The design and the calibration of the Beam-attenuation, b and bb Laser Underwater Environment Sensor (4BLUES), which borrows from advanced designs developed by the authors’ individual groups in the course of the last two decades. The sensor features unparalleled accuracy in determining the optical scattering and backscattering coefficients, which are critical parameters for the remote sensing of water constituents and in-water bio-optical applications. Calibration procedures performed in the laboratory with spheres of known properties are presented together with an assessment of the performance in two field experiments in coastal waters. The more complex calibration of the scattering channel includes a novel inversion approach, which accounts for scattering and absorption losses along the laser-beam path. Strong agreement was observed with current advanced sensors for extinction and the backscattering measurement for one of the field experiments. Total scattering comparison with the current state of the art showed reasonable agreement (within 25%) for all stations except one, where the interpretation for the higher discrepancies is unresolved. These preliminary results suggest further assessment is warranted.
A rigorous view of the uncertainties in Sunstone PSICAM (Point Source Integrated Cavity Absorption Meter) measurements are investigated. Multiple sources of error can greatly influence the accuracy of PSICAM absorption measurements: measurement noise, spectrometer stability, light source stability, calibration and external verification of the standard are a few of the sources of errors that were investigated. Measurement noise can be reduced through repetitive measurements. Using more than 300 averages for each measurement provided repeatability of measurements with a mean absolute difference less than 0.001 m-1 across the visible spectra. Like with other tube and cuvette style absorption meters, bubbles are a potent contaminant when determining absorption. The stability of the spectrometer with time and temperature are explored. Non-linearity and wavelength registration are also considered in reducing errors. Light source stability and output with time are also presented. Due to its small size the PSICAM is used both in the lab and at sea. Accurate absorption values require calibration to be conducted to account for the reflectivity (𝜌) of the sphere. Currently nigrosine dye is used to measure the reflectivity and requires a priori knowledge of the absorption of the dye. An examination of the stability of nigrosine dye is conducted for both filtered and non-filtered dye. A solid standard is proposed to improve the determination of reflectivity in the sphere.
The ctenophore Mnemiopsis leidyi is an opportunistic species that can be extremely abundant and invasive in many parts of the world. It is well known for its bright bioluminescence, but its light emission response to flow stimulation has not been rigorously quantified. The objective of this study was to determine the luminescent response of cydippid larvae of M. leidyi to two types of mechanical stimuli, including an impeller pump within the UBAT bathyphotometer and stirring as the stimulus within an integrating sphere. Tests were conducted with less than one week old cydippid larvae, analyzing flash parameters of rise time, peak intensity, decay slope, decay time, total integrated emission (TMSL), integrated flash emission, and flash duration. Cydippid larval size had a positive correlation with peak intensity. There were four patterns of bioluminescent responses from the UBAT but they did not have statistically different flash kinetics. For the integrating sphere, the average peak intensity and TMSL were much greater than for the UBAT, possibly due to the two forms of stimulation. However, a constant phosphorescent emitter was 2.6 times brighter when measured with the integrating sphere compared to the UBAT, suggesting inaccurate photon calibration of the UBAT perhaps due to light measurement geometry. This study provides a well-defined baseline of cydippid larvae flash responses that can be used for interpreting field measurements made with bathyphotometers and to determine their contribution to the bioluminescence potential of waters where they are present.
The total non-water absorption coefficient of seawater, 𝑎𝑝𝑔(𝜆) (𝑚−1 ) (light absorption coefficient after subtraction of pure water contribution) provides information about the amount of light absorbed by various optically significant substances in natural waters (𝜆 is wavelength). Partitioning 𝑎𝑝𝑔(𝜆) into phytoplankton, 𝑎𝑝ℎ(𝜆) and colored detrital matter, 𝑎𝑑𝑔(𝜆) is useful to understand the light interaction with the distribution and variability of constituent matter, light availability at various depths, and ecological and biogeochemical cycles, as these constituents represent pools of carbon and other elements. Some of the existing partitioning methods either require ancillary inputs or assume limited shapes for constituents absorption in deriving the 𝑎𝑝ℎ(𝜆) and 𝑎𝑑𝑔(𝜆) from 𝑎𝑝𝑔(𝜆). In this study, we propose a decomposition method of 𝑎𝑝𝑔(𝜆) using a spectral optimization routine utilizing a spectral library consisting of various shapes for both phytoplankton and colored detrital matter absorption components. The proposed method does not require any ancillary inputs in deriving absorption of the constituent subcomponents. Performance of the proposed method is evaluated using two dataset compilations covering a very wide range of water types with sampling locations. Among various parameterizations tested in the decomposition method, the parameterization with the phytoplankton shape model of Ciotti et al. (2005) combined with exponential, stretched exponential, and hyperbolic shapes for colored detrital matter resulted in lower Mean Absolute Percentage Errors (MAPE) consistently across all sites. The good performance of the proposed method is characterized by average MAPE values of 17% and 13% and average percentage absolute errors (%AE) of 15.5% and 11.5% for the derived 𝑎𝑝ℎ(443) and 𝑎𝑑𝑔(443) respectively. The proposed method exhibited better performance with 7 - 10% lower average spectral MAPE (MAPE averaged over all wavelengths) values compared to two other existing partitioning algorithms in optically complex waters. The proposed method can be used for deriving the constituents absorption from input data of 𝑎𝑝𝑔(𝜆) collected from various oceanographic and remote-sensing platforms. Since apg is a core product of several semi-analytical ocean color inversion algorithms, this approach has relevance to the future hyperspectral NASA PACE ocean color imager, as it is directly adaptable to hyperspectral reflectance data.
We develop a remote hyperspectral (HS) imaging work flow that relays spectral and spatial information of a scene via a minimal amount of encoded samples along with a robust data reconstruction scheme. To fully exploit the redundant and multidimensional structure of HS images, we adopt the canonical polyadic (CP) decomposition of multiway tensors. This approach represents our HS cube in a compressive manner while being naturally suitable for the linear mixing model, commonly used by practitioners to analyze the spectral content of each pixel. Under this low CP rank model we achieve frugal HS sensing by attenuating and encoding the incoming spectrum, thereby faithfully capturing the information with few measurements relative to its ambient dimensions. To further reduce the complexity of HS data, we apply image segmentation techniques to our encoded observations. By clustering the pixels into groups of endmembers with similar structure, we obtain a set of simplified data cubes each well approximated by a low CP rank tensor. To decode the measurements, we apply CP alternating least squares to each set of clustered pixels and combine the outputs to obtain our final HS image. We present several numerical experiments on synthetic and real HS data with various levels of input noise. We demonstrate that the approach outperforms state of the art methods, achieving noise attenuation while reducing the amount of collected data by a factor of 1/14.
In many space-borne surveillance missions, hyperspectral imaging (HSI) sensors are essential to enhance the ability to analyze and classify oceanic and terrestrial parameters and objects/areas of interest. A significant technical challenge is that the amount of raw data acquired by these sensors will begin to exceed the data transmission bandwidths between the spacecraft and the ground station using classical approaches such as imaging onto a detector array. To address such an issue, the compressive line sensing (CLS) imaging concept, originally developed for energy-efficient active laser imaging, is adopted in the design of a hyperspectral imaging sensor. CLS HSI imaging is achieved using a digital micromirror device (DMD) spatial light modulator. A DMD generates a series of 2D binary sensing patterns from a codebook that can be used to encode cross-track spatial-spectral slices in a push-broom type imaging device. In this paper, the development of a testbed using the TI DLP NIRscan™ Nano Evaluation Module to investigate the CLS HSI concept is presented. Initial test results are discussed.
Digital holography provides a unique perspective towards studying aquatic particles/organisms. The ability to sample particles in undisturbed conditions, coupled with the ability to generate 3-D spatial distributions is currently unmatched by any other technique. To leverage these advantages, field experiments with the goal of characterizing aquatic particle properties in situ, were conducted using a submersible holographic imaging system. Diverse aquatic environments were sampled over 3 separate deployments between 2014 and 2017. The areas included: (a) The Gulf of Mexico (GoM), in the vicinity of the Mississippi river plume; (b) Lake Erie; and (c) East Sound in the US Pacific Northwest. A database of more than two million different types of particles in the 10-10000 m size range, was created after processing > 100,000 holograms. Particle size distributions (PSDs) exhibited a Junge-type distribution when characterized by size grouping into logarithmically spaced bins. Particles/plankton were also classified into different groups (e.g. diatoms, copepods). Results presented will be broadly grouped into two parts: (a) PSDs at different depths within the water column during the occurrence of a Microcystis bloom at Lake Erie and individual cell counts within these colonies; and (b) Vertical structure of plankton in East Sound, specifically the presence of diatom thin layers. Finally, the rich diversity in species composition in the GoM and successful data collection towards creating a training set to implement automated classification routines will be briefly discussed.
Suspended particulate matter (SPM) significantly impacts water clarity, degrading underwater electro-optical detection systems. It is also comprised of the living, detrital, and minerogenic particles that contribute to oceanic biogeochemical cycling. Models designed to derive SPM from optical properties such as particulate backscattering and attenuation have been largely empirical in nature, i.e., simple linear relationships, and therefore fluctuate with varying particle composition. Consequently, such models perform well regionally and/or temporally, but their applicability is constrained. An analytical inversion model has been developed to quantitatively interpret scattering measurements in terms of SPM. The algorithm requires measurements of backscattering and spectral attenuation. These measurements can be made with commercial-off-the-shelf technology suitable for deployment on compact autonomous platforms, thus having the potential to dramatically increase spatial and temporal resolving capabilities for SPM. Recent work evaluates the role of particle size ranges in greater detail and assesses performance for multiple data sets including the GlobCOAST data set, a large, diverse data set of high quality SPM and optical property measurements.
Bioluminescence is a striking and ubiquitous source of light in the global ocean, utilized in a variety of ecologically important communication, camouflage, and predator deterrence functions. It can be prevalent in surface waters at night and at most times in mesopelagic waters (≈200-1000m) where ambient light approaches a weak, asymptotic radiance field. The propagation of bioluminescent signals, and therefore the distance at which these signals can be detected, is dependent upon the inherent optical properties (IOPs) of the water column. The effects of IOPs on the propagation of light from isotropic point sources embedded in bioluminescent layers were examined in terms of emitted signal against background radiance throughout the water column, i.e., a metric defining the required ability to detect the emissions.
synthetic bio-optical dataset of inherent optical properties (IOPs) was created based on Chlorophyll concentrations
ranging between 0.01 and 30 mg m-3. Dissolved and particulate fractions of absorption were varied to account for the
natural ranges in values. The IOPs will then be used as inputs to a time-resolved Monte-Carlo radiative transfer model to
generate accurate lidar backscatter time history wave forms. Test experiments were performed to validate the model,
where the primary lidar geometry in the model matched an existing system developed at HBOI under NOAA-OAR
funding. The system uses blue and green pulsed laser sources (473 and 532 nm, respectively) and has two telescopes
arranged at a 10° offset (on and off axis) from one another. The field of view of the telescopes is set at 1°. Approaches
are being investigated to invert simulated and measured lidar results to derive input water column IOP properties.
Results are tested through application to lidar measurements collected in an experimental tank with known suspended
particle type and concentration.
Passive hyperspectral imaging (HSI) sensors are essential in many space-borne surveillance missions because rich spectral information can improve the ability to analyze and classify oceanic and terrestrial parameters and objects/areas of interest. A significant technical challenge is that the amount of raw data acquired by these sensors will begin to exceed the data transmission bandwidths between the spacecraft and the ground station using classical approaches such as imaging onto a detector array. In this paper, the Compressive Line Sensing (CLS) imaging concept, originally developed for energy-efficient active laser imaging, is extended to the implementation of a hyperspectral imaging sensor. CLS HSI imaging is achieved using a digital micromirror device (DMD) spatial light modulator. A DMD generates a series of 2D binary sensing patterns from a codebook that can be used to encode cross-track spatial-spectral slices in a push-broom type imaging device. A high sensitivity single-element detector can then be used to acquire the target reflections from the DMD as the encoder output. The target image can be reconstructed using the encoder output and the encoding codebook. The proposed system architecture is presented. The initial simulation and experimental results comparing the proposed design with the state-of-the-art are discussed.
Field experiments with the goal of characterizing aquatic particle properties, including size distributions and orientations in their natural environment, were conducted using a submersible holographic imaging system (HOLOCAM). Digital holography is a non-intrusive technique that allows particle fields to be mapped within a 3-D sampling volume at high resolution. The HOLOCAM was deployed at East Sound, a fjord in the US Pacific Northwest, and Lake Erie over three separate deployments from 2013 to 2015. A database of more than a million particles in the 100-10000 µm size range of varying shape and orientation was created after processing < 50,000 holograms. Furthermore, simultaneous, co-located acoustic Doppler velocimeter measurements of small-scale shear and turbulence structure were used to study the effects of the ambient flow field on particle orientation. Several interesting features presented themselves, with a Microcystis bloom dominating the surface layer of Lake Erie, while ‘thin layers’ of high particle concentrations dominated by colonial diatoms were seen in East Sound. Particle size distribution (PSD) slopes in the 50-250 µm size range were ~1.7-1.9, while for particles < 250 µm, the slopes were significantly higher. Clear evidence of ubiquitous particle alignment to the horizontal flow field in regions of low shear and turbulent dissipation was seen. This result, obtained under flow conditions representative of coastal and open oceans, can have significant consequences to ocean optics as random particle orientation is inherently assumed in theory and models. Preferential alignment can increase/decrease optical properties such as backscattering and attenuation relative to random distributions.
A fine structure underwater imaging LiDAR (FSUIL) has recently been developed and initial field trials have been conducted. The instrument, which rapidly scans an array of closely spaced, narrow, collimated laser pulses into the water column produces two-dimensional arrays of backscatter profiles, with fine spatial and temporal resolution. In this paper a novel method to derive attenuation profiles is introduced. This approach is particularly attractive in applications where primary on-board processing is required, and other applications where conventional model-based approaches are not feasible due to a limited computational capacity or lack of a priori knowledge of model input parameters. The paper also includes design details regarding the new FSUIL instrument are given, with field results taken in clear to moderately turbid water being presented to illustrate the various effects and considerations in the analysis of the system data. LiDAR waveforms and LiDAR derived attenuation coefficients are analyzed and compared to calibrated beam attenuation, particulate scattering and absorption coefficients. The system was field tested during the NATO Ligurian Sea LIDAR & Optical Measurements Experiment (LLOMEx) cruise in March 2013, during the spring bloom conditions. Throughout a wide range of environmental conditions, the FSUIL was deployed on an in situ profiler obtaining thousands of three-dimensional LiDAR scans from the near surface down to the lower thermocline. Deployed concurrent to the FSUIL was a range of commercially available off-the-shelf instruments providing side-by-side in-situ attenuation measurement.
The link between suspended particle fields, particle dynamics and bulk optical properties in natural waters is poorly
known because adequate technology is lacking to fully characterize critical parameters and interactions, especially for
ephemeral bubbles and aggregates. This paper highlights the capabilities of digital holography to provide non-intrusive,
high-resolution 3-D imaging of particles and bubbles in their natural environment. As part of a NOPP project
(HOLOCAM) to commercialize an in-situ digital holographic microscope (DHM), field data with a prototype in-situ
DHM (the "Holosub") were collected in East Sound, WA. The Holosub, an in-line holography based submersible
platform, was deployed in two configurations: free-drifting mode for vertical profiling, and towed mode. In free-drifting
mode, vertical profiles of shear strain and dissipation rates, undisturbed size and spatial distributions of particles and
organisms, and the orientation of diatom chains were recorded using the holographic images. Hydrographic and optical
data, as well as discrete water samples to identify phytoplankton species were concurrently collected. In towed mode,
the size and spatial distributions of bubbles just below the surface were recorded to characterize the dissipation of a
wake generated by another ship, and compared to optical and acoustic scattering data recorded simultaneously. Tools to
extract the size distribution and concentration of bubbles from the holographic data were developed. A preliminary data
analysis indicated high concentrations of bubbles detected by all three instruments at the same locations, while
comparison of the bubble size distributions indicated some similarities in trends, as well as significant differences.
Thin layers are water column structures that contain concentrations of organisms (or particles) that occur over very small vertical scales (a few meters or less), but with large horizontal scales (e.g. kilometers). Thin layers are now known to be common phenomenon in a wide variety of environments and can be a critical componant in marine ecosystem dynamics and functioning. While knowledge about their dynamics is important to our basic understanding of oceanic processes, thin layers can have significant impacts on both oceanographic and defense related sensing systems, e.g. thin layers can affect underwater visibility, imaging, vulnerability, communication and remote sensing for both optical and acoustic instrumentation. This paper will review the history of thin layers research, their ecological significance, innovations in oceanographic instrumentation and sampling methodologies used in their study, and the consequences of their occurence to oceanographic sensing systems.
To understand the behavior of light scattered in seawater, it is necessary to know the size distribution of particles in
seawater, as well as their composition (refractive index distribution) and complex shape. A method has been developed
to determine marine PSDs and simultaneously characterize their chemical compositions by utilizing a scanning electron
microscope (SEM) coupled with an energy dispersive spectrometer (EDS) and applying sophisticated image analysis
techniques that minimized user bias including automatic image thresholding. The method was validated by verifying the
PSD and chemical composition of Arizona test dust, which has a well-documented size distribution and chemical
composition. PSDs of field samples collected from the coastal Long Island Sound and the remote South Pacific Ocean
were also determined. Where applicable, PSDs agreed well overall with other PSD determining methods such as
electroresistive counting and near-forward diffraction theory inversions. The method performed optimally when the
particle mass on the filter was between 0.4mg and 1.0mg. With this in mind, measuring particle beam attenuation
coefficient at 650nm (c650) can provide immediate feedback in the field to determine filter volumes for sample
preparation.
An acquisition system was developed to measure the above water polarized radiance. This system consists
of one irradiance sensor for downwelling irradiance, one radiance sensor oriented at 40° from the zenith to
measure sky radiance and three radiance sensors looking down at 40° from the nadir to measure above
water radiance. In order to obtain the polarized radiance, polarizers with orientation of 0°, 90° and 45°
respectively were placed in front of the three radiance sensors. The whole system was installed on the bow
of the boat for continuous observations of above water polarized radiance along the ship's track during a
recent cruise in the NY Bight area. Water optical properties were measured by an optical package towed
from a small R/V. In order to obtain the degree of polarization (DOP) of the water body, the contribution of
the sky radiance must be first removed and this process has to be done for all components of the Stokes
vector. Using a model employing the polarized Fresnel coefficients of the interface the polarized
component of reflection is estimated from the direct measurement of sky radiance and downwelling
irradiance data. These components are then subtracted from the measured values to obtain the water
contribution. The DOP of the ocean body is then related to the in - water IOPs.
Polarization characteristics of coastal waters were recently measured during a cruise on the R/V "Connecticut" in the
areas of New York Harbor - Sandy Hook, NJ region using a new Stokes vector instrument developed by the Optical
Remote Sensing Laboratory at CCNY. The instrument has three hyperspectral Satlantic radiance sensors each with a
polarizer positioned in front of it, with polarization axes aligned at 0, 90 and 45°. The measured degrees of polarization
(DOPs) and normalized radiances as a function of angle and wavelength match very well with simulated ones obtained
with a Monte Carlo radiative transfer code for the atmosphere-ocean system. In order to numerically reproduce the
polarized images for underwater horizontal imaging system the measured typical underwater polarized radiance was
used to estimate the polarized components of the background veiling light and the blurring effects were modeled by
point spread functions obtained from the measured volume scattering functions from this cruise and other typical oceanic
environments. It is shown that the visibility can be improved for unpolarized target by placing a polarizer oriented
orthogonally to the partially polarized direction of the veiling light before camera. The blurring effects strongly depend
on the small angle scattering in the forward directions. For polarized targets the Monte Carlo simulation of slab
geometry for polarized pencil light shows that the scattering medium with high g value has a very strong ability to retain
the polarization status of the incident light, which can be utilized to improve the image contrasts for targets with very
different polarized reflection properties.
The effectiveness of sensors that use optical measurements for the laser detection and identification of subsurface
mines is directly related to water clarity. The primary objective of the work presented here was to use the optical data
collected by UUV (Slocum Glider) surveys of an operational areas to estimate the performance of an electro-optical
identification (EOID) Laser Line Scan (LLS) system during RIMPAC 06, an international naval exercise off the coast
of Hawaii. Measurements of optical backscattering and beam attenuation were made with a Wet Labs, Inc. Scattering
Absorption Meter (SAM), mounted on a Rutgers University/Webb Research Slocum glider. The optical data
universally indicated extremely clear water in the operational area, except very close to shore. The beam-c values from
the SAM sensor were integrated to three attenuation lengths to provide an estimate of how well the LLS would
perform in detecting and identifying mines in the operational areas. Additionally, the processed in situ optical data
served as near-real-time input to the Electro-Optic Detection Simulator, ver. 3 (EODES-3; Metron, Inc.) model for
EOID performance prediction. Both methods of predicting LLS performance suggested a high probability of detection
and probability of identification. These predictions were validated by the actual performance of the LLS as the EOID
system yielded imagery from which reliable mine identification could be made. Future plans include repeating this
work in more optically challenging water types to demonstrate the utility of pre-mission UUV surveys of operational
areas as a tactical decision aid for planning EOID missions.
Diver visibility analyses and predictions, and water transparency in general, are of significant military and commercial interest. This is especially true in our current state, where ports and harbors are vulnerable to terrorist attacks from a variety of platforms both on and below the water (swimmers, divers, AUVs, ships, submarines, etc.). Aircraft hyperspectral imagery has been previously used successfully to classify coastal bottom types and map bathymetry and it is time to transition this observational tool to harbor and port security. Hyperspectral imagery is ideally suited for monitoring small-scale features and processes in these optically complex waters, because of its enhanced spectral (1-3 nm) and spatial (1-3 meters) resolutions. Under an existing NOAA project (CICORE), a field experiment was carried out (November 2004) in coordination with airborne hyperspectral ocean color overflights to develop methods and models for relating hyperspectral remote sensing reflectances to water transparency and diver visibility in San Pedro and San Diego Bays. These bays were focused areas because: (1) San Pedro harbor, with its ports of Los Angeles and Long Beach, is the busiest port in the U.S. and ranks 3rd in the world and (2) San Diego Harbor is one of the largest Naval ports, serving a diverse mix of commercial, recreational and military traffic, including more than 190 cruise ships annual. Maintaining harbor and port security has added complexity for these Southern California bays, because of the close proximity to the Mexican border. We will present in situ optical data and hyperspectral aircraft ocean color imagery from these two bays and compare and contrast the differences and similarities. This preliminary data will then be used to discuss how water transparency and diver visibility predictions improve harbor and port security.
An appropriate determination of water clarity is required by defense and security operations assessing subsurface threats compromising harbor and coastal security. For search and inspection operations involving divers, underwater imaging, and electro-optical identification (EOID) systems such as laser line-scanners, the key environmental parameter needed is the optical attenuation coefficient (directly related to diver visibility). To address this need, a scattering-attenuation meter (SAM) measuring attenuation and diver visibility was developed for integration on new compact surveying platforms such as ROVs and the REMUS and glider AUVs. The sensor is compact (18X8X6 cm3), low power, robust, and hydrodynamic with a flat sensing face. The SAM measures attenuation using a novel dual-scattering approach that solves the paradox of making high-resolution attenuation measurements over the long pathlengths required for natural waters with a compact sensor. Attenuation and visibility data is presented from San Diego harbor in coordination with video images of bottom topography collected with a REMUS vehicle, from around New York harbor with a SAM mounted in an autonomous Slocum glider, and from Narragansett Bay. Results show that 1) visibility and/or attenuation in harbor and coastal regions can change rapidly over small scales (meters), especially near the bottom, 2) turbid bottom nepheloid layers are common, 3) typical visibility and/or attenuation levels fall in a range where knowledge of visibility and/or attenuation can be essential in the decision making process for security operations, and 4) attenuation is a significantly more accurate proxy for diver visibility than backscattering.
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