Abstract
The sediment transport plays a major role in every aquatic ecosystem. However, the lack of instruments to monitor this process has been an obstacle to understanding its effects. We present the design of a single sensor built to measure water velocity, suspended sediment concentration and depth in situ, and how to associate the three variables to estimate and analyse sediment transport. During the laboratory calibrations, the developed instrument presented a resolution from 0.001 g/L to 0.1 g/L in the 0-12 g/L range for the measurement of suspended sediment concentration and 0.05 m/s resolution for 0-0.5 m/s range and 0.001 m/s resolution for 0.5-1 m/s range for the measurement of water velocity. The device was deployed for 6 days in an estuarine area with high sediment dynamics to evaluate its performance. During the field experiment, the sensor successfully measured the tidal cycles and consequent change of flow directions, and the suspended sediment concentration in the area. These measurements allowed to estimate water discharge and sediment transport rates during the different phases of tides, and the daily total volume of water and total amount of sediment passing through the estuary.

Abstract
Biofouling in marine optical sensors poses a significant challenge as it can compromise data accuracy and instrument functionality. This study investigates the effectiveness of local chlorine generation by seawater electrolysis in mitigating biological fouling and extending the operational lifespan of optical oceanographic instruments. Eight similar turbidity probes integrated with a local chlorine generation system, along with a turbidity probe constructed from ABS and another from PLA with copper filament, were developed for testing in the marine environment. The chlorine probes were designed into two groups: four utilizing standard FTO glass and four featuring FTO glass coated with platinum nanoparticles. Each set of probes employed different excitation currents for chlorine generation. All probes underwent laboratory calibration using formazine before deployment in a coastal environment for 97 days. The findings demonstrate a correlation with higher electrical power leading to prolonged operation intervals free from biofouling interference. Additionally, probes coated with platinum nanoparticles demonstrate higher performance in comparison to those with standard FTO glass. The copper probe did not effectively shield the optical transducers from microfouling, although it effectively demonstrated its efficacy in protecting the structural housing of the device. Overall, this work offers a compelling in situ demonstration of local chlorine generation as a promising strategy for enhancing the performance and longevity of optical oceanographic instruments in marine environments.

Abstract
Turbidity and suspended sediment concentration are crucial parameters indicative of water quality, playing pivotal roles in evaluating the well-being of aquatic ecosystems and the effectiveness of water treatment processes. This manuscript provides an in-depth review of various methods and instruments in use for in situ and inline applications. The exploration of optical instrumentation is central to this review, examining its widespread use and current challenges within standard methods, commercial instruments and scientific research. The study also delves into alternative techniques, such as acoustic and capacitive methods, elucidating their applications, calibration intricacies, and practical considerations. Furthermore, the paper scrutinizes the emerging importance of satellite and aerial imaging processing as a supplementary tool for turbidity monitoring, underscoring its potential to offer comprehensive insights on a larger scale. The review emphasizes the key accomplishments and challenges of the state-of-the-art technologies, providing a comprehensive overview of the current stage of the field and its prospects. and aims to provide valuable insights for researchers, practitioners, and decision-makers involved in environmental monitoring and water facility management, enabling a deeper comprehension of the significance of turbidity and suspended sediment concentration in safeguarding water quality and ecosystem health.

Abstract
This article addresses the 3-D localization of a stand-alone acoustic beacon based on the Principle of Synthetic Baseline using a single receiver on board a surface vehicle. The process only uses the passive reception of an acoustic signal with no explicit synchronization, interaction, or communication with the acoustic beacon. The localization process exploits the transmission of periodic signals without synchronization to a known time reference to estimate the time-of-arrival (ToA) with respect to an absolute time basis provided by the global navigation satellite system (GNSS). We present the development of the acoustic signal acquisition system, the signal processing algorithms, the data processing of times-of-arrival, and an estimator that uses times-of-arrival and the coordinates where they have been collected to obtain the 3-D position of the acoustic beacon. The proposed approach was validated in a real field application on a search for an underwater glider lost in September 2021 near the Portuguese coast.

Abstract
Accurate localization is a critical task in underwater navigation. Typical localization methods use a set of acoustic sensors and beacons to estimate relative position, whose geometric configuration has a significant impact on the localization accuracy. Although there is much effort in the literature to define optimal 2D or 3D sensor placement, the optimal sensor placement in irregular and constrained 3D surfaces, such as autonomous underwater vehicles (AUVs) or other structures, is not exploited for improving localization. Additionally, most applications using AUVs employ commercial acoustic modems or compact arrays, therefore the optimization of the placement of spatially independent sensors is not a considered issue. This article tackles acoustic sensor placement optimization in irregular and constrained 3D surfaces, for inverted ultra-short baseline (USBL) approaches, to improve localization accuracy. The implemented multi-objective memetic algorithm combines an evaluation of the geometric sensor's configuration, using the Cramer-Rao Lower Bound (CRLB), with the incidence angle of the received signal. A case study is presented over a simulated homing and docking scenario to demonstrate the proposed optimization algorithm.

Abstract
There are several compelling reasons for exploring the ocean, for instance, the potential for accessing valuable resources, such as energy and minerals; establishing sovereignty; and addressing environmental issues. As a result, the scientific community has increasingly focused on the use of autonomous underwater vehicles (AUVs) for ocean exploration. Recent research has demonstrated that buoyancy change modules can greatly enhance the energy efficiency of these vehicles. However, the literature is scarce regarding the dynamic models of the vertical motion of buoyancy change modules. It is therefore difficult to develop adequate depth controllers, as this is a very complex task to perform in situ. The focus of this paper is to develop simplified linear models for a buoyancy change module that was previously designed by the authors. These models are experimentally identified and used to fine-tune depth controllers. Experimental results demonstrate that the controllers perform well, achieving a virtual zero steady-state error with satisfactory dynamic characteristics.