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Pavilion Lake Research Project: Wrapping up 2010

Posted on July 20th, 2010 by Allyson Brady

The PLRP 2010 field season has come to a close and I am both saddened by the fact that operations are finished for another year but excited by the prospect of adding the data we’ve collected this year to our growing body of knowledge about this unique lake. I am in awe of the work that has been done by this amazing team and of how much we’ve grown, while maintaining the sense of adventure and camaraderie that to me, helps to define the PLRP.

We’ve taken great strides towards answering many of our research questions and in the process, with every answer we have come up with many more questions that will keep the PLRP team occupied for quite some time. Fortunately, our family continues to grow and every year we welcome new individuals who bring a unique perspective and desire to tease out the mysteries Pavilion has to offer. We have also been blessed this year by the addition of two little members to the PLRP family, Darlene Lim’s daughter Amelia and Greg Slater’s son Joseph. We look forward to the day when they are exploring the lake alongside us.

DeepWorker Pilots and Nuytco Team: 2010

The PLRP provides a wealth of research opportunities, and not just those focused on understanding the processes leading to the formation of the structures at Pavilion Lake but also to understanding fundamental biological, chemical and physical processes. The research contributions from our participating scientists and graduate students have resulted in a number of recent publications and are essential to increasing our understanding of Earth and astrobiological systems. We’re very proud of the role that the PLRP has played in developing operational technologies and protocols that not only help us meet our science objectives but provide important input into future space science missions.

With the addition of our two newest scientist pilots, astronauts Chris Hadfield and Stan Love, we had 34 DeepWorker missions over 10 days of operations. This year we were aided greatly in our pre-season flight planning by the wonderful team from NASA Ames led by Matt Deans and David Lees who developed an amazing flight planning tool that enabled us to search images and flight paths from previous years while building flight plans in Google Earth. Flights this year were planned to collect images of the remaining unexplored regions of the lake, to record detailed images of areas of interest identified from 2008 and 2009 data and to use the submersibles in combination with other analytical tools such as a conductivity, temperature and depth (CTD) instrument and our autonomous underwater vehicle(s) (AUV). Our ability to review post-flight video data in the field, an effort pioneered in 2009, added greatly to our productivity as this information was used immediately by the science backroom team to modify existing flight plans to best optimize our data collection. As part of the daily flight debriefs, we have also continued to apply metrics associated with scientific productivity to understand factors that influence scientific exploration. New this year to the DeepWorker flight repertoire were long ~ 5 hour flights and two night flights to investigate the grazing activity that we suspect may occur in the lake. To add to the innovations this year, Nick Wilkinson designed a fantastic, interactive program for use in classifying the microbialite images. This new tool will allow us to efficiently organize and process our field data over the coming months. Stay tuned for updates.

The Amazing Pavilion Lake Research Project Team: 2010!

In case our DeepWorker operations didn’t keep us busy enough, we had a number of other important activities included in the field schedule this year. The UBC and University of Delaware AUV teams produced fantastic images of the lake bottom that were often used to compliment the DeepWorker flights and give us a better picture of where interesting structures and features are in the lake. Numerous SCUBA dives were performed by our intrepid team of divers to collect water and microbialite samples that were shared between various research groups in an effort to combine and compliment analytical findings. These samples will be characterized from a virology, microbial lipid, isotopic and genetic point of view to provide more information about the role of biology in the formation of the microbialites and what biosignatures may be left behind. Water samples were collected from nearby lakes including Crown, Turquoise, Pear and Kelly Lake to continue to help us put Pavilion Lake in context. Kelly Lake, which also hosts microbialites and has been an area of interest to the PLRP team for many years, was also the focus of significant AUV activities this year. Microbial mats were once again collected from the Cariboo Plateau lakes and giant pancakes were eaten by all (well, almost all). As a new participatory activity this year, our visiting teacherswere given the task of selecting a SCUBA dive based on their understanding of the research questions of interest (on their first day no less!). I’m happy to report that they eagerly interviewed members of the team before presenting their selected dive and rationale to the group for inclusion in the next day’s diving schedule. Community Day was another great success this year with the team happy to show off our work and answer questions from the many visitors we had to the site. Busy indeed!

We plan on continuing our updates throughout the year as we analyze samples and work through the amazing amount of data that were collected. Thanks to all who have read about our activities and through this process, have joined in our adventure. See you next year!

~ Allyson

Robotic Choreography

Posted on July 19th, 2010 by Alex Forrest

DORA and UBC-Gavia in the water ready to deploy in Pavilion Lake.

Its now been just over a week since the end of our adventures at Pavilion Lake and, as I start trying to look at all the data we’ve collected, I can’t help but be impressed with our successes. In addition to the image mosaicing that I was working on, and showed pictures of in an earlier post, my specific focus of being up at the lake was running coordinated missions between the two autonomous underwater vehicles (AUVs), that we had on-site from the University of British Columbia and the University of Delaware, and the Deepworker vehicles. Our mission planning goals were twofold; joint objectives and joint missions.

Joint objective style missions measure parameters that are relatively static in time (i.e. photos of microbialites). This means that coordinating different platforms isn’t necessary but coordinating their datasets are. This requires that the timestamps of each data stream be precisely set and that the dataset is georeferenced to a high degree of accuracy. This work was started last year but continued this year by using the collected images from Deepworker and comparing it with AUV collected data (e.g. high-precision bathymetry).

Comparing multibeam bathymetry collected with DORA with detailed imagery from UBC-Gavia.

Joint missions involved a significantly greater degree of coordination as it involved running the vehicles at the same time as the Deepworkers. Our experiment this year was to look at the area of increased salinity at the bottom of the lake. To this end had the Deepworkers crossing the bottom of the basin at about 1 m from the bottom (> 55 m depth), while running UBC-Gavia at 40 m depth. The greatest debate was trying to decide what the minimum safe distance was to be between the two platforms! In the end we ran AUV missions down to 48 m without any problems. Although we’re just starting to process all of this data now, from both styles of missions, we’re excited about what new perspectives these combined datasets might hold.

-Alex

The journey of a thousand miles (or in our case, many thousands of miles)

Posted on July 6th, 2010 by Stephanie Nebel

Hello World!  Greetings from the beautiful shore of Pavilion Lake, BC, where the mountains are high, the lake is clear, and the science is plentiful!

Sunset on our first evening at Pavilion Lake.

I write this sitting in what is probably the most utilized building in camp surrounded by nectarines, apples, and Frankenstein Cookies* (which, deliciously, have just come from the oven).  We pile into this building, called Brock’s House, for breakfast, lunch, and dinner every day.  By day, the room is filled with computers and hard drives and people busily processing data (sometimes while simultaneously watching World Cup Soccer/Football and Tour de France cycling).  Every night, we come together as a group for our nightly science meetings.  We share ideas, ask questions, get weather updates, summarize our daily activities, are introduced to the newest members of Team Pavilion, and say goodbye to those departing.

At our largest, the team will consist of more than 70 people from all corners of the world.  The larger team consists of smaller groups, each with their own objectives that ultimately contribute to PLRP. As I type this, the scuba divers are diving to collect samples and document microbialite growth, while the deep worker subs are exploring the central basin of Pavilion Lake. While a single person pilots the sub, a navigator boat floats above the sub to support the deepwater operations. Meanwhile, at the Hab (Mobile Mission Command Center), located just up the road from Brock’s House where I currently sit, people are processing data. Our camp cooks, Jen and Dana, are busily preparing lunch for 61 hungry people (which is no small task). Ashley has headed to town and will be coming back shortly with a truck filled with boxes of food.  The UBC (University of British Columbia) AUV team was out running missions before breakfast and are presently on Pavilion Lake to deploy some instruments, and the UD (University of Delaware) AUV team is busily planning missions for the afternoon.  I’m part of the UD team, along with Art Trembanis and Jon Gutsche. We work closely with the AUV team from UBC and have been given the team name “Gaviators”.

The UBC AUV team prepares for night ops.

It’s hard to believe that it’s Saturday, and that we now have six days of work behind us.  We arrived on Sunday from Philadelphia, PA via Minneapolis, MN (where we spent a short night due to a late night canceled flight), Denver, CO and finally Vancouver, BC.  The drive from Vancouver to Pavilion Lake was gorgeous, and the snow peaked mountains were unlike anything we left behind in Delaware.

Upon our arrival on site, Art, our advisor who participated in the project last year, began showing us around.  We visited the Hab and Brock’s House, where dinner was waiting for us, and then we wandered down a gravel road and found the lakeside cabins that would be our homes for next two weeks.  Along the way, we met many members of Team Pavilion – some who have spent years participating in the project and others, like myself, who were brand new to it.

We all approach the project from diverse backgrounds.  We are teachers, biologists, geologists, dieticians, engineers, scuba divers, chemists, artists, astronauts, physicists, astronomers, zoologists, and ecologists. The unique perspective that each individual brings to the group is fascinating – how an artist views sonar data or how a teacher will take the work done here at Pavilion and integrate it into their classroom. To view your work through a different lens is both interesting and important. It stimulates questions and conversations that further drive the work in new directions.

In the days since our arrival, we have had great success mapping Pavilion with our AUV named “Dora”.  What is an AUV, you might ask??  AUV is short for Autonomous Underwater Vehicle – basically an underwater robot that is equipped with an array of instruments.  The AUV maneuvers around Pavilion Lake, traveling along “lines” that we plan in a computer before the mission start.  This mission plan is then sent to the AUV and she swims off to collect data while we await on shore for her return.  Mission length is controlled by the battery life of the AUV, and typically ranges from 1.5 to 4 hours.

An underwater landslide feature identified with side-scan sonar in Pavilion Lake

The UD AUV, a Gavia class vehicle, has two sonar systems.  Both sonar systems emit sound pulses that travel through the water and then bounce back towards the vehicle when they hit the lake bottom.  One, called side-scan sonar, characterizes the type of sediment at the lakebed.  The second, interferometric sonar, measures the bathymetry of the lakebed.  Using these two instruments, we will produce a high resolution “image” of the bottom of Pavilion Lake.  We are able to identify trees, microbalite structures, and underwater landslides in these records.  Additionally, the Gavia comes equipped with an Ecopuck sensor, which measures turbidity (how much suspended matter there is in the water) and Chlorophyll A (a measure of primary productivity in the water).  A downward facing camera, an oxygen sensor, a temperature sensor, and depth sensor are further part of her payload.

As I walked down the gravel road this evening in the direction of the setting sun, surrounded by people who, a week ago, were complete strangers to me, I thought about how much we have accomplished in the past week and also how much fun we have had together. I’m certainly delighted to have been “engulfed” by such a wonderful team.

-Steph

*Oh yes, Frankenstein Cookies were successfully thought up by Jen in an attempt to use up some leftover breakfast oatmeal and French toast batter.   Add some butter, sugar, chocolate chips, and flour and bake for 10 minutes.  Result – Delicious!

Jen making early morning Frankenstein Cookies.

Pavilion Lake Research Project Operations Tour

Posted on July 5th, 2010 by Heather Paul

Learn about the PLRP’s operations, and tour the field site with Heather and Ben!

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Bienvenue au Lac Pavilion, Claudine!

Posted on July 4th, 2010 by Claudine Fortier

Bonjour tout le monde,

Je m’appelle Claudine (ou Poutine si vous voulez) et j’ai la chance de participer au PLRP cette année en tant que membre de l’équipe de UBC-Gavia. Je viens de terminer mes études de 1er cycle en génie des eaux à l’Université Laval, à Québec, et je fais présentement un stage à l’Université de British Columbia sous la supervision de Dr.Bernard Laval.

Notre équipe a donc le mandat de faire fonctionner le AUV (Autonomus Underwater Vehicle) Gavia-UBC et de récolter un maximum de données. Gavia-UBC est principalement équipé d’un CTD (Conductivité, Température, Profondeur), d’un scatteringmeter (chlorophylle, CDOM, Turbidité). Il y a donc beaucoup de données à traiter, ce qui occupe mon temps entre deux réparations de notre véhicule. En effet, notre AUV a éprouvé quelques difficultés depuis notre arrivée à PLRP mais, grâce entre autre à l’équipe du l’Université du Delaware qui nous prête gentiment certaines parties de leur AUV et aux nombreux efforts de l’équipe, nous avons réussi à le faire fonctionner convenablement.

Au moment d’écrire ces lignes, notre UBC-Gavia effectue une mission qui a pour but de couvrir une grande partie du bassin central du Lac Pavilion, à une profondeur constante de 40m. Cette mission dure environ 1h20min et devrait nous apporter de nombreuse données de conductivité que mon équipe traitera avec les logiciels MatLab et Fledermaus. On va encore aller se coucher vers 23h30-minuit, mais cela ne m’empêche pas de participer au club de course de 6h00am! Quel belle expérience à PLRP!

- Claudine Fortier

Claudine et Gavia-UBC

Meet Allyson: Acting Principal Investigator for 2010

Posted on June 9th, 2010 by Allyson Brady

As the 2010 PLRP field season draws nearer, we are all busy with plans and preparations. This summer will be a bit different for me as our fearless leader Darlene will be on maternity leave and I will be stepping into the role of acting Principal Investigator (PI). A daunting task, but I know I have the support of an amazing team of people and we’re all working towards having a fun, safe and successful field season.

Allyson in final preparation for a DeepWorker flight

Looking back over the last 5 years that I have been involved in PLRP I am in awe of what we’ve accomplished and how much we’ve grown. Last year we successfully mapped additional regions of the lake using the DeepWorker submersibles and re-visited areas of interest identified in 2008 for more detailed imaging and observations. We were also very successful in classifying a great deal of our DW imaging data while in the field. This was a huge accomplishment and the entire team worked very hard to make this happen, we hope to have a repeat this year. Examination of the 2009 data has helped us to identify more regions that show interesting trends that we will be exploring in this upcoming field season.

Flight planning for 2010 is going ahead full-steam! We are very pleased to continue with our astronaut training program this year and welcome Chris Hadfield and the Stan Love to the PLRP gang. I can’t wait to see their reaction to viewing this remarkable lake and the microbialites for the first time.

As always, there are a number of fundamental science questions that we are working towards answering through the exploration of this beautiful lake, not only with DW but with SCUBA and GAVIA as well. We will continue to examine questions regarding the role of biology and physical parameters in carbonate precipitation including: What are the dominant surface microbial and viral communities? Does grazing by macroorganisms affect microbialite morphology? What is the role of algae? How do depth and slope affect morphology? And many more… I’m looking forward to partaking in some great science and exploration activities this summer.

The field season is nearly upon us so stay tuned for more updates!

~ Allyson

Anticipation is Over: First Deepworker Operations of 2009

Posted on July 6th, 2009 by Ben Cowie


The anticipation finally ended today as the first set of DeepWorker pilots began the exploration of Pavilion Lake for 2009! Margarita Marinova and Mike Gernhardt each flew tracks through the Central Basin and the incredible science backroom team had the data processed and available for our evening science tagup. This is the first time we’ve been able to achieve this type of turnaround, making video from the sub available to be projected onto a screen in a little under 2 hours. The discussion that followed from the video footage was excellent, raising several new and interesting scientific questions, and we are looking forward to seeing daily mission highlights throughout the field season. Check out Mike Gernhardt’s blog for a sample of what he and the PLRP team was able to observe from just one flight this afternoon!

While the DeepWorkers were busy in the water, the AUV team was busy generating a high-resolution bathymetry map of the lake bed, sending Gavia on a mission for data-collection, and preparing for tomorrow’s experiment that uses both DeepWorker and Gavia to investigate the groundwater springs found at the south end of the lake. The high resolution bathymetry map will be especially useful to determine slope aspects along the basin walls, which is difficult to measure directly using divers or other means.

In addition to the lake exploration today, Dawn Sumner and Bekah Shepard were busy growing their recently collected microbial mats in our on-site laboratory. We are anticipating some excellent time-lapse photography from this experiment later in the week, and these changes in mat structure may be able explain some of the diversity we observe in the microbialites at Pavilion Lake.

For more photos of our operation, check our Picasa site: http://picasaweb.google.com/pavilion.lake for daily photo updates, or any of the other media channels available through the “Follow Me” link on the right of this page!

Cheers,

Ben

Day 2: camp is buzzing, science ops begin

Posted on July 5th, 2009 by Ben Cowie

There is so much going on today on the first day of science operations, it’s almost too much to follow all of it! The DeepWorker submersibles arrived from Vancouver, and the expert team from Nuytco ensured they were guided safely into the water. The team was on hand to see the subs launched into Pavilion Lake, enabling another season of successful science and exploration. Photos from the launch are available here: http://www.pavilionlake.com/deepworker-launch-2009.php

The NASA Mobile Mission Control Center was on site when I arrived, and the whole team was working hard to set up the lab facilities, enable the communications systems and WiFi network that covers the lake, and get camp set up for our field season.

UBC-Gavia also went for a late Saturday night test-flight, complete with a new navigation system provided by Art Trembanis. This navigation system enables very high resolution mapping of the bottom of the lakebed that will contribute to our understanding of the microbialite distribution in the lake.

Today we also welcomed Shad Valley-UBC campus, (www.shad.ca) remotely in via videoconference. The Shads (students at Shad Valley) will be following our mission and interacting with our team via Skype, analogous to how mission control would interact with an outpost on the moon. They will have the opportunity to ask our scientists about our findings at the lake, and in the process, learn about analog science and exploration research.

Things are moving at light-speed around the Lake, and lots of science is upcoming for tomorrow. The first DeepWorker flights will be piloted by Mike Gernhardt and Margarita Marinova (who both just arrived this afternoon), kicking off our season of underwater exploration.

Stay tuned, we’re just getting started here at Pavilion Lake!

-Ben

Rebreathers and Robots

Posted on June 18th, 2009 by Alex Forrest

Robert A. Heinlein once wrote a book called ‘Have Space Suit – Will Travel’ but I would argue that the same thing could be said for underwater robots. During the past several weeks of preparation for this summer’s Deepworker deployment I have been doing some extensive travel with some of the other AUV (Autonomous Underwater Vehicle) projects in which I am involved. Two of the more interesting places have been Aberdeen, Scotland and Chesapeake Bay, Maryland.

The helicopter underwater escape training simulator

The helicopter underwater escape training simulator

The first of these was to do the Basic Offshore Safety Induction and Training course (BOSIET). This is the training necessary to prepare for potential rescue scenarios for transport to offshore oil rigs, and is required for an upcoming AUV project. One of the more intimidating parts of the training was an inverted exit of a flooded helicopter simulator. The simulator shown on the right is lowered into the water while you breathe through a rebreather (where air is temporarily stored in your life jacket). This allows you to breathe underwater for about 30 seconds and allows you enough time to release from the harness and push out the window and exit. This was a definitely a unique experience that puts a new perspective on working in and around the water, at Pavilion Lake and elsewhere over open water in the Caspian Sea and over sea-ice in the Canadian High Arctic.

Adam Skarke from the University of Delaware getting ready to deploy the Gavia vehicle

Adam Skarke from the University of Delaware getting ready to deploy the Gavia vehicle

On my return from Aberdeen, I stopped over in Chesapeake Bay to attend an event informally known as AUVFest 2009 where four AUV groups from around the United States met to perform a demonstration of their technologies, and to work with educators on how to transfer knowledge from the practice to the classroom. This was a fantastic workshop that really emphasized how every vehicle, with their varied sensor setups, fills a different niche for underwater exploration. For me, this really hit home as an important concept at Pavilion Lake, where we have a wide array of tools and vehicles that must be optimized in order to get the best scientific returns. Sharing the varied and extensive experience at this workshop showed that Heinlein was right with a slight variation: “Have AUV – Will Travel”.

~Alex Forrest

Exploring the Depths – 10 Inches at a Time

Posted on May 19th, 2009 by Alex Forrest

After several years of playing with underwater robots, last week was a new dimension with learning to “fly” the Deepworker vehicles as part of the training for the upcoming Pavilion Lake field season. The training missions were conducted in Vancouver’s Burrard Inlet over a five day period with myself and three other new pilots from the PLRP. The unique opportunity to operate these individual manned submersibles allows an unrivaled perspective in these underwater environments. The only unfortunate thing was that the perspective was somewhat myopic as the spring freshet (freshwater runoff during spring snowmelt) resulted in the water being quite turbid. On a good day, I was only able to see to the end of my camera. However, as you can see in the photo below, it is possible to just make out the reddish sea anemone positioned about 10 inches off the bow of the vehicle.

Anenome

Anemone at the bottom of Burrard Inlet

This type of exploration is also part of my ongoing personal research using humans and robots. For the past several years, as part of my doctorate, I have been involved with the deployment of UBC-Gavia, an untethered, autonomous underwater vehicle, in Pavilion Lake and many other places around the world. Last year, we were able to have both the Deepworker and UBC-Gavia in the water during the same time as you can see in the picture below. This year we’re planning to use Gavia and Deepworker in tandem to to explore incoming groundwater in the south basin of Pavilion Lake, which is an exciting opportunity for joint human/robotic exploration.

dw_gavia

Deepworker and UBC-Gavia together in Pavilion Lake

Pavilion Lake is a unique and exciting opportunity to use multiple vehicles for joint human/robotic science and exploration. Methods developed and lessons learnt from choreographing the increasingly specialized robots associated with this project (in terms of data collection, data management, logistics, etc.) would serve as a complementary model as humans reach towards manned flight to Mars and exploration of extra-terrestrial liquid bodies as potentially found on Europa (one of Jupiter’s moons) or Enceladus (one of Saturn’s moons).

-Alex