen into the narrow 10cm boreholes across the grounding zone sites. Data are telemetered to the surface and will be used in combination with continuously recording GPS receivers (supplied by UNAVCO) to determine ice strain rates.
 
The combined approach of data from inclinometer/thermistor strings and GPS units constrains strain rates due to both horizontal and vertical pure shear and vertical simple shear as ice goes afloat. These measurements permit quantification of relevant terms in the 3D stress tensor by using measured strain rates and ice flow law with the ice viscosity parameter estimated from our vertical ice temperature determinations.
 
Strain measurements are at the core of the glaciological component of RAGES, and hence are important to obtain. The inclinometer/thermistor strings will be deployed at the end of operations at the RAGES field sites. The GPS units and the strings will be left out as long-term observatories for a year after deployment. The strings are disposable if environmentally agreeable; the GPS units will need collection.
 

Geothermal Probes

Water Samplers

Tiltmeters

Borehole camera

Field laboratory