Seafloor Models Research Articles

Refined Bathymetric Prediction Based on Feature Extraction of Gravity Field Signals: BATHY‐FE

AbstractThe resolution of altimetry‐derived gravity signals renders traditional bathymetry inversion methods inadequate for detecting short‐wavelength bathymetric features. This study presents a new global seafloor topography model by merging regional models constructed via a deep learning approach recently developed by the authors. Feature extraction techniques were used to refine each regional bathymetric model, resulting in sharpened features that are fuzzily revealed (or not seen) in global bathymetric models such as GEBCO_2023 and SRTM15+V2, especially in areas close to the poles. This is proof that, with regard to current gravity field products, conventional bathymetry inversion methods are weaker at generalizing to uncharted locations of the global ocean floor. At test points, the global seafloor model has mean error and error standard deviation of 1.75 ± 81.15 m. The refined seafloor topography can be used to supplement existing seafloor maps, especially in the polar regions. It is useful for studying seafloor geography, and also for studies in which seafloor ruggedness is required.

Space‐Time Monitoring of Seafloor Velocity Changes Using Seismic Ambient Noise

AbstractWe use seismic ambient noise recorded by dense ocean bottom nodes (OBNs) in the Gorgon gas field, Western Australia, to compute time‐lapse seafloor models of shear‐wave velocity. The extracted hourly cross‐correlation (CC) functions in the frequency band 0.1–1 Hz contain mainly Scholte waves with very high signal‐to‐noise ratio. We observe temporal velocity variations (dv/v) at the order of 0.1% with a peak velocity change of 0.8% averaged from all station pairs, from the conventional time‐lapse analysis with the assumption of a spatially homogeneous dv/v. With a high‐resolution reference (baseline) model from full waveform inversion of Scholte waves, we present an elastic wave equation based double‐difference inversion (EW‐DD) method, using arrival time differences between the reference and time‐lapsed Scholte waves, for mapping temporally varying dv/v in the heterogeneous subsurface. The time‐lapse velocity models reveal increasing/decreasing patterns of shear‐wave velocity in agreement with those from the conventional analysis. The velocity variation exhibits a ∼24‐hr cycling pattern, which appears to be inversely correlated with the diurnal variations in sea level height, possibly associated with dilatant effects for porous, low‐velocity shallow seafloor and rising pore pressure with higher sea level. This study demonstrates the feasibility of using dense passive seismic surveys and wave‐equation time‐lapse inversion for quantitative monitoring of subsurface property changes in the horizontal and depth domain.

Acoustic scattering modeling and sound field characteristics of rough seafloor in shallow sea

Acoustic scattering is an important part of ocean acoustics, and the acoustic scattering caused by the unevenness of the seafloor surface is one of the reasons for the fluctuation of acoustic propagation in the ocean. In order to solve the acoustic scattering problem of sea bottom surface roughness, normal wave theory is used to model the acoustic field. To simplify the problem, Lambert’s law is used to establish the seafloor rough scattering model in horizontal layered shallow sea waveguides, and the scattering field is assumed to be isotropic in the horizontal direction. Based on this model, the amplitude distribution and the phase distribution of the scattered sound pressure are obtained, and the intensity of the scattered sound field and its spatial correlation coefficient are simulated numerically. The prediction of the scattered sound field under rough interface conditions is realized, and the variation of the spatial characteristics of the scattered sound field with the roughness of the seafloor is revealed. The results show that when Lambert’s law is used to describe the rough interface acoustic scattering and when the seafloor roughness is smaller than the wavelength, the spatial correlation coefficient of the scattered sound field at two different positions in space has a change rule of periodic oscillation attenuation with the increase of spatial distance, and in the vertical direction, the oscillation period is larger and the attenuation is slower. When the roughness increases, the oscillation amplitude of the horizontal and the vertical correlation coefficient gradually increase, the oscillation period of the horizontal correlation coefficient gradually decreases, and the vertical correlation coefficient no longer attenuates in the direction near the seafloor, which is the result of the weakening of the seafloor acoustic scattering. The model theory in this paper can also be extended to the acoustic scattering modeling of rough sea surface. For the case of non-horizontal seabed, the scattered sound field of the rough interface in the waveguide can be obtained by using coupled normal wave or adiabatic normal wave theory.

Feature curve-based registration for airborne LiDAR bathymetry point clouds

The airborne LiDAR bathymetry (ALB) system is widely used in the fields of sea–land measurement, including seafloor topographic feature description, 3D seafloor model construction, coral reef monitoring, and underwater archaeology. A manned ALB data registration method based on feature curves was proposed considering problems such as sparse ALB data features, low point cloud density, and difficult corresponding feature extraction. First, triangulation network interpolation was used to extract the isoline points of the seafloor point cloud. The curves describing the seafloor topographic trend were generated through cubic parabolic spline function interpolation. Second, the curve deformation energy function was constructed based on the curve features, and a similarity measurement was carried out on the registration curve by integrating the energy function with the longest common subsequence (LCSS) algorithm. The RANSAC and ICP algorithms were used for rough and fine registration, respectively. The effectiveness and robustness of the proposed method were evaluated using two sets of experimental data. The experimental results showed that the average distance between corresponding points in the coarse registration stage reached 0.128 m and 0.136 m. After fine registration, the average point distance between the point cloud coordinates and ground truth reached 0.073 m and 0.267 m, providing an effective and reliable solution for ALB data registration.

Seafloor Topography Estimation from Gravity Anomaly and Vertical Gravity Gradient Using Nonlinear Iterative Least Square Method

Currently, seafloor topography inversion based on satellite altimetry gravity data provides the principal means to predict the global seafloor topography. Researchers often use sea surface geoid height or gravity anomaly to predict sea depth in the space domain. In this paper, a comprehensive discussion on seafloor topography inversion formulas in the space domain is presented using sea surface geoid height, gravity anomaly and introduces an approach that uses vertical gravity gradient. This would be the first study to estimate seafloor topography by vertical gravity gradient in the space domain. Further, a nonlinear iterative least-square inversion process is discussed. Using the search area for the Malaysia Airlines Flight MH370 as study site, we used the DTU17 gravity anomaly model and SIO V29.1 vertical gravity gradient to generate the seafloor topography. The results of the proposed bathymetric models were analyzed and compared with the DTU18 and SIO V20.1 bathymetric models. The experimental results show that the gravity anomaly and vertical gravity gradient in the study area are strongly correlated with the seafloor topography in the 20–200 km wavelength range. The optimal initial iteration values for seafloor topography variance and correlation length are 0.6365 km2 and 10.5′, respectively. Shipborne measurements from SONAR data were used as external checkpoints to evaluate the bathymetric models. The results show that the RMS for BAT_VGG_ILS (inversion model constructed by vertical gravity gradient) is smaller than for BAT_GA_ILS (inversion model constructed by gravity anomaly) and BAT_GA_VGG_ILS (inversion model constructed by gravity anomaly and vertical gravity gradient). The relative accuracy of the DTU18 bathymetry model was 9.27%, while the relative accuracy of the proposed seafloor models was higher than 4%. Within the 200 m difference range, the proportion of checkpoints for BAT_VGG_ILS was close to 95%, about 80% for BAT_GA_ILS and BAT_GA_VGG_ILS, and less than 50% for the DTU18. The results show that the nonlinear iterative least square method in the space domain is feasible.

Fast computation of time-domain scattering by an inhomogeneous stratified seafloor.

Marine sediment properties exhibit fluctuations on a very wide range of scales in all three spatial dimensions. These fluctuations lead to scattering of acoustic waves. Seabed scattering models that treat such fluctuations are reasonably well developed under the plane-wave assumption. A recent model, called TDSS (time domain model for seafloor scattering), accurately treats the important point-source-point-receiver geometry for generally stratified fluid sediments-important because this is the geometry employed in many seabed scattering measurements. The computational cost associated with this model is very high and scales roughly with the product of mean source-receiver height above the basement to the fifth power and both bandwidth and wavenumber to the second power. Thus, modeling deep ocean scattering from a near sea surface source and receiver is prohibitive at frequencies above a few tens of hertz. A computational approach was developed based on Levin's method of oscillatory integration, which is orders of magnitude faster than standard numerical integration techniques and makes deep ocean seabed scattering computations practical up to many kilohertz. This approach was demonstrated to agree with the narrowband sonar equation in several simple environments in the limit of small bandwidths, but the TDSS model is expected to be valid for a much wider range of environments.

A block rational Krylov method for 3-D time-domain marine controlled-source electromagnetic modelling

We introduce a novel block rational Krylov method to accelerate three-dimensional time-domain marine controlled-source electromagnetic modeling with multiple sources. This method approximates the time-varying electric solutions explicitly in terms of matrix exponential functions. A main attraction is that no time stepping is required, while most of the computational costs are concentrated in constructing a rational Krylov basis. We optimize the shift parameters defining the rational Krylov space with a positive exponential weight function, thereby producing smaller approximation errors at later times and reducing iteration numbers. Furthermore, for multi-source modeling problems, we adopt block Krylov techniques to incorporate all source vectors in a single approximation space. The method is tested on two examples: a layered seafloor model and a 3D hydrocarbon reservoir model with seafloor bathymetry. The modeling results are found to agree very well with those from 1D semi-analytic solutions and finite-element time-domain solutions using a backward Euler scheme, respectively. Benchmarks of the block rational Krylov method demonstrate that it can be as up to 10 times faster than backward Euler. The block method also benefits from better memory efficiency, resulting in considerable speedup compared to non-block methods.

A time-domain model for seafloor scattering.

Bottom scattering is important for a number of underwater applications: it is a source of noise in target detection and a source of information for sediment classification and geoacoustic inversion. While current models can predict the effective interface scattering strength for layered sediments, these models cannot directly compute the ensemble averaged mean-square pressure. A model for bottom scattering due to a point source is introduced which provides a full-wave solution for mean-square scattered pressure as a function of time under first-order perturbation theory. Examples of backscatter time series from various types of seafloors will be shown, and the advantages and limitations of this model will be discussed.

Time-dependent seafloor roughness simulations using a coupled spectral ripple-biological decay model

Ever changing hydrodynamic conditions in the nearshore continuously affect biological communities and sediment features on the seafloor. Seafloor sediments have complicated interactions with the co-existing biological flora and fauna on the seabed. For example, ripple formation by waves and ripple degradation from biological activity are opposing forces occurring continuously. Simulating this complex natural environment is challenging due to these dynamic interactions of processes that span across a wide range of length and time scales. Existing seafloor models are often based on equilibrium conditions and neglect any change due to biological effects. Additionally, typical equilibrium ripple models provide only geometric dimensions, not a roughness spectrum necessary for acoustic applications. We present a time-varying spectral seafloor model, NSEA, that predicts the spatial and temporal evolution of seafloor roughness accounting for both the evolution and degradation of ripples due to hydrodynamics and biology. Model predictions are compared to high-frequency sector-scanning sonar data collected off the coast of Panama City, FL, during the Target and Reverberation Experiment (TREX13) and at the US Army Corps of Engineers Field Research Facility in Duck, NC. The sector-scanning sonar imaged ~15 square meters of the seafloor every 12 min for up to four weeks in depths up to 20 m.

A backscattering model for a stratified seafloor

In order to predict the bottom backscattering strength more accurately, the stratified structure of the seafloor is considered. The seafloor is viewed as an elastic half-space basement covered by a fluid sediment layer with finite thickness. On the basis of calculating acoustic field in the water, the sediment layer, and the basement, four kinds of scattering mechanisms are taken into account, including roughness scattering from the water-sediment interface, volume scattering from the sediment layer, roughness scattering from the sediment-basement interface, and volume scattering from the basement. Then a backscattering model for a stratified seafloor applying to low frequency (0.1–10 kHz) is established. The simulation results show that the roughness scattering from the sediment-basement interface and the volume scattering from the basement are more prominent at relative low frequency (below 1.0 kHz). While with the increase of the frequency, the contribution of them to total bottom scattering gradually becomes weak. And the results ultimately approach to the predictions of the high-frequency (10–100 kHz) bottom scattering model. When the sound speed and attenuation of the shear wave in the basement gradually decrease, the prediction of the model tends to that of the full fluid model, which validates the backscattering model for the stratified seafloor in another aspect.

Dynamic tests in a steel catenary riser reduced scale model

ABSTRACTExperimental investigations were conducted on a steel catenary riser (SCR) with different stiffness seafloor models both in dry and wet conditions. The motion oscillator and cell load connect the riser model in a tank, and forced motions with different amplitudes and frequencies were studied. Model tests are conducted in air and a small scale factor (1/435) is used. This model has been built having as reference a riser prototype in 900 m water depth and the numerical analysis is carried out in time domain using the developed CABLE3D. Results demonstrate the influence of the platform in-plane motion on the dynamic response of the riser model, and both of them are consistently good. This study provides a novel and simple experimental tool developed for testing of the SCR global dynamic analysis, and discusses the results including motion response, top tension and dynamic curvature near touchdown zone.

Spherical wave reflection in layered media with rough interfaces: Three-dimensional modeling.

In the context of sediment characterization, layer interface roughnesses may be responsible for sound-speed profile measurement uncertainties. To study the roughness influence, a three-dimensional (3D) modeling of a layered seafloor with rough interfaces is necessary. Although roughness scattering has an abundant literature, 3D modeling of spherical wave reflection on rough interfaces is generally limited to a single interface (using Kirchhoff-Helmholtz integral) or computationally expensive techniques (finite difference or finite element method). In this work, it is demonstrated that the wave reflection over a layered medium with irregular interfaces can be modeled as a sum of integrals over each interface. The main approximations of the method are the tangent-plane approximation, the Born approximation (multiple reflection between interfaces are neglected) and flat-interface approximation for the transmitted waves into the sediment. The integration over layer interfaces results in a method with reasonable computation cost.

True Color Correction of Autonomous Underwater Vehicle Imagery

This paper presents an automated approach to recovering the true color of objects on the seafloor in images collected from multiple perspectives by an autonomous underwater vehicle (AUV) during the construction of three‐dimensional (3D) seafloor models and image mosaics. When capturing images underwater, the water column induces several effects on light that are typically negligible in air, such as color‐dependent attenuation and backscatter. AUVs must typically carry artificial lighting when operating at depths below 20‐30 m; the lighting pattern generated is usually not spatially consistent. These effects cause problems for human interpretation of images, limit the ability of using color to identify benthic biota or quantify changes over multiple dives, and confound computer‐based techniques for clustering and classification. Our approach exploits the 3D structure of the scene generated using structure‐from‐motion and photogrammetry techniques to provide basic spatial data to an underwater image formation model. Parameters that are dependent on the properties of the water column are estimated from the image data itself, rather than using fixed in situ infrastructure, such as reflectance panels or detailed data on water constitutes. The model accounts for distance‐based attenuation and backscatter, camera vignetting and the artificial lighting pattern, recovering measurements of the true color (reflectance) and thus allows us to approximate the appearance of the scene as if imaged in air and illuminated from above. Our method is validated against known color targets using imagery collected in different underwater environments by two AUVs that are routinely used as part of a benthic habitat monitoring program.

A combined boundary integral and Lambert's Law method for modelling multibeam backscatter data from the seafloor

A theory has been developed to model multibeam acoustic swath backscatter angular response for a two-dimensional seafloor using a combination of a boundary integral and a Lambert's Law approximation. In this theoretical approach the seafloor topography is assumed to affect scattering at two different scales: a random distribution of surface roughness (mm to cm) over small spatial distances causes scattering, while the undulating seafloor morphology at larger distances (up to 10s of m) affects the angles of incidence of the acoustic energy with the seabed. The latter distance scales are comparable to the resolution of bathymetry acquired by commercial multibeam sonars in shelf seas, so this variation can be directly measured, leaving the small-roughness scale, not practically measureable, to be modelled by random variation. The method applies to a two-dimensional seafloor model where the bathymetry is invariant in a direction perpendicular to the multibeam swath but its physical properties (acoustic impedance, roughness amplitude and correlation length) can vary laterally across-track. We demonstrate the boundary integral technique for a range of seafloors with differing roughness. We validate our results using a time-domain finite-difference solution to the acoustic wave equation, the composite roughness model of seafloor backscattering, and comparison of observed multibeam data across contrasting fine-grained sand to course shell hash seafloor transition in Galway Bay, Ireland.

Rapid resistivity imaging for marine controlled-source electromagnetic surveys with two transmitter polarizations: An application to the North Alex mud volcano, West Nile Delta

To image the internal resistivity structure of the North Alex mud volcano offshore Egypt, the marine electromagnetics group at the Helmholtz Centre for Ocean Research Kiel (GEOMAR) developed and conducted a novel transient marine controlled-source electromagnetic experiment. The system, which was specifically developed to image the mud volcano, is also generally suitable for surveys of other small seafloor targets, such as gas-hydrate reservoirs, fluid-flow features, and submarine massive-sulfide deposits. An electric bipole antenna is set down by a remotely operated vehicle on the seafloor sequentially in two perpendicular polarizations at each transmission station. Two orthogonal horizontal electric field components are recorded on the seabed by an array of independently deployed nodal receivers (RXs). With two transmitter polarizations, the unique acquisition geometry of the system provides a very rich data set. However, for this geometric setup, conventional marine electromagnetic interpretation schemes (such as normalized magnitude variation with offset plots) have been difficult to implement. We have developed a simple imaging technique, which can be used for a first-step mapping of seafloor apparent resistivity with the GEOMAR system. Images can be produced in just a few minutes on a regular laptop computer, and the robustness of the approach was demonstrated using two synthetic data sets from simple seafloor models. The method was then applied to the real data acquired at the North Alex mud volcano in 2008. Results found increased apparent sediment resistivities of up to 4 Ωm near the center of the mud volcano occurring at source-RX offsets greater than 500 m, which mapped to apparent depths of greater than 150 m. This may be caused by large quantities of free gas or freshwater in the sediment pore space.

Reflection of a plane wave from a two-layered seafloor with non-parallel interface between the layers.

This work studies the reflection coefficient of a plane wave incident on a seafloor consisting of two layers (sediment and substrate), whose interface is linear but not parallel to the water-sediment interface. This is an extension of the well-established and studied reflection coefficient concept for seafloors with parallel layers. Moreover this study introduces the concept of the Coherent Reflection Coefficient (CRC) that extends the usual Rayleigh reflection coefficient definition not only at the water-sediment interface but inside the water column as well. The mathematical formulation of the CRC is derived and its numerical implementation is explained. Based on this implementation a numerical code is developed and incorporated-among other codes-in a user-friendly graphics toolbox that was built to facilitate CRC calculations. Numerical examples for realistic seafloors are presented and the derived results are compared to similar ones for parallel layers, indicating that even for small inclination angles the reflection coefficient difference between parallel and slanted interface layers is substantial, hence cannot be ignored. An imminent application of the extended seafloor model and the CRC introduced in this work is the enhancement of geophysics inversion schemes for the estimation of the seafloor parameters.

Reverberation and biological clutter in continental shelf waveguides

Seafloor reverberation in continental shelf waveguides is the primary limiting factor in active sensing of biological clutter in the ocean for noise unlimited scenarios. The detection range of clutter is determined by the ratio of the intensity of scattered returns from clutter versus the seafloor in a resolution cell of an active sensing system. We have developed a Rayleigh-Born volume scattering model for seafloor scattering in an ocean waveguide. The model has been tested with data collected from a number of Ocean Acoustic Waveguide Remote Sensing (OAWRS) experiments in distinct US Northeast coast continental shelf environments, and has shown to provide accurate estimates of seafloor reverberation over wide areas for various source frequencies. We estimate scattered returns from fish clutter by combining ocean-acoustic waveguide propagation modeling that has been calibrated in a variety of continental shelf environments for OAWRS applications with a model for fish target strength. Our modeling of seafloor reverberation and scattered returns from fish clutter is able to explain and elucidate OAWRS measurements along the US Northeast coast.

Hydrographic data modeling methods for determining precise seafloor topography

Acoustic and light detection and ranging are the recent methods used in hydrographical surveying. Depth values depending on X and Y horizontal coordinates are measured in both methods. While processing the hydrographical data, all data with different density are interpolated and modeled for determining the seafloor model using different interpolation techniques. In this study, effects of different surface modeling methods are investigated. Data obtained from single-beam echo sounder (SBES) are modeled using inverse distance, kriging, local polynomial, minimum curvature, moving average, nearest-neighbor, and Delaunay interpolation methods. Interpolation results are compared with the multibeam echo sounder data which were collected on the same area for determining the accuracy of modeling methods. Depending on the maximum total vertical uncertainty values in hydrographic survey standards, the best results were determined by using the kriging method. The Delaunay, minimum curvature, and inverse distance methods can be used for modeling the SBES data in shallow waters.

Joint inversion of navigation and resistivity using a fixed transmitter and a towed receiver array: a transient marine CSEM model study

A typical marine controlled-source electromagnetic system consists of an electric dipole transmitter and one or more electric dipole receivers. The objective of a survey is to determine the seafloor resistivity by recording the electromagnetic transients, which diffuse through the earth from the transmitter to the receivers. Accurate knowledge of system geometry is crucial for proper interpretation; errors in the position and orientation of the transmitter and/or the receivers propagate into errors in the predicted seafloor resistivity. We show theoretically that for certain multireceiver set-ups and crustal electrical profiles that the geometry and the seafloor resistivity may be determined independently. A specific example is an experiment proposed in association with NEPTUNE Canada. Here, we have already deployed an electric dipole transmitter with a known orientation in a known location. A cabled streamer of receivers may be towed by a survey vessel in the vicinity of the transmitter on a known heading. For this configuration, an eigenparameter analysis of two seafloor models consisting of (1) a halfspace and (2) a resistive layer buried within a halfspace shows that the resistivity structure of the seafloor can be independently resolved from the cable location. Further studies of these two models also indicate that the position of the streamer must be roughly known in advance on the order of a hundred metres to be used as a suitable starting model in a non-linear inversion. The crucial information is contained in the parts of the pulse which travel through the seawater and which act as a calibration path. Such information is absent for a static DC method.

Bathymetry of the Pacific plate and its implications for thermal evolution of lithosphere and mantle dynamics

A long‐standing question in geodynamics is the cause of deviations of ocean depth or seafloor topography from the prediction of a cooling half‐space model (HSC). Are the deviations caused entirely by mantle plumes or lithospheric reheating associated with sublithospheric small‐scale convection or some other mechanisms? In this study we analyzed the age and geographical dependences of ocean depth for the Pacific plate, and we removed the effects of sediments, seamounts, and large igneous provinces (LIPs), using recently available data sets of high‐resolution bathymetry, sediments, seamounts, and LIPs. We found that the removal of seamounts and LIPs results in nearly uniform standard deviations in ocean depth of ∼300 m for all ages. The ocean depth for the Pacific plate with seamounts, LIPs, the Hawaiian swell, and South Pacific super‐swell excluded can be fit well with a HSC model till ∼80–85 Ma and a plate model for older seafloor, particularly, with the HSC‐Plate depth‐age relation recently developed by Hillier and Watts (2005) with an entirely different approach for the North Pacific Ocean. A similar ocean depth‐age relation is also observed for the northern region of our study area with no major known mantle plumes. Residual topography with respect to Hillier and Watts' HSC‐Plate model shows two distinct topographic highs: the Hawaiian swell and South Pacific super‐swell. However, in this residual topography map, the Darwin Rise does not display anomalously high topography except the area with seamounts and LIPs. We also found that the topography estimated from the seismic model of the Pacific lithosphere of Ritzwoller et al. (2004) generally agrees with the observed topography, including the reduced topography at relatively old seafloor. Our analyses show that while mantle plumes may be important in producing the Hawaiian swell and South Pacific super‐swell, they cannot be the only cause for the topographic deviations. Other mechanisms, particularly lithospheric reheating associated with “trapped” heat below old lithosphere (Huang and Zhong, 2005), play an essential role in causing the deviations in topography from the HSC model prediction.