@article {Thal2016,
	title = {{Subaqueous cryptodome eruption, hydrothermal activity and related seafloor morphologies on the andesitic North Su volcano}},
	journal = {Journal of Volcanology and Geothermal Research},
	volume = {323},
	year = {2016},
	pages = {80{\textendash}96},
	abstract = {North Su is a double-peaked active andesite submarine volcano located in the eastern Manus Basin of the Bismarck Sea that reaches a depth of 1154 m. It hosts a vigorous and varied hydrothermal system with black and white smoker vents along with several areas of diffuse venting and deposits of native sulfur. Geologic mapping based on ROV observations from 2006 and 2011 combined with morphologic features identified from repeated bathymetric surveys in 2002 and 2011 documents the emplacement of a volcanic cryptodome between 2006 and 2011. We use our observations and rock analyses to interpret an eruption scenario where highly viscous, crystal-rich andesitic magma erupted slowly into the water-saturated, gravel-dominated slope of North Su. An intense fragmentation process produced abundant blocky clasts of a heterogeneous magma (olivine crystals within a rhyolitic groundmass) that only rarely breached through the clastic cover onto the seafloor. Phreatic and phreatomagmatic explosions beneath the seafloor cause mixing of juvenile and pre-existing lithic clasts and produce a volcaniclastic deposit. This volcaniclastic deposit consists of blocky, non-altered clasts next, variably (1{\textendash}100{\%}) altered clasts, hydrothermal precipitates and crystal fragments. The usually applied parameters to identify juvenile subaqueous lava fragments, i.e. fluidal shape or chilled margin, were not applicable to distinguish between pre-existing non-altered clasts and juvenile clasts. This deposit is updomed during further injection of magma and mechanical disruption. Gas-propelled turbulent clast-recycling causes clasts to develop variably rounded shapes. An abundance of blocky clasts and the lack of clasts typical for the contact of liquid lava with water is interpreted to be the result of a cooled, high-viscosity, crystal-rich magma that failed as a brittle solid upon stress. The high viscosity allows the lava to form blocky and short lobes. The pervasive volcaniclastic cover on North Su is partly cemented by hydrothermal precipitates. These hydrothermally-cemented breccias, crusts and single pillars show that hydrothermal circulation through a thick layer of volcaniclastic deposits can temporarily increase slope stability through precipitation and cementation.},
	keywords = {AUV ABE (Autonomous Benthic Explorer), ROV Jason (Remotely Operated Vehicle)},
	doi = {10.1016/j.jvolgeores.2016.04.041},
	author = {Thal, J and Tivey, M A and Yoerger, D R and Bach, W}
}
@article {Ferri2010,
	title = {{A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot}},
	journal = {Autonomous Robots},
	volume = {29},
	number = {1},
	year = {2010},
	pages = {67{\textendash}83},
	abstract = {In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical inputs from submarine hot spring systems into the overlying ocean. The Woods Hole Oceanographic Institution{\textquoteright}s Autonomous Benthic Explorer (ABE) AUV has successfully localized previously undiscovered hydrothermal vent fields in several recent vent prospecting expeditions. These expeditions utilized the AUV for a three-stage, nested survey strategy approach (German et al. in Deep Sea Res. I 55:203{\textendash}219, 2008). Each stage consists of a survey flown at successively deeper depths through easier to detect but spatially more constrained vent fluids. Ideally this sequence of surveys culminates in photographic evidence of the vent fields themselves. In this work we introduce a new adaptive strategy for an AUV{\textquoteright}s movement during the first, highest-altitude survey: the AUV initially moves along pre-designed tracklines but certain conditions can trigger an adaptive movement that is likely to acquire additional high value data for vent localization. The trigger threshold is changed during the mission, adapting the method to the different survey profiles the robot may find. The proposed algorithm is vetted on data from previous ABE missions and measures of efficiency presented.},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0929-5593},
	doi = {10.1007/s10514-010-9187-y},
	url = {http://dx.doi.org/10.1007/s10514-010-9187-y},
	author = {Ferri, G and Jakuba, M V and Yoerger, D R}
}
@article {Walter2010,
	title = {{Rapid dispersal of a hydrothermal plume by turbulent mixing}},
	journal = {Deep-Sea Research. Part I: Oceanographic Research Papers},
	volume = {57},
	number = {8},
	year = {2010},
	pages = {931{\textendash}945},
	abstract = {The water column imprint of the hydrothermal plume observed at the Nibelungen field (8{\textdegree}18'S 13{\textdegree}30'W) is highly variable in space and time. The off-axis location of the site, along the southern boundary of a non-transform ridge offset at the joint between two segments of the southern Mid-Atlantic Ridge, is characterized by complex, rugged topography, and thus favorable for the generation of internal tides, subsequent internal wave breaking, and associated vertical mixing in the water column. We have used towed transects and vertical profiles of stratification, turbidity, and direct current measurements to investigate the strength of turbulent mixing in the vicinity of the vent site and the adjacent rift valley, and its temporal and spatial variability in relation to the plume dispersal. Turbulent diffusivities K$\rho$K$\rho$ were calculated from temperature inversions via Thorpe scales. Heightened mixing (compared to open ocean values) was observed in the whole rift valley within an order of K$\rho$K$\rho$ around 10-3 m2 s-1. The mixing close to the vent site was even more elevated, with an average of View the MathML sourceK$\rho$=4{\texttimes}10-2m2s-1. The mixing, as well as the flow field, exhibited a strong tidal cycle, with strong currents and mixing at the non-buoyant plume level during ebb flow. Periods of strong mixing were associated with increased internal wave activity and frequent occurrence of turbulent overturns. Additional effects of mixing on plume dispersal include bifurcation of the particle plume, likely as a result of the interplay between the modulated mixing strength and current speed, as well as high frequency internal waves in the effluent plume layer, possibly triggered by the buoyant plume via nonlinear interaction with the elevated background turbulence or penetrative convection.},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0967-0637},
	doi = {10.1016/j.dsr.2010.04.010},
	url = {http://dx.doi.org/10.1016/j.dsr.2010.04.010},
	author = {Walter, M and Mertens, C and Stober, U and German, C R and Yoerger, D R and Sultemfub, J and Rhein, M and Melchert, B and Baker, E T}
}
@article {Melchert2008,
	title = {{First evidence for high-temperature off-axis venting of deep crustal/mantle heat: The Nibelungen hydrothermal field, southern Mid-Atlantic Ridge}},
	journal = {Earth and Planetary Science Letters},
	volume = {275},
	number = {1-2},
	year = {2008},
	pages = {61{\textendash}69},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0012-821X},
	doi = {10.1016/j.epsl.2008.08.010},
	url = {http://dx.doi.org/10.1016/j.epsl.2008.08.010},
	author = {Melchert, B and Devey, C W and German, C R and Lackschewitz, K S and Seifert, R and Walter, M and Mertens, C and Yoerger, D R and Baker, E T and Paulick, H and Nakamura, K}
}
@article {German2008,
	title = {{Hydrothermal exploration with the Autonomous Benthic Explorer}},
	journal = {Deep-Sea Research. Part I: Oceanographic Research Papers},
	volume = {55},
	number = {2},
	year = {2008},
	pages = {203{\textendash}219},
	keywords = {AUV ABE (Autonomous Benthic Explorer), AUV Sentry (Autonomous Underwater Vehicle), ROV DSL-120 (Remotely Operated Vehicle)},
	issn = {0967-0637},
	doi = {10.1016/j.dsr.2007.11.004},
	url = {http://dx.doi.org/10.1016/j.dsr.2007.11.004},
	author = {German, C R and Yoerger, D R and Jakuba, M V and Shank, T M and Langmuir, C H and Nakamura, K I}
}
@article {Yoerger2007b,
	title = {{Autonomous and remotely operated vehicle technology for hydrothermal vent discovery, exploration, and sampling}},
	journal = {Oceanography},
	volume = {20},
	number = {1},
	year = {2007},
	pages = {152{\textendash}161},
	keywords = {AUV ABE (Autonomous Benthic Explorer), ROV Jason (Remotely Operated Vehicle), ROV Medea (Remotely Operated Vehicle)},
	issn = {1042-8275},
	doi = {10.5670/oceanog.2007.89},
	author = {Yoerger, D R and Bradley, A M and Jakuba, M V and German, C R and Shank, T M and Tivey, M}
}
@article {Yoerger2007,
	title = {{Mid-ocean ridge exploration with an autonomous underwater vehicle}},
	journal = {Oceanography},
	volume = {20},
	number = {4},
	year = {2007},
	pages = {52{\textendash}61},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {1042-8275},
	doi = {10.5670/oceanog.2007.05},
	author = {Yoerger, D R and Bradley, A M and Jakuba, M V and Tivey, M A and German, C R and Shank, T M and Embley, R W}
}
@article {Yoerger2007a,
	title = {{Techniques for deep sea near bottom survey using an autonomous underwater vehicle}},
	journal = {International Journal of Robotics Research},
	volume = {26},
	number = {1},
	year = {2007},
	pages = {41{\textendash}54},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0278-3649},
	doi = {10.1007/978-3-540-48113-3_36},
	url = {http://dx.doi.org/10.1007/978-3-540-48113-3{\_}36},
	author = {Yoerger, D R and Jakuba, M V and Bradley, A M and Bingham, B}
}
@article {Cormier2003,
	title = {{Waxing and waning volcanism along the East Pacific Rise on the millennium time scale}},
	journal = {Geology},
	volume = {31},
	number = {7},
	year = {2003},
	pages = {633{\textendash}636},
	keywords = {AUV ABE (Autonomous Benthic Explorer), HOV Alvin (Human Occupied Vehicle)},
	issn = {0091-7613},
	doi = {10.1130/0091-7613(2003)031<0633:WAWVAT>2.0.CO;2},
	url = {http://dx.doi.org/10.1130/0091-7613(2003)031{\%}3C0633:WAWVAT{\%}3E2.0.CO 2},
	author = {Cormier, M -H and Ryan, W B F and Shah, A K and Lin, W A and Bradley, A M and Yoerger, D R}
}
@inbook {Singh1999,
	title = {{Quantitative stereo imaging from the Autonomous Benthic Explorer (ABE)}},
	booktitle = {Oceans {\textquoteright}99 MTS/IEEE: Riding the crest into the 21st century},
	volume = {1},
	year = {1999},
	pages = {52{\textendash}57},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Piscataway, N.J.},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	isbn = {0-7803-5629-2},
	doi = {10.1109/OCEANS.1999.799706},
	url = {http://dx.doi.org/10.1109/OCEANS.1999.799706},
	author = {Singh, H and Weyer, F and Howland, J and Duester, A and Yoerger, D R and Bradley, A}
}
@article {Yoerger1998,
	title = {{Surveying a subsea lava flow using the Autonomous Benthic Explorer (ABE)}},
	journal = {International Journal of Systems Science},
	volume = {29},
	number = {10},
	year = {1998},
	pages = {1031{\textendash}1044},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0020-7721},
	doi = {10.1080/00207729808929596},
	url = {http://dx.doi.org/10.1080/00207729808929596},
	author = {Yoerger, D R and Bradley, A M and Walden, M B and Singh, H and Bachmayer, R}
}
@article {Tivey1998a,
	title = {{Thickness of a submarine lava flow determined from near-bottom magnetic field mapping by autonomous underwater vehicle}},
	journal = {Geophysical Research Letters},
	volume = {25},
	number = {6},
	year = {1998},
	pages = {805{\textendash}808},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0094-8276},
	doi = {10.1029/98GL00442},
	url = {http://dx.doi.org/10.1029/98GL00442},
	author = {Tivey, M A and Johnson, P H and Bradley, A and Yoerger, D R}
}
@article {Yoerger1992,
	title = {{Autonomous benthic explorer - deep ocean scientific AUV for seafloor exploration: untethered, on station one year without support ship}},
	journal = {Sea Technology},
	volume = {33},
	number = {1},
	year = {1992},
	pages = {50{\textendash}54},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0093-3651},
	author = {Yoerger, D R and Bradley, A M and Walden, B B}
}
@article {Yoerger1991a,
	title = {{Robotic undersea technology}},
	journal = {Oceanus},
	volume = {34},
	number = {1},
	year = {1991},
	pages = {32{\textendash}37},
	keywords = {AUV ABE (Autonomous Benthic Explorer), ROV Jason (Remotely Operated Vehicle), ROV Medea (Remotely Operated Vehicle)},
	issn = {0029-8182},
	author = {Yoerger, D R}
}
