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MARS lander: georeferencing landing and pop points of untethered ocean monitoring systems using fundamental physics

2026-04Artigo científico Acesso aberto
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datacite.subject.sdg14:Proteger a Vida Marinha
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
datacite.subject.sdg13:Ação Climática
dc.contributor.authorRadeta, Marko
dc.contributor.authorBehboodi, Zahra
dc.contributor.authorZekovic, Vladimir
dc.contributor.authorAlves, Décio
dc.contributor.authorPestana, David
dc.contributor.authorNunes, Daniel
dc.contributor.authorFreitas, Margarida
dc.contributor.authorGupta, Ankit
dc.contributor.authorPestana, João
dc.contributor.authorVieira, Dinarte
dc.contributor.authorAlmeida, Sílvia
dc.contributor.authorDias, Morgado
dc.contributor.authorClode, João Canning
dc.contributor.authorCaldeira, Rui
dc.contributor.authorRelvas, Paulo
dc.contributor.authorVasiljevic, Antonio
dc.date.accessioned2026-03-20T18:43:27Z
dc.date.available2026-03-20T18:43:27Z
dc.date.issued2026-04
dc.description.abstractSubsurface observations are crucial for understanding the ocean's role in Earth's climate and for refining climate models. However, existing aquatic monitoring systems that allow such insights remain complex and costly due to their high demands for deployment, sampling, and recapture. Since low-cost, easy-to-deploy deep-sea landers are scarce, and with the aim of facilitating more subsurface observations, this study provides a simple method for georeferencing small-sized untethered landers. Their underwater trajectories are modelled with fundamental physics, dead reckoning, lander geometry, and numerical simulations. Using free fall, upthrust, and ocean current dynamics, the proposed approach estimates their underwater trajectories, including landing (at the seabed) and pop (at the sea surface) points. The method relies on the lander's physical characteristics, including its vertical and horizontal cross-sectional areas, to calculate the drag force coefficients used to determine its trajectories during descent and ascent through the water column. Ocean currents' magnitudes are modelled using Ekman's exponential decay down to 90 m of the water column, while the depths until 900 m are modelled from prior ADCP surveys by varying ocean current headings with depth between − 20 and 20◦. Surface ocean and wind current headings are modelled with open datasets from satellite telemetry. Lander's velocity, displacement, and dive time to the landing and pop points, including the total radial excursion and uncertainty in heading, are analytically derived, numerically calculated, and empirically assessed a-posteriori until 90 m, yielding a ~38 m radial excursion (40% error) against the obtained GNSS coordinates in field deployment, and 33◦ in heading uncertainty during a 138-s excursion. Additional random walk simulations are shown for full ocean depth obtaining radial excursion of 1038 m with 278 min total dive time. This approach is generalizable to any subsurface aquatic monitoring systems targeting deployments with diverse payloads from smaller sea vessels, not requiring cranes, radio, GNSS, or acoustic telemetry. Since it accounts for key nature factors, our method provides special benefits in planning and optimizing deployments. Additional discussion focuses on the method's practicality for full ocean depth deployments.eng
dc.description.sponsorshipPTDC/CCI-COM/0450/2020; CEECINST/00098/2018
dc.identifier.doi10.1016/j.dsr.2026.104650
dc.identifier.issn0967-0637
dc.identifier.urihttp://hdl.handle.net/10400.1/28500
dc.language.isoeng
dc.peerreviewedyes
dc.publisherElsevier
dc.relationMarine and Environmental Sciences Centre
dc.relationAquatic Research Infrastructure Network
dc.relation.ispartofDeep Sea Research Part I: Oceanographic Research Papers
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectUpper ocean dynamics
dc.subjectOcean physics
dc.subjectDead reckoning
dc.subjectWater column monitoring
dc.subjectUnderwater trajectories
dc.subjectRadial excursion prediction
dc.subjectLow-cost landers
dc.subjectHydrodynamics
dc.subjectNumerical simulations
dc.subjectLander geometry
dc.titleMARS lander: georeferencing landing and pop points of untethered ocean monitoring systems using fundamental physicseng
dc.typejournal article
dspace.entity.typePublication
oaire.awardNumberUIDB/04292/2020
oaire.awardNumberLA/P/0069/2020
oaire.awardTitleMarine and Environmental Sciences Centre
oaire.awardTitleAquatic Research Infrastructure Network
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04292%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0069%2F2020/PT
oaire.citation.startPage104650
oaire.citation.titleDeep Sea Research Part I: Oceanographic Research Papers
oaire.citation.volume228
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameRelvas
person.givenNamePaulo
person.identifier.ciencia-id2412-1F65-A044
person.identifier.orcid0000-0002-6404-5895
person.identifier.ridB-1257-2008
person.identifier.scopus-author-id6505976206
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
relation.isAuthorOfPublication94f4d10b-242d-4560-b716-6375f1a01eac
relation.isAuthorOfPublication.latestForDiscovery94f4d10b-242d-4560-b716-6375f1a01eac
relation.isProjectOfPublication61d0bac5-8f85-40c7-ac39-0fb64c5ff771
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