Iso-damping fractional-order control for robust automated car-following
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33 ADVANCED PROPULSION SYSTEMS↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Impact of Lateral Alignment on the Energy Savings of a Truck Platoon
A truck platooning system was tested using two heavy-duty tractor-trailer trucks on a closed test track to investigate the sensitivity of intentional lateral offsets over a range of intervehicle spacings. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure while travelling at 65 mph and loaded to a gross weight of 65,000 lb. In addition, the SAE J1939 instantaneous fuel rate was calibrated against the gravimetric measurements and used as proxy for additional analyses. The testing campaign demonstrated the effects of intervehicle gaps, following-vehicle longitudinal control, and manual lateral control. The new results are compared to previous truck-platooning studies to reinforce the value of the new information and demonstrate similarity to past trends. Fuel savings for the following vehicle was observed to exceed 10% at closer following distances. The results showed that energy savings generally increased in a non-linear fashion as the gap was reduced. The impact of different following-truck lateral offsets had a measurable impact, with up to 4% reduction in total fuel-savings (relative to an isolated vehicle condition) observed for offsets up to 1.3 m. The fuel-consumption savings on the straight segments of the track exceeded those on the curved segments by upwards of 6% and highlight some potential differences expected between close-track testing and on-highway use.
adaptive cruise control↗
Impact of Lateral Alignment on the Energy Savings of a Truck Platoon: Preprint
A truck platooning system was tested using two heavy-duty tractor-trailer trucks on a closed test track to investigate the sensitivity of intentional lateral offsets over a range of intervehicle spacings. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure while travelling at 65 mph and loaded to a gross weight of 65,000 lb. In addition, the SAE J1939 instantaneous fuel rate was calibrated against the gravimetric measurements and used as proxy for additional analyses. The testing campaign demonstrated the effects of intervehicle gaps, following-vehicle longitudinal control, and manual lateral control. The new results are compared to previous truck-platooning studies to reinforce the value of the new information and demonstrate similarity to past trends. Fuel savings for the following vehicle was observed to exceed 10% at closer following distances. The results showed that energy savings generally increased in a non-linear fashion as the gap was reduced. The impact of different following-truck lateral offsets had a measurable impact, with up to 4% reduction in total fuel-savings (relative to an isolated vehicle condition) observed for offsets up to 1.3 m. The fuel-consumption savings on the straight segments of the track exceeded those on the curved segments by upwards of 6% and highlight some potential differences expected between close-track testing and on-highway use.
adaptive cruise control↗
Raw Lidar and Camera Data Synchronized with Precipitation and Present Weather Data
As part of the sensor characterization task of the SMART 2.0 project, this dataset includes raw data from three spinning lidars ([Ouster OS2-128](https://ouster.com/products/scanning-lidar/os2-sensor/), [Velodyne Puck (VLP-16)](https://velodynelidar.com/products/puck/), and [Velodyne Ultra Puck (VLP-32)](https://velodynelidar.com/products/ultra-puck/)), one camera ([Mako G-319](https://www.alliedvision.com/en/camera-selector/detail/mako/g-319/)), and one present weather sensor ([Vaisala FD-70](https://www.vaisala.com/en/products/weather-environmental-sensors/forward-scatter-fd70)). All data were synchronized, with the log start time indicated in the file name (HHMMSS). The data can be filtered by date, log time (HHMMSS), sensor, frame ID, and weather classification. These data were gathered statically at the Argonne Testbed for Multiscale Observational Science (ATMOS). Two target stop signs were placed in view of the sensors to contribute a target for comparing sensor data under different conditions. The weather data for each day are stored in netCDF “.nc” files. The lidar data contain the X, Y, Z, intensity, reflectivity, and ring from Ouster OS2-128 rev6, Velodyne VLP-16, and Velodyne VLP-32 lidars. 
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Impact to Cooling Airflow from Truck Platooning
We investigate tradeoffs between the airflow strategies related to engine cooling and the aerodynamic-enabled fuel savings created by platooning. By analyzing air temperatures, engine temperatures and cooling air flow at different platoon distances, we show the thermal impact to the engine from truck platooning. Previously, we collected wind and thermal data for numerous heavy-duty truck platoon configurations (gaps ranging from 4 to 87 meters) and reported the significant fuel savings enabled by these configurations. The fuel consumption for all trucks in the platoon were measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate while travelling at 65 mph and loaded to a gross weight of 65,000 lb. Using thermocouples mounted 1 m ahead of each truck, anemometers at the grill and a grid of under-hood thermocouples as well as J1939 reported engine temperatures, we analyze the impact to critical operating temperatures from different platoon configurations. Results show significant changes in the engine and under-hood air temperatures that correlate with vehicle gap distance and platoon position.
adaptive cruise control (ACC)↗
Analysis of the Unsteady Wakes of Heavy Trucks in Platoon Formation and Their Potential Influence on Energy Savings
The authors present transient wind velocity measurements from two successive, well-documented truck platooning track-test campaigns to assess the wake-shedding behavior experienced by trucks in various platoon formations. Utilizing advanced analytics of data from fast-response (100-200-Hz) multi-hole pressure probes, this analysis examines aerodynamic flow features and their relationship to energy savings during close-following platoon formations. Applying Spectral analysis to the wind velocity signals, we identify the frequency content and vortex-shedding behavior from a forward truck trailer, which dominates the flow field encountered by the downstream trucks. The changes in dominant wake-shedding frequencies correlate with changes to the lead and follower truck fuel savings at short separation distances. All followers experience a reduction in wake-shedding frequency at following distances less than 20 m—the same zone where lead trucks experience fuel savings/drag reductions and where followers experience a reduction in platooning benefits. The dominant vortex-shedding frequency decreased by upwards of 35% in this region. Additionally, the third truck in a platoon is shown to experience a lower wake-shedding frequency than the second vehicle in either a two- or three-truck platoon. The correlation of changes in the vortex-shedding frequency to trends in drag reduction, and the associated energy savings, suggest that these phenomena may be related and may provide an opportunity for improving the efficiency potential of truck platooning.
47 OTHER INSTRUMENTATION↗
Impact to Cooling Airflow from Truck Platooning: Preprint
We investigate tradeoffs between the airflow strategies related to engine cooling and the aerodynamic-enabled fuel savings created by platooning. By analyzing air temperatures, engine temperatures and cooling air flow at different platoon distances, we show the thermal impact to the engine from truck platooning. Previously, we collected wind and thermal data for numerous heavy-duty truck platoon configurations (gaps ranging from 4 to 87 meters) and reported the significant fuel savings enabled by these configurations. The fuel consumption for all trucks in the platoon were measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate while travelling at 65 mph and loaded to a gross weight of 65,000 lb. Using thermocouples mounted 1 m ahead of each truck, anemometers at the grill and a grid of under-hood thermocouples as well as J1939 reported engine temperatures, we analyze the impact to critical operating temperatures from different platoon configurations. Results show significant changes in the engine and under-hood air temperatures that correlate with vehicle gap distance and platoon position.
47 OTHER INSTRUMENTATION↗
Analysis of Control Behavior in Eco-Driving Speed Optimization Using Pontryagin’s Minimum Principle
The energy efficiency of autonomous vehicles can be improved by selecting an optimized speed profile. Energy savings can be maximized by performing control optimization with knowledge of the powertrain characteristics and future driving conditions. Previous studies have shown that Pontryagin’s minimum principle (PMP) performs well in vehicle speed optimization problems. Building on the methods proposed in previous studies, the contribution of this study is to derive meaningful observations from the concepts and results of PMP to enhance the understanding of the control problem. In particular, the switching behavior of the control mode is analyzed with supportive variables, such as ξ and mv, which dictates the changes in the control modes. Additionally, the existence of the singular control is analyzed, which helps in understanding the cruise driving in the control problem. Finally, we obtain several solutions that satisfy various boundary conditions along with a map of the reachable states, and discuss the impact of cruise driving. This is helpful for designing practical control concepts for real-world applications based on this map. Previous studies have contributed significantly to this control problem; however, this study provides a better understanding of the issue and offers guidance and inspiration for future real-world applications based on these meaningful observations.
33 ADVANCED PROPULSION SYSTEMS↗
Next-Cycle Optimal Dilute Combustion Control via Online Learning of Cycle-to-Cycle Variability Using Kernel Density Estimators
Dilute combustion using exhaust gas recirculation (EGR) presents a cost-effective method for increasing the efficiency of spark-ignition (SI) engines. However, the maximum amount of EGR that can be used at a given condition is limited by a rapid increment of cycle-to-cycle variability (CCV). This study describes a methodology to design a model-based stochastic optimal controller to adjust the cycle-to-cycle fuel injection quantity in order to reduce CCV and further extend the dilute limit. Given the complexity and chaotic nature of combustion events, the controller was enhanced with online learning in order to identify the statistical properties of combustion efficiency, which are needed to generate predictions for next-cycle events. This study showed that a kernel density estimator (KDE) can be used to learn the combustion properties in real time and can be incorporated into the feedback policy in order to calculate the optimal control command. Experimental results suggested that the dilute limit can be extended from 18.5% to 21% EGR fraction at an operating condition relevant for highway cruising. Additionally, the proposed controller can achieve a large CCV reduction with less fuel enrichment compared to previous methods, overall contributing to an increase in 0.2% indicated fuel conversion efficiency.
33 ADVANCED PROPULSION SYSTEMS↗
Eco-driving Profile Optimization by Dynamic Programming for Battery Electric Vehicles
Although full automation has not yet been achieved, automated vehicles are a valid research area. Not only would automated vehicles provide ultimate driver convenience, but they would maximize energy efficiency by eliminating undesired human driving behaviors and optimally controlling the powertrain. From the perspective of control related to energy saving, speed profile optimization is important for improving system efficiency and satisfying passenger demands. This study employs Dynamic Programming (DP) to solve the constrained optimal problem for travel time, distance, and speed limit by exploring all possible control options. The solutions obtained by DP demonstrate consistent control patterns combining four control modes-acceleration, cruising, coasting, and braking, with cruising or coasting being selective depending on the boundary conditions. Further, this study introduces DP-based simulation results and attempts to provide comprehensive interpretations of the optimal policy by analyzing the essential factors that affect the control problem, including boundary conditions, road load, and powertrain characteristics. Based on these interpretations, the control concepts can be explained as the optimal policy selecting the best control option based on system efficiency and boundary conditions. The results of DP are compared with a human-like driver model to show that the optimal speed profiles can effectively reduce energy consumption.
Autonomous vehicles↗
Autonomous System Subversion Tactics: Prototypes and Recommended Countermeasures
One of the fielding requirements for Advanced and Small Modular Reactors (AR/SMR) is the ability to support remote and autonomous operations. Autonomous Control Systems (ACS) are found on platforms such as Autonomous Space Vehicles, Cruise Missiles, and advanced driver-assistance systems. Each of these ACS implementations depends upon a set of decision support subsystems responsible for supporting Autonomous Mission Managers (names vary based upon field and author preferences). These Autonomous Mission Managers receive inputs from system sensors (e.g., LIDAR collection from an automobile travelling down a street; transients from a nuclear reactor), and perform a set of classifications (e.g., Red Traffic Light; Small Pedestrian at 10m; Load Rejection; Single Coolant Pump Trip), and then use these classifications in combination with recommendation algorithms to achieve platform goals (e.g., Stop the Vehicle at the Traffic Light, Avoid the Small Pedestrian; Trip the Reactor to prevent a Safety Event). The design, implementation, and fielding of an ACS capability will alter the cyber-attack surface such that existing risk management plans will need to be updated to include how to protect and defend against data-science and decision-support-system attack classes. These attack classes would include protection of the design and training environments where algorithm selection and testing and training data would be obvious attack vectors. These attack classes would also require an informed set of detection and response procedures to identify anomalous behaviors and document best practices for anomaly assessment and vulnerability mitigation and remediation. Last year we published a Cyber Threat Assessment Methodology for Autonomous and Remote Operations for AR/SMRs along with a companion publication on Cyber Attack and Defense Use Cases. The focus of the methodology was on describing and enumerating ACS processes, components, and functions such that security engineers could: evaluate subversion options against the target; identify threat actor attributes and capabilities derived from each subversion option; and identify security controls and response countermeasures. The Use Cases document offered detailed methodology examples including an assessment of a Military Base SMR, an Autonomous System Decision Loop, and implementation of AR/SMR Machine Learning algorithms. Our proposal at the end of last year was to focus on implementation of subversion prototypes related to the last Use Case area: AR/SMR Machine Learning (ML) Algorithms. We included six attack scenarios in our Use Cases paper: a Poisoning Attack against ML functions implemented using an FPGA; a Trojaning Attack against ML classifiers exploiting the excitability of Nuclear Engineers; a Backdooring Attack against ML Training environments to ensure persistence of an attack vector; a False Positive Evasion Attack against multi-factor Access Control Systems using clever inputs; an Inference Attack against ML models by an Insider with access to the Operational environment; and an Adversarial Reprogramming Attack against a Material Access Control Video Surveillance System. At the beginning of this year these six attack scenarios were provided to our research teams at Georgia Tech and Idaho State University and each team successfully implemented a subversion attack against a ML implementation to include transient misclassifications. While this is a notable outcome from this type of research, this paper offers the reader insight into not only how to structure and execute these types of attacks, but into the thought process behind how the researcher investigated the problem space, performed initial algorithm implementation, and the trial-and-error behind arriving at the successful subversion prototypes. We include in this paper a set of associated Scenarios on how these subversion prototypes could be implemented and an initial set of guidance for AR/SMR architects, Nuclear Regulators, and Cyber Defenders to implement awareness and defense capabilities into their current operational portfolios.
42 ENGINEERING↗
Providing curb availability information to delivery drivers reduces cruising for parking
Abstract Delivery vehicle drivers are experiencing increasing challenges in finding available curb space to park in urban areas, which increases instances of cruising for parking and parking in unauthorized spaces. Policies traditionally used to reduce cruising for parking for passenger vehicles, such as parking fees and congestion pricing, are not effective at changing delivery drivers’ travel and parking behaviors. Intelligent parking systems that use real-time curb availability information to better route and park vehicles can reduce cruising for parking, but they have never been tested for delivery vehicle drivers. The current study tested whether providing real-time curb availability information to delivery drivers reduces the travel time and distance spent cruising for parking. A curb parking information system deployed in a study area in Seattle, Wash., displayed real-time curb availabilities on a mobile app called OpenPark. A controlled experiment assigned drivers’ deliveries in the study area with and without access to OpenPark. The data collected showed that when curb availability information was provided to drivers, their cruising for parking time significantly decreased by 27.9 percent, and their cruising distance decreased by 12.4 percent. These results demonstrate the potential for implementing intelligent parking systems to improve the efficiency of urban logistics systems.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
The SuperCam Instrument Suite on the NASA Mars 2020 Rover: Body Unit and Combined System Tests
The SuperCam instrument suite provides the Mars 2020 rover, Perseverance, with a number of versatile remote-sensing techniques that can be used at long distance as well as within the robotic-arm workspace. These include laser-induced breakdown spectroscopy (LIBS), remote time-resolved Raman and luminescence spectroscopies, and visible and infrared (VISIR; separately referred to as VIS and IR) reflectance spectroscopy. A remote micro-imager (RMI) provides high-resolution color context imaging, and a microphone can be used as a stand-alone tool for environmental studies or to determine physical properties of rocks and soils from shock waves of laser-produced plasmas. SuperCam is built in three parts: The mast unit (MU), consisting of the laser, telescope, RMI, IR spectrometer, and associated electronics, is described in a companion paper. The on-board calibration targets are described in another companion paper. Here we describe SuperCam’s body unit (BU) and testing of the integrated instrument. The BU, mounted inside the rover body, receives light from the MU via a 5.8 m optical fiber. The light is split into three wavelength bands by a demultiplexer, and is routed via fiber bundles to three optical spectrometers, two of which (UV and violet; 245–340 and 385–465 nm) are crossed Czerny-Turner reflection spectrometers, nearly identical to their counterparts on ChemCam. The third is a high-efficiency transmission spectrometer containing an optical intensifier capable of gating exposures to 100 ns or longer, with variable delay times relative to the laser pulse. This spectrometer covers 535–853 nm ( $105\text{--}7070~\text{cm}^{-1}$ Raman shift relative to the 532 nm green laser beam) with $12~\text{cm}^{-1}$ full-width at half-maximum peak resolution in the Raman fingerprint region. The BU electronics boards interface with the rover and control the instrument, returning data to the rover. Thermal systems maintain a warm temperature during cruise to Mars to avoid contamination on the optics, and cool the detectors during operations on Mars.Results obtained with the integrated instrument demonstrate its capabilities for LIBS, for which a library of 332 standards was developed. Examples of Raman and VISIR spectroscopy are shown, demonstrating clear mineral identification with both techniques. Luminescence spectra demonstrate the utility of having both spectral and temporal dimensions. Finally, RMI and microphone tests on the rover demonstrate the capabilities of these subsystems as well.
47 OTHER INSTRUMENTATION↗
Practical low-temperature gasoline combustion for very high efficiency off-road, medium- and heavy-duty engines
Low-temperature gasoline combustion (LTGC) with additive-mixing fuel injection (AMFI) is a new combustion strategy that has been demonstrated to deliver 9%–25% better brake thermal efficiency than similar-sized market-leading diesel engines over the operating map. Moreover, the LTGC-AMFI engine shows near-zero smoke, and NOx emissions are 4–100 times lower than those of a diesel, sufficiently low that no aftertreatment, or only passive NOx aftertreatment, would be sufficient (diesel exhaust fluid is not required). LTGC-AMFI combustion is based on kinetically controlled compression ignition of a dilute charge with a variable amount of low-to-moderate fuel stratification. Fast combustion control is provided by adding minute amounts of an ignition-enhancing additive into the fuel each engine cycle to control its reactivity. This strategy was used to operate a medium-duty (MD) LTGC-AMFI engine at loads from idle to 16.3 bar BMEP and speeds from 600 to 2400 rpm with regular E10 gasoline, which covers nearly the entire operating map of a typical MD engine. Turbine-out temperatures were sufficient for an oxidation catalyst to control hydrocarbon and CO emissions. Autonomie simulations over the GEM ARB Transient and the GEM 55 mph Cruise driving cycles for class-6 trucks using this technology showed fuel economies of 8.1 and 11.4 mpg-gasoline-equivalent, respectively, corresponding to 18.6% and 13.4% improvements over a similar-size diesel engine. Engine-out NOx emissions were 0.024 and 0.01 g/bhp-h, respectively, well below current U.S. emission standards. These results show that switching from diesel to LTGC-AMFI engines would greatly reduce greenhouse gas (GHG) emissions for off-road, MD and HD applications, which will continue to rely on combustion engines because electrification is not practical in the foreseeable future. Finally, with their reduced fuel consumption, the lower cost of gasoline compared to diesel fuel, and much lower aftertreatment costs, LTGC-AMFI engines also offer a significantly lower total cost of ownership.
33 ADVANCED PROPULSION SYSTEMS↗
Spatial variability of aerosol iron mineralogy and oxidation states over the Arctic Ocean
The mineralogy and oxidation state of aerosol iron (Fe) play important roles in controlling aerosol Fe solubility and consequent bioavailability in seawater. In this study, the spatial variability of Fe mineralogy and oxidation states in aerosols collected during the US GEOTRACES Western Arctic cruise (GN01) were determined using synchrotronbased X-ray absorption near edge structure (XANES) spectroscopy. Both Fe(II) minerals (biotite, ilmenite) and Fe (III) minerals (ferrihydrite, hematite, Fe(III) phosphate) were found in these samples. However, aerosol Fe mineralogy and solubility observed during this cruise varied spatially and can be grouped into three clusters based on the air masses that affected aerosols collected in different regions: (1) biotite-enriched particles (87 % biotite, 13 % hematite) with the air masses passing over Alaska, showing relatively low Fe solubility (4.0 +/- 1.7 %); (2) ferrihydrite-enriched particles (82 % ferrihydrite, 18 % ilmenite) collected in the remote Arctic air, showing relatively high Fe solubility (9.6 +/- 3.3 %); (3) the fresh dust derived from North America and Siberia, primarily dominated by hematite (41 % hematite, 25 % Fe(III) phosphate, 20 % biotite, 13 % ferrihydrite), showing relatively low Fe solubility (5.1 +/- 3.5). A significant positive correlation was found between Fe oxidation state and Fe fractional solubility, suggesting that long-range transport could modify iron (hydr) oxide such as ferrihydrite through atmospheric processing, influencing aerosol Fe solubility and consequently Fe bioavailability in the remote Arctic Ocean.
54 ENVIRONMENTAL SCIENCES↗
Fuel cells for single-aisle regional aircraft: System configuration, performance and cost
A hydrogen fuel cell propelled electric aircraft can compete with incumbent turbofan technologies for single-aisle regional aircraft by coupling design of stack, air handling, thermal management, propulsion, and airframe to optimize performance. The stack operates at 95°C to facilitate heat rejection during take-off and below 75°C during cruise to extend lifetime and is oversized to satisfy power requirements at end of life. A multi-stage turbocompressor with a compression ratio >10 is selected to reach high stack power density at 11,300-m cruise altitude. The propulsion system is configured to accommodate air handling within the core duct, an inclined heat exchanger in the outer duct to limit the nacelle size, and variable area nozzles to independently control mass flows through the core and bypass ducts. The airframe is modified for maximum lift coefficient and longer balanced field length for dramatically reduced thrust during take-off, and the fuselage is stretched by 20% to store liquid hydrogen (LH 2 ). Modularization of power systems promotes safety in one engine inoperative scenarios and allows reaching specific power metrics for stack, balance-of-plant and fuel cell system (FCS), necessary for acceptable take-off weight. In conclusion, cost parity requires increase in FCS lifetime, LH 2 cost reduction, and improved FCS specific power.
Catalyst durability↗
SERENA: Particle Instrument Suite for Determining the Sun-Mercury Interaction from BepiColombo
The ESA-JAXA BepiColombo mission to Mercury will provide simultaneous measurements from two spacecraft, offering an unprecedented opportunity to investigate magnetospheric and exospheric particle dynamics at Mercury as well as their interactions with solar wind, solar radiation, and interplanetary dust. The particle instrument suite SERENA (Search for Exospheric Refilling and Emitted Natural Abundances) is flying in space on-board the BepiColombo Mercury Planetary Orbiter (MPO) and is the only instrument for ion and neutral particle detection aboard the MPO. It comprises four independent sensors: ELENA for neutral particle flow detection, Strofio for neutral gas detection, PICAM for planetary ions observations, and MIPA, mostly for solar wind ion measurements. SERENA is managed by a System Control Unit located inside the ELENA box. In the present paper the scientific goals of this suite are described, and then the four units are detailed, as well as their major features and calibration results. Finally, the SERENA operational activities are shown during the orbital path around Mercury, with also some reference to the activities planned during the long cruise phase.
79 ASTRONOMY AND ASTROPHYSICS↗
Aragonite saturation horizon variability along North Pacific seamounts and implications for deep-sea coral reefs
The 2014 discovery of living deep-sea coral reefs along the Northwest Hawaiian Islands (NWHI) and lower Emperor Seamount Chain (ESC), despite the North Pacific’s shallow aragonite saturation horizon (ASH) and high CaCO3 dissolution rates, underscores the need to understand the local seawater chemistry that allows these reefs to persist. We investigated seawater carbonate chemistry using discrete samples along the NWHI and ESC from two cruises ~1 year apart (08/26/21 – 09/26/21, 09/09/22 – 10/24/22). Across the two cruises, ASH depth difference ranged from 15 to 77 m. Since the Pacific ASH shoals by 1–2 m yr?¹, this long-term trend cannot explain the magnitude of ASH change observed between cruises. Temperature-salinity plots similarly indicate no major shifts in intermediate water masses that could account for these changes. Instead, ASH depth variability was primarily governed by localized biogeochemical processes, namely changes in intermediate water respiration and CaCO3 dissolution. Indicators for dissolution (TA*) and respiration (AOU) suggest changes in ASH depth were driven by changes in dissolution at the northern- and southern-most sites, whereas respiration exerted stronger control at central sites. Combining 2021 and 2022 data with data from 2014 – 2019 (excluding 2018) revealed high interannual ASH variability, by as much as >200 m at one site. Deep-sea coral reefs across the NWHI and ESC currently reside close to the ASH depth and likely experience seasonal and interannual shifts between under- and supersaturation. As ocean acidification progresses however, persistent exposure to undersaturated seawater could further threaten these critical deep-sea ecosystems.
coral reefs↗