Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions.

In order to develop a gripping system or control strategy that improves scientific sampling procedures, knowledge of the process and the consequent definition of requirements is fundamental. Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots' and researchers' experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools.

Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers.

The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.

Marine litter pollution associated with hydrothermal sites in the Aeolian archipelago (western Mediterranean Sea).

The Aeolian Archipelago, in the western Mediterranean Sea, is an active volcanic arc hosting several hydrothermal sites. This area, considered a Vulnerable Marine Ecosystem by The Food and Agriculture Organization because of its ecological importance and biodiversity value, is affected by various pressures and threats that may act as sources of marine litter. The aim of this paper was to analyse the composition and distribution of marine litter on the seafloor of this archipelago with a specific focus on the hydrothermal areas, using almost 60 h of remotely operated vehicle footage collected at depths of 15 to 411 m. Derelict fishing gear represented the main source of marine debris (71.9% of the overall litter); nevertheless, the observed mean litter density was quite low (0.57 items/100 m2) when compared with other Mediterranean areas, probably because fisheries in the area mainly use pelagic gear that has a low impact on the seabed. No differences were found in litter densities between hydrothermal and non-hydrothermal zones. The occurrence of benthic fauna impacted by debris was rarely recorded (only 10.6% of litter items showed interactions with species) and entanglement was the most commonly observed impact. However, both the density of synthetic fishing gear and its impact on habitats and species are bound to increase over time. Overall, plastics constituted most of the marine litter (79.7%). So, prevention and mitigation measures are needed in order to protect this sensitive ecosystem. To this end, the most effective strategy could be the establishment of a Marine Protected Area or a Site of Community Importance, due to the presence of habitats ("submarine structures made by leaking gases" and "reefs") listed in Annex I of the European Habitats Directive, where all fishing activities could be strictly regulated.

The impact of marine litter from fish aggregation devices on vulnerable marine benthic habitats of the central Mediterranean Sea.

The aim of this research was to assess marine litter abundance and its effects on the benthic fauna in an area of the central Mediterranean Sea exploited by fisheries using fish aggregating devices (FAD). The study was carried out by means of a remotely-operated vehicle (ROV). Derelict fishing gear, mainly FAD ropes, represented the main source of marine debris, contributing 96.2% to the overall litter. About 47% of debris items (mostly FAD ropes) entangled colonies of the protected black coral Leiopathes glaberrima. The results of this research will assist in the monitoring of "impact/harm" to the coral and other benthic communities, as recommended by the Marine Strategy Framework Directive and by the Integrated Monitoring and Assessment Programme. Preventive and mitigation measures (i.e., biodegradable fishing gear, onboard technology to locate and retrieve gear, reception and/or payment for old/retrieved gear, and introduction of no-take zones) to reduce the problem are discussed.

Towards Naples Ecological REsearch for Augmented Observatories (NEREA): The NEREA-Fix Module, a Stand-Alone Platform for Long-Term Deep-Sea Ecosystem Monitoring.

Deep-sea ecological monitoring is increasingly recognized as indispensable for the comprehension of the largest biome on Earth, but at the same time it is subjected to growing human impacts for the exploitation of biotic and abiotic resources. Here, we present the Naples Ecological REsearch (NEREA) stand-alone observatory concept (NEREA-fix), an integrated observatory with a modular, adaptive structure, characterized by a multiparametric video-platform to be deployed in the Dohrn canyon (Gulf of Naples, Tyrrhenian Sea) at ca. 650 m depth. The observatory integrates a seabed platform with optoacoustic and oceanographic/geochemical sensors connected to a surface transmission buoy, plus a mooring line (also equipped with depth-staged environmental sensors). This reinforced high-frequency and long-lasting ecological monitoring will integrate the historical data conducted over 40 years for the Long-Term Ecological Research (LTER) at the station "Mare Chiara", and ongoing vessel-assisted plankton (and future environmental DNA-eDNA) sampling. NEREA aims at expanding the observational capacity in a key area of the Mediterranean Sea, representing a first step towards the establishment of a bentho-pelagic network to enforce an end-to-end transdisciplinary approach for the monitoring of marine ecosystems across a wide range of animal sizes (from bacteria to megafauna).

Assessment and distribution of seafloor litter on the deep Ligurian continental shelf and shelf break (NW Mediterranean Sea).

Litter has become a common component of marine ecosystems, and its assessment and monitoring are now of primary interest. Here, we characterized seafloor litter in the mesophotic depth range of the Ligurian Sea, one of the most urbanized basins of the Mediterranean Sea. Eighty sites (30-220 m depth) were investigated by by means of ROV video transects. Data regarding environmental parameters and anthropic pressures were used to explain the distribution of human-derived objects. Litter resulted widely distributed in all the investigated areas, with maximum densities of 7900 items ha-1. It was mainly represented by abandoned fishing gears, with highest abundances found on the deep coastal rocky shoals exploited by artisanal and recreational fishermen. Urban litter, primarily represented by plastics, was generally higher close to shore, especially near river mouths and large harbors. Litter densities reported here are among the highest ever recorded in Europe, denoting the urgency for specific actions to prevent further spreading.

Megabenthic communities of the Ligurian deep continental shelf and shelf break (NW Mediterranean Sea).

The Ligurian Sea is one of the most studied Mediterranean basins. Since the beginning of the last century, many research expeditions have characterized its benthic and pelagic fauna through scuba diving and trawl surveys. However, a large knowledge gap exists about the composition of benthic communities extending into the so-called mesophotic or twilight depth range, currently under intense pressure from commercial and recreational fishing. A series of visual surveys, carried out by means of remotely operated vehicles between 2012 and 2018, were conducted along the Ligurian deep continental shelf and shelf break, between 30 and 210 m depth, in order to characterize the main benthic biocoenoses dwelling at this depth range and to determine the most relevant environmental factors that explain their spatial distribution. Deep circalittoral communities of the Ligurian Sea were represented by a mixture of species belonging to the deepest extension of shallow-water habitats and deep circalittoral ones. Twelve major biocoenoses were identified, each one characterized by specific preferences in depth range, substrate type and seabed slope. Those biocoenoses included gorgonian and hydrozoan forests, dense keratose sponge grounds, Dendrophyllia cornigera gardens, bryozoan beds and soft-bottom meadows of sabellid polychaetes and soft-corals. Other less common aggregations included six forests of black corals and two populations of Paramuricea macrospina. A georeferenced database has been created in order to provide information to managers and stakeholders about the location of the identified communities and high-diversity areas, aiming to facilitate sustainable long-term conservation of the Ligurian benthic ecosystem.

Marine litter from fishery activities in the Western Mediterranean sea: The impact of entanglement on marine animal forests.

The anthropogenic marine debris, especially abandoned, lost or otherwise discarded Fishing Gear (ALDFG), represents a rising concern, because of its potential harmful impact on the marine animal forests. We carried out 13 km of video recordings, by means of a remotely operated vehicle, from 10 to 210 m depth, in an anthropised area of the Tyrrhenian Sea (Mediterranean Sea). This site, for its high ecological importance and biodiversity value, has been identified for the establishment of a new marine protected area (MPA). The aim of this paper was to assess marine litter abundance and its effects on the benthic fauna. The debris density, in the study area, ranged from 0.24 to 8.01 items/100 m2, with an average of 3.49 (±0.59) items/100 m2. The derelict fishing gear, mainly fishing lines, were the main source of marine debris, contributing 77.9% to the overall litter. The impacts of debris on the benthic fauna were frequently recorded, with 28.5% of the litter entangling corals and impacting habitats of conservation concern. These impacts were exclusively caused by the derelict fishing gear (91.2% by longlines), and the highest percentage (49.1%) of ALDFG causing impacts was observed from 41 to 80 m depth, in the coralligenous biocenosis. The results of the present study will help the fulfilment of "harm" monitoring, as recommended by the Marine Strategy Framework Directive (MSFD) and the UN Environment/MAP Regional Plan on the marine litter management in the Mediterranean Sea. Regarding the actions to reduce the derelict fishing gear, preventive measures are usually preferred instead of the extensive removals based on cost-effectiveness and sustainability. The establishment of a new MPA in the area could be a good solution to reduce ALDFG, resulting in the improvement of the ecological status of this coastal area.

The Bryozoa collection of the Italian National Antarctic Museum, with an updated checklist from Terra Nova Bay, Ross Sea.

This study provides taxonomic and distributional data of bryozoan species from the Ross Sea area, mainly around Terra Nova Bay, based on specimens curated at the Italian National Antarctic Museum (MNA, Section of Genoa). Bryozoan specimens were collected at 75 different sampling stations in the Ross Sea and in the Magellan Strait, in a bathymetric range of 18-711 meters, during 13 expeditions of the Italian National Antarctic Research Program (PNRA) conducted between 1988 and 2014. A total of 282 MNA vouchers corresponding to 311 specimens and 127 morphospecies have been identified and included in the present dataset. 62% of the species were already reported for the Terra Nova Bay area, where most of the Italian samples come from, with a 35% of samples representing new records classified at the specific level, and 3% classified at the genus level. These new additions increase to 124 the total number of species known to occur in Terra Nova Bay. Four 3D-models of Antarctic bryozoans from the Ross Sea are also presented and will be released for research and educational purposes on the Museum website.

Composition and abundance of benthic marine litter in a coastal area of the central Mediterranean Sea.

Abundance and qualitative composition of benthic marine litter were investigated in a coastal area of the central Mediterranean Sea. Almost 30 km of video footage, collected by a Remotely Operated Vehicle between 5 and 30 m depth, were analyzed. Litter density ranged from 0 to 0.64 items/m2 with a mean of 0.11 (±0.16) items/m2. General wastes, made up almost entirely of plastic objects, were the dominant sources of debris representing 68% of the overall litter. The remaining 32% consisted of lost or abandoned fishing gears. Synthetic polymers, considering both fishing gears and general waste, represented 73% of total debris items. Our results are comparable with litter amounts reported in other Mediterranean sites at similar depths. Overall, the results are discussed in terms of monitoring strategy, to support the implementation of the Marine Strategy Framework Directive (2008/56/EC) for descriptor 10 and the Mediterranean UN Environment (UNEP/MAP) regional Plan on Marine Litter.

Porifera collection of the Italian National Antarctic Museum (MNA), with an updated checklist from Terra Nova Bay (Ross Sea).

This new dataset presents occurrence data for Porifera collected in the Ross Sea, mainly in the Terra Nova Bay area, and curated at the Italian National Antarctic Museum (MNA, section of Genoa). Specimens were collected in 331 different sampling stations at depths ranging from 17 to 1,100 meters in the framework of 17 different Italian Antarctic expeditions funded by the Italian National Antarctic Research Program (PNRA). A total of 807 specimens, belonging to 144 morphospecies (i.e., 95 taxa identified at species level and 49 classified at least at the genus level) is included in the dataset. Nearly half (45%) of the species reported here correspond to species already known for Terra Nova Bay. Out of the remaining 55% previously unknown records, under a third (~29%) were classified at the species level, while over a quarter (~26%) were ascribed to the genus level only and these would require further study. All vouchers are permanently curated at the MNA and are available for study to the scientific community. A 3D model of an uncommon species from the Ross Sea, i.e. Tethyopsisbrondstedi (Burton, 1929), is also presented and will be made available for outreach purposes.

Marine litter in an EBSA (Ecologically or Biologically Significant Area) of the central Mediterranean Sea: Abundance, composition, impact on benthic species and basis for monitoring entanglement.

Marine litter is commonly observed everywhere in the ocean. In this study, we analyzed 17 km of video footage, collected by a Remotely Operated Vehicle (ROV) at depths ranging between 20 and 220 m, during 19 transects performed on the rocky banks of the Straits of Sicily. Recently, the Contracting Parties of the Convention on Biological Diversity (CBD) recognized this site as an Ecologically or Biologically Significant Area (EBSA). The research aim was to quantify the abundance of marine litter and its impact on benthic fauna. Litter density ranged from 0 items/100 m2 to 14.02 items/100 m2 with a mean (±standard error) of 2.13 (±0.84) items/100 m2. The observed average density was higher (5.2 items/100 m2) at depths >100 m than at shallower depths (<100 m, 0.71 items/100 m2). Lost or abandoned fishing lines contributed to 98.07% of the overall litter density, then representing the dominant source of marine debris. Litter interactions with fauna were frequently observed, with 30% of litter causing "entanglement/coverage" and 15% causing damage to sessile fauna. A total of 16 species showed interaction (entanglement/coverage or damage) with litter items and 12 of these are species of conservation concern according to international directives and agreements (CITES, Berne Convention, Habitat Directive, SPA/BD Protocol, IUCN Red List); we also observed 7 priority habitats of the SPA/BD Protocol. This research will support the implementation of monitoring "Harm" as recommended by the UN Environment/MAP Regional Plan on Marine Litter Management in the Mediterranean, and the Marine Strategy Framework Directive (MSFD). The institution of a SPAMI in the investigated area could represent a good management action for the protection of this hotspot of biodiversity and to achieve a Good Environmental Status (GES) for the marine environment by 2020, under the MSFD.

Exceptional discovery of a shallow-water hydrothermal site in the SW area of Basiluzzo islet (Aeolian archipelago, South Tyrrhenian Sea): An environment to preserve.

The geological, biological and geochemical features of a particular field of hydrothermal vents, discovered in the Panarea Volcanic Complex during a research survey carried out in 2015, are described for the first time. The site, located at 70-80 m depth off the South-western coast of the islet of Basiluzzo, was named Smoking Land for the presence of a large number of wide and high active chimneys and was characterized in terms of dissolved benthic fluxes, associated macrofauna and megafauna communities and preliminary mineralogy and geochemistry of chimney structures. On the whole field, a total of 39 chimneys, different in size and shape, were closely observed and described; 14 of them showed emission of low temperature hydrothermal fluids of marine origin characterized by acidified chemical conditions. The CTD and benthic chamber measurements highlighted that the Smoking Land is able to form a sea water bottom layer characterized by variable acidity and high DIC and trace elements concentrations; these characteristics weaken moving away from the chimney mouths. The SEM-EDS analysis of the collected solid samples revealed a chimney structure principally composed by amorphous and low crystalline Fe-oxyhydroxides of hydrothermal origins. The ROV explorations revealed a wide coverage of red algae (Peyssonnelia spp.) colonized by the green algae Flabiella petiolata and by suspension feeders, mainly sponges, but also bryozoans, and tubicolous polychaetes. Although novent-exclusive species were identified, the benthic communities found in association to the chimneys included more taxa than those observed in the surrounding no-vent rocky areas. These first findings evidence a submarine dynamic habitat where geological, chemical and biological processes are intimately connected, making the Smoking Land an important site in terms of marine heritage that should be safeguarded and protected.

Submarine canyons along the upper Sardinian slope (Central Western Mediterranean) as repositories for derelict fishing gears.

By means of ROV surveys, we assessed the quantity, composition and bathymetric distribution of marine litter in 17 sites along the Sardinian continental margin (Central Western Mediterranean) at depths ranging from 100 to 480m. None of the investigated sites was litter free, but the mean density of litter (0.0175±0.0022itemsm-2) was lower than that reported from other Tyrrhenian regions. The difference in the total litter density among sites was negligible, but the density of derelict fishing gear (DFG) items (most of which ascribable to small scale fishery) in submarine canyons was higher in submarine canyons than in other habitats. Our result suggest that submarine canyons (known to be highly vulnerable ecosystems) act as major repositories of DFGs, and, therefore, we anticipate the need of specific measures aimed at minimizing the loss and abandonment of DFGs in submarine canyons.

Mediterranean banks in EBSA area: Hotspots of biodiversity under threat.

This study demonstrates that, in the Central Mediterranean Sea, the Graham, Nereo and Pantelleria Vecchia Banks of the Strait of Sicily represent, in the wide and diversified 'Sicily Channel' Ecological or Biological Significant Area, unknown hot spots of biodiversity threatened by human activities. The investigated banks show an high ecological and biological value (EBV), assessed through presence/absence of specific indicators. The ecological groups of Graham Bank show the maximum EBV; the same as Nereo and Pantelleria Vecchia, except for the benthic component. All three banks are highly threatened, mainly the benthic and benthopelagic ecological groups. However, these Banks still have wide pristine areas to protect and can be considered eligible sites for the imposition of area-based management measures of conservation. This study represent also a support for decision makers involved in protection of the Mediterranean open sea areas, to pinpoint other priority conservation banks.

Are shipwrecks a real hazard for the ecosystem in the Mediterranean Sea?

The aim of the present study was to evaluate the hazard from shipwrecks on communities by a holistic approach taking into account different effects on biological communities. Multibeam and Remotely Operated Vehicles surveys recorded ecological assessment of fish and benthic species on three shipwrecks flooded during the Second World War on Maërl beds habitats in the strait of Sicily. Pollution levels of a wide range of chemicals of ecotoxicological concern were also measured in sediments and in fish species from different trophic levels. Statistical analysis evidenced significant differences among pollutant levels between both sediments and fish collected in shipwreck sites and controls. Concerning fish, significant effects due to the vessel's cargo type and flooding position are recorded. In spite of that, our results underline that shipwrecks are also a hotspots of biodiversity and a habitat for preservation strategies in marine ecosystems that need to be monitored.

The first assessment of marine debris in a Site of Community Importance in the north-western Adriatic Sea (Mediterranean Sea).

At present, few studies have investigated the marine litter abundance, composition and distribution on rocky bottoms due to sampling constraints. We surveyed by means of the ROV imaging technique a system of biogenic rocky outcrops classified as a Site of Community Importance in the Adriatic Sea. A mean density of 3.3 (±1.8) items/100m2 was recorded, with a strong dominance of fishing- and aquaculture-related debris, accounting for 69.4% and 18.9% of the total, respectively. The abundance of litter over the rocky bottoms was significantly higher than that on soft substrates, and its spatial distribution proved to be related to hydrographic factors. Litter-fauna interactions were high, with most of the debris (65.7%) entangling or covering benthic organisms, in particular habitat constructors such as the endangered sea sponge Geodia cydonium. Unless appropriate measures are undertaken to address this problem, the abundance of marine litter in the area is likely to increase.

Fish Distribution and Habitat Complexity on Banks of the Strait of Sicily (Central Mediterranean Sea) from Remotely-Operated Vehicle (ROV) Explorations.

The Strait of Sicily was recognized internationally as an "Ecologically or Biologically Significant Area" by the Contracting Parties of the Convention on Biological Diversity in 2014. However, basic aspects of its fish diversity are still unknown and most of the information comes from traditional trawl surveys. This paper provides the first detailed description, using a Remotely Operated Vehicle (ROV), of the composition and depth distribution of the demersal fish assemblages found on banks of the Strait of Sicily and the related habitat complexity from 35 to 240 m depth. A total of 24 families and 52 fish species were recorded and depth was consistently associated with a significant proportion of the variation of the fish assemblage. The highest species richness was observed at the shallowest depth layer (0-50 m) and significantly decreased, remaining almost constant, in deeper layers. Similarly the highest abundance was recorded at 0-50 m, where C. julis represented the most abundant species, and decreased progressively throughout the whole depth gradient. Although the factor habitat complexity explained only a small proportion of the fish assemblage variation, significant differences among different degrees of habitat complexity were observed, together with a general positive trend for species richness and abundance with increasing habitat complexity. The ROV also allowed us to observe some rare or poorly known fish species such as Scorpaenodes arenai, Hyporthodus haifensis, Myliobatis aquila, Gadella maraldi, Epinephelus caninus and Lappanella fasciata. These findings show that banks serve as reservoirs for fish abundance and biodiversity and that immediate environmental conservation and management actions represent a priority not only for Italy but also for other countries which share the same area.

The Mediterranean deep-water kelp Laminaria rodriguezii is an endangered species in the Adriatic Sea.

Deep-water kelps are little-known large brown algae occurring close to the lower limit of photosynthetic life in the sea. This study compares historical and recent records of the deep-water Mediterranean kelp Laminaria rodriguezii in the Adriatic Sea. Historical records include data from herbarium collections and trawling fishery expeditions in the mid-twentieth century, while recent data comprise records of the last 17 years from MEDITS expeditions, ROV surveys of historical kelp locations, benthic surveys and records by fishermen. Altogether, these findings demonstrate that the Adriatic population of L. rodriguezii has suffered a decline of more than 85 % of its historical range and is now present only around the small offshore island of Palagruza. Bottom trawling activities are presumably responsible for the disappearance elsewhere. We propose to classify L. rodriguezii as "Endangered" in the Adriatic Sea under IUCN criteria B1ab(i,iii,iv), ver 3.1. Oceanographic characteristics of the habitat suggest that besides high water transparency, presence of North Adriatic Dense Water with both strong currents and stable low temperatures of around 14 °C are essential oceanographic factors for the development of L. rodriguezii in the Central Adriatic. The origin of cold water thus differs from that at upwelling sites permitting populations of tropical deep-water kelps. The phylogenetic position of L. rodriguezii is so far unknown. DNA sequences from nuclear and cytoplasmic markers of two thalli from Croatia and the western Mediterranean confirmed that L. rodriguezii is a member of the Laminariaceae and most closely related to L. ochroleuca, L. pallida and the Brazilian deep-water kelp L. abyssalis.