Water sampling using a drone at Yugama crater lake, Kusatsu-Shirane volcano, Japan
© The Author(s) 2018
Received: 29 December 2017
Accepted: 10 April 2018
Published: 19 April 2018
Regular sampling of lake water at hot crater lakes is commonly used to monitor volcanic systems (e.g., Giggenbach and Glover 1975; Hurst et al. 1991; Rowe et al. 1992; Martinez et al. 2000; Ohba et al. 2008; Rouwet et al. 2016). Data on temporal changes in lake water chemistry are useful for identifying and predicting volcanic activity such as phreatic and phreatomagmatic eruptions (Mastin and Witter 2000; Schaefer et al. 2008; Morrissey et al. 2010). Therefore, regular water sampling and water chemistry analysis are the most straightforward and valuable methods for providing early warning of an eruption.
Unmanned air vehicles (drones) have been utilized at many volcanoes (Gomez and Purdie 2016) to measure the components in volcanic gas (e.g., McGonigle et al. 2008; Shinohara 2013; Mori et al. 2016), ground surface temperature (e.g., Harvey et al. 2016; Nishar et al. 2016; Chio and Lin 2017), and the magnetic field (Hashimoto et al. 2014), in addition to assisting with 3D modeling of the terrain (e.g., Westoby et al. 2012; Moussallam et al. 2016). Drones have recently been developed that can fly for several km with a payload exceeding 1–2 kg and are therefore valuable as a device of sampling lake water from remote sites. Schwarzbach et al. (2014) sampled water using a drone equipped with a pump, with the drone hovering at a height of 1–2 m above the water surface. Ore et al. (2015) used special sensors and a dedicated software system for drone flights to enable the drone to pass close to the water surface for water sampling purposes.
Dense acidic gases such as HCl and SO2 are emitted from hot hyper-acidic crater lakes at active volcanoes (Shinohara et al. 2015; Capaccioni et al. 2017), which can be problematic for drones. During volcanic unrest (including phreatic eruptions), perturbations of the water surface and strong upward air currents caused by enhanced lake water evaporation can further hamper efforts to sample water near the lake surface. To use a drone safely at active volcanoes with crater lakes, we tested a simple method of water sampling using a drone at Yugama crater lake, launching the drone from a remote site located 2 km north of the lake center. In this paper, we describe and discuss the water sampling procedure.
Outline of Kusatsu-Shirane volcano
Yugama crater lake at Kusatsu-Shirane volcano is classified as a high-activity crater lake (Rouwet et al. 2014), which is a hot crater lake with temperatures 10–15 °C higher than the ambient air temperature (due to the emission of volcanic gas and hot water from subaqueous fumaroles on the lake floor, Ohba et al. 2008; Terada and Hashimoto 2017). The lake water has a pH of ~ 1.0 and contains high concentrations of Cl and SO4 ions, which show marked changes in response to volcanic activity (Ohba et al. 2008).
Recent volcanic activity at Kusatsu-Shirane volcano has been characterized by frequent phreatic eruptions at Yugama crater lake that commenced in 1882 (Tsuya 1933; Minakami et al. 1943; Ossaka et al. 1980, 1997). These eruptions were probably caused by enhanced heating of the hydrothermal system beneath Yugama crater lake in response to magma degassing at depth.
In 2014, microearthquake swarms were accompanied by ground deformation, increased water temperature, and changes in the chemical concentrations of the water in Yugama crater lake (including the detection of Cl and SO4 ions), but no eruption occurred at Yugama crater lake. Unusual seismic activity and inflation at shallow depths within Yugama crater lake ceased in 2015, and water temperatures stabilized and returned to normal in August 2016 (Kuwahara et al. 2017).
On January 23, 2018, a phreatic eruption occurred at the Kagami-ike-kita pyroclastic cone, which is located 1.7 km south of Yugama crater lake. Volcanic ejecta (including volcanic bombs) were erupted, resulting in the death of a skier. The water temperature and level of Yugama crater lake did not show any changes in response to the eruption.
The bottle is suspended from a 30 m length of rope. The rope length was determined based on topographic considerations to ensure that the bottle did not strike the ground on the way to Yugama crater lake (Fig. 2a, b). Weights (each 200 g) are attached to the rope to prevent it from being disturbed by ambient wind, at distances of 2, 15, and 25 m from the drone (based on the results of preliminary tests). The rope attaching the drone to the bottle (Fig. 2a) is gently lifted when the drone takes off (Fig. 2b).
As the drone is able to navigate automatically by GNSS, once optimal waypoints for sampling locations are programmed the drone can follow the intended route even during times of volcanic unrest.
There are some limitations to this approach. The camera view transmitted from the drone is unlikely to provide sufficient information for the operator to estimate an accurate relative height between the drone and the lake surface. Moreover, radio communications may be perturbed due to the presence of a crater wall between the drone and operation site. In these cases, adjusting the drone’s location via remote control can be difficult. In addition, there are uncertainties in both GNSS and the topographic maps used.
To overcome these problems without requiring any additional special equipment, the sampling waypoint can be adjusted by an observer located on a crater wall or at the lakeshore during calm period. In the case of Kusatsu-Shirane volcano, volcanic activity is calm at the time of writing and therefore an observer can approach Yugama crater lake. The observer on the lakeshore measures the relative height between the lake surface and the drone using a laser range finder (TruPulse 360). The altitude of the sampling waypoint can then be adjusted on the basis of the observer’s reports.
After water sampling, the drone returns to the takeoff site and gently lowers the bottle to the ground to be retrieved by gloved hands.
Water sampling using a drone was carried out on October 18, 2017. Wind speed was ~ 1.5 m/s or less at 1 m above the ground at the takeoff/landing site (“A” in Fig. 1). Neither cloud nor fog was present during the flight, meaning that visibility was good between site A and Yugama crater lake. During the course of the first test flight between site A and Yugama, we encountered no problems in terms of wind or radio communications.
The height of the sampling waypoint was initially fixed to 108 m lower than the takeoff/landing site on the basis of a topographic map published by the Geospatial Information Authority of Japan (GSI). This waypoint corresponded to 30 m above the lake surface at site B (Fig. 1), and this distance is much larger than the altitude error of GNSS (equipped on the drone) and the uncertainties in the topographic map. Therefore, water sampling failed during the first experimental flight because the bottle did not reach the lake. From the camera view transmitted from the drone (Fig. 2c), it was difficult for the operator to monitor the clearance between the lake surface and the bottle in real time. Remote adjustments to the drone height were not carried out because of the risk of a loss of radio communications between the drone and the operator at site A due to topographic effects.
According to laser range finder observations undertaken by an observer on the lakeshore, the clearance was reported as 7–8 m above the lake surface (Fig. 2e). During the next flight, the target height was adjusted to − 115 m from site A, and as a result, the sampling bottle was successfully immersed into the lake. The bottle reached 0.8 m below the lake surface, as indicated by the observation that the rope was wet at a range of 0.8 m from the bottle.
When the drone returned to site A, the sample bottle had been successfully filled with 250 mL of lake water (Fig. 2d). Although the suspended sampling bottle was swinging like a pendulum at an amplitude of a few meters, it was safely caught by hand.
Comparison of water properties between drone-based sampling and traditional techniques
To evaluate the potential effects on sample properties caused by differences in sampling procedures, we assessed the consistency between lake water sampled by the drone and that sampled by hand at site U1 (Fig. 1), where regular samplings had previously been carried out.
Water chemistry in Yugama crater lake
Discussion and conclusion
In our experiment, the drone successfully sampled > 250 mL of water from Yugama crater lake during a calm period at Kusatsu-Shirane volcano. Site A (the takeoff/landing site) is located 2 km north of the lake center (Fig. 1), which means that water sampling can be safely carried out even if Kusatsu-Shirane volcano is in a period of unrest. Using programmed waypoints, the drone can repeatedly sample lake water at exactly the same location, even during periods of high probability of volcanic unrest (when approaching Yugama crater lake is prohibited by the local government). Sampling locations and depths can be easily altered by modifying the waypoints, and therefore, other features of interest can be sampled (e.g., fluid emissions from subaqueous fumaroles).
Drone flight operation
The procedure of water sampling presented here is robust and easy to achieve (except during high winds) and can therefore be carried out by volcanologists using just a drone without any special apparatus or techniques. If the drone can carry a load of multiple bottles, simultaneous water samplings from various depths may be possible. Even under conditions of high temperatures or hyper-acidic lake water, the drone does not experience any mechanical problems because the bottle filled with lake water is suspended 30 m below the drone. It is not necessary for the drone to approach close to the lake surface, which reduces the risk of damage to the drone resulting from perturbations of the water surface, strong upward air currents, and acidic gases.
However, multiple flights were necessary to adjust the waypoints used in this study. Drone locations should not be remotely adjusted, given the risk of loss of radio communications. Furthermore, the method presented here requires an observer at the crater lake during periods of volcanic quiescence. Even in cases that an observer or surveillance camera is not available, we expect that sampling of lake water would be feasible if the height of the sampling waypoint is lowered little by little at each flight.
Atmospheric conditions (e.g., wind speed) are the prime cause of difficulties in flight operations. The criteria for safe drone deployment depend on the rotor power of the drone, the load weight, and the length of the rope carrying the sampler. Preliminary test flights are therefore essential. In addition, at crater lakes located at high altitudes, such as Yugama crater lake (2000 m a.s.l.), the duration of a single flight is shorter than at crater lakes located at low altitudes because of the lower density of ambient air (e.g., Mori et al. 2016). It is noted that rapid acceleration and deceleration of the drone may cause the suspended sampling bottle to swing like a pendulum. To avoid these problems, the final waypoint is set to just above the landing site. After maintaining the position of the final waypoint for a period of time, the drone should descend slowly (< 0.5 m/s) to the ground from almost directly below.
Lake water properties
We compared the properties of lake water sampled by the drone with that sampled by hand at site U1. As a result, we found that lake water sampled by drone is useful for comparison with lake waters sampled at the lakeshore (site U1 in Fig. 1), because both have similar chemistry (Table 1). Analyses of our sampled lake water show that electrical conductivity and concentrations of Cl and SO4 ions on 10 November decreased from the previous data, while SO4/Cl remained constant (Fig. 4), probably due to dilution by the input of precipitation. Such fluctuations in lake water chemistry are much larger than the differences between sites U1 and B (Figs. 1, 4).
Minor spatial inhomogeneities in water properties are observed at some crater lakes (e.g., Kawah Ijen in Indonesia; Delmelle et al. 2000), probably due to fluid emissions from subaqueous fumaroles. Although anion concentrations in the surface water of Yugama crater lake show perturbations of 10% (Ossaka 1984), larger spatial inhomogeneities may be attributed to enhanced activity of subaqueous fumaroles during eruptive periods. Such inhomogeneities can be easily assessed by sampling water from multiple sites using drones.
Previous studies have reported that crater lake water chemistry changes in response to volcanic activity (e.g., Giggenbach and Glover 1975; Rowe et al. 1992; Christenson 2000; Rouwet et al. 2014). Such changes may be correlated with phreatic eruptions and earthquake swarms and have also been identified at Yugama (Takano and Watanuki 1990; Ossaka et al. 1997; Ohba et al. 2008; Takano et al. 2008). For instance, the Mg/Cl ratio is a good indicator of microearthquake swarms beneath Yugama crater lake (Ohba et al. 2008). In 2014, microearthquakes accompanied by ground deformation were detected at Yugama crater lake. A Mg/Cl value of 0.006 was obtained by a drone on October 18, 2017 (Table 1), corresponding to values measured prior to the microearthquake swarms in 2014, meaning these earthquake swarms in 2014 were not accompanied by an increase in the Mg/Cl ratio of the lake water. This is similar to the case of the 1989–1992 earthquake swarms and was most likely caused by the invasion of groundwater through the breached sealed zone beneath Yugama crater lake (Ohba et al. 2008).
At Yugama crater lake, interaction between groundwater and degassing magma is a possible mechanism of temporal change in the SO4/Cl ratio of lake water. This process is controlled by the breaching of a self-sealed zone (Fournier 1999) surrounding the magma body (Ohba et al. 1994, 2008). During periods of volcanic unrest (including explosive activity), continuous sampling by hand at the lakeshore is difficult or impossible, in contrast to data collection by seismometer and GNSS. Water sampling using a drone, coupled with geophysical observations, is essential to understand the hydrothermal system underlying the crater lake.
AT designed the flight plans and drafted the manuscript. YM led the overall study. TH, TM, and WK prepared and improved the apparatus on the drone and supported flight operations. TO and MY analyzed the water chemistry. All authors read and approved the final manuscript.
We thank Katsuyuki Sato (ENROUTEM) for flight operations. Rina Noguchi helped to monitor the drone at the shore of Yugama crater lake. Officials at Kusatsu town and Nakanojyo Civil Engineering Office, Gunma prefecture, cooperated with us in establishing the takeoff/landing area. We received permission to fly drones above public land from the Agatsuma District Forest Office, Ministry of Agriculture, Forestry and Fisheries. The Civil Aviation Bureau of the Ministry of Land, Infrastructure, Transport and Tourism gave approval for the flights. We used Generic Mapping Tools (Wessel and Smith 1998) to generate the map. This work was supported by the Japanese Ministry of Education, Culture, Sorts, Science and Technology under a grant from the Integrated Program for Next Generation Volcano Research and Human Resource Development. The authors also wish to thank Dmitri Rouwet and an anonymous reviewer for their fruitful comments on an earlier version of the manuscript.
The authors declare that they have no competing interests.
Availability of data and materials
Flight logs are available on request from the corresponding author.
Consent for publication
Ethics approval and consent to participate
This work was supported by the Japanese Ministry of Education, Culture, Sorts, Science and Technology under a grant of the Integrated Program for Next Generation Volcano Research and Human Resource Development.
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
- Capaccioni B, Rouwet D, Tassi F (2017) HCl degassing from extremely acidic crater lakes: preliminary results from experimental determinations and implications for geochemical monitoring. In: Ohba T, Capaccioni B, Caudron C (eds) Geochemistry and geophysics of active volcanic lakes, vol 437. Geological Society, London, pp 97–106 (Special Publications) Google Scholar
- Chio SH, Lin CH (2017) Preliminary study of UAS equipped with thermal camera for volcanic geothermal monitoring in Taiwan. Sensors 17:1649. https://doi.org/10.3390/s17071649 View ArticleGoogle Scholar
- Christenson BW (2000) Geochemistry of fluids associated with the 1995–1996 eruption of Mt. Ruapehu, New Zealand: signatures and processes in the magmatic–hydrothermal system. J Volcanol Geotherm Res 97:1–30. https://doi.org/10.1016/S0377-0273(99)00167-5 View ArticleGoogle Scholar
- Delmelle P, Bernard A, Kusakabe M, Fischer TP, Takano B (2000) Geochemistry of the magmatic–hydrothermal system of Kawah Ijen volcano, East Java, Indonesia. J Volcanol Geotherm Res 97:31–53. https://doi.org/10.1016/S0377-0273(99)00165-1 View ArticleGoogle Scholar
- Fournier RO (1999) Hydrothermal processes related to movement of fluid from plastic into brittle rock in the magmatic–epithermal environment. Econ Geol 94:193–1212. https://doi.org/10.2113/gsecongeo.94.8.1193 View ArticleGoogle Scholar
- Giggenbach WF, Glover RB (1975) The use of chemical indicators in the surveillance of volcanic activity affecting the crater lake on Mt Ruapehu, New Zealand. Bull Volcanol 39:70–81. https://doi.org/10.1007/BF02596947 View ArticleGoogle Scholar
- Gomez C, Purdie H (2016) UAV-based photogrammetry and geocomputing for hazards and disaster risk monitoring—a review. Geoenviron Disasters 3:23. https://doi.org/10.1186/s40677-016-0060-y View ArticleGoogle Scholar
- Harvey MC, Rowland JV, Luketina KM (2016) Drone with thermal infrared camera provides high resolution georeferenced imagery of the Waikite geothermal area, New Zealand. J Volcanol Geotherm Res 325:61–69. https://doi.org/10.1016/j.jvolgeores.2016.06.014 View ArticleGoogle Scholar
- Hashimoto T, Koyama T, Kaneko T, Ohminato T, Yanagisawa T, Yoshimoto M, Suzuki E (2014) Aeromagnetic survey using an unmanned autonomous helicopter over Tarumae Volcano, northern Japan. Explor Geophys 45:37–42. https://doi.org/10.1071/EG12087 View ArticleGoogle Scholar
- Hurst AW, Bibby HM, Scott BJ, McGuinness MJJ (1991) The heat source of Ruapehu crater lake; deductions from the energy and mass balances. J Volcanol Geotherm Res 46:1–20. https://doi.org/10.1016/0377-0273(91)90072-8 View ArticleGoogle Scholar
- Kuwahara T, Terada A, Ohba T, Yukutake Y, Kanda W, Ogawa Y (2017) A hydrothermal system of Kusatsu-Shirane volcano inferred from Cl concentrations and stable isotope ratios of Yugama crater lake water, Japan. In: Geosci Union and Ame Geophys Union Joint Meet 2017 Abstr: SVC48-02Google Scholar
- Martinez M, Fernandez E, Valdes J, Barboza V, Laat RVD, Duarte E, Malavassi E, Sandoval L, Barquero J, Marino T (2000) Chemical evolution and volcanic activity of the active crater lake of Poas volcano, Costa Rica, 1993–1997. J Volcanol Geotherm Res 97:127–141. https://doi.org/10.1016/s0377-0273(99)00165-1 View ArticleGoogle Scholar
- Mastin LG, Witter JB (2000) The hazards of eruptions through lakes and seawater. J Volcanol Geotherm Res 97:195–214. https://doi.org/10.1016/S0377-0273(99)00174-2 View ArticleGoogle Scholar
- McGonigle AJS, Aiuppa A, Giudice G, Tamburello G, Hodson AJ, Gurrieri S (2008) Unmanned aerial vehicle measurements of volcanic carbon dioxide fluxes. Geophys Res Lett 35:L06303. https://doi.org/10.1029/2007GL032508 View ArticleGoogle Scholar
- Minakami T, Matsuita K, Utibori S (1943) Explosive activities of volcano Kusatsu-Shirane during 1938 and 1942. Bull Earthq Res Inst 20:505–526Google Scholar
- Mori T, Hashimoto T, Terada A, Yoshimoto M, Kazahaya R, Shinohara H, Tanaka R (2016) Volcanic plume measurements using a UAV for the 2014 Mt. Ontake eruption. Earth Planets Space 68:49. https://doi.org/10.1186/s40623-016-0418-0 View ArticleGoogle Scholar
- Morrissey M, Gisler G, Weaver R (2010) Numerical model of crater lake eruptions. Bull Volcanol 72:1169–1178. https://doi.org/10.1007/s00445-010-0392-5 View ArticleGoogle Scholar
- Moussallam Y, Bani P, Curtis A, Barnie T, Moussallam M, Peters N, Schipper CI, Aiuppa A, Giudice G, Amigo A (2016) Sustaining persistent lava lakes: observations from high-resolution gas measurements at Villarrica volcano, Chile. Earth Planet Sci Lett 45:237–247. https://doi.org/10.1016/j.epsl.2016.09.012 View ArticleGoogle Scholar
- Nishar A, Richards S, Breen D, Robertson J, Breen B (2016) Thermal infrared imaging of geothermal environments by UAV (unmanned aerial vehicle). J Unmanned Veh Syst 4:136–145. https://doi.org/10.1016/j.renene.2015.09.042 View ArticleGoogle Scholar
- Ohba T, Hirabayashi J, Nogami K (1994) Water, heat and chloride budgets of the crater lake Yugama at Kusatsu-Shirane volcano, Japan. Geochem J 28:217–231. https://doi.org/10.2343/geochemj.28.217 View ArticleGoogle Scholar
- Ohba T, Hirabayashi J, Nogami K (2008) Temporal changes in the chemistry of lake water within Yugama Crater, Kusatsu-Shirane volcano, Japan: implications for the evolution of the magmatic hydrothermal system. J Volcanol Geotherm Res 178:131–144. https://doi.org/10.1016/j.jvolgeores.2008.06.015 View ArticleGoogle Scholar
- Ore J, Elbaum S, Burgin A, Detweiler C (2015) Autonomous aerial water sampling. J Field Robot 32:1095–1113. https://doi.org/10.1002/rob.21591 View ArticleGoogle Scholar
- Ossaka J (1984) Hot springs and volcanic gas. In: Kusatsu Town (ed) Record of Kusatsu Spa, Science I. Gunma prefecture, pp 97–172. (In Japanese) Google Scholar
- Ossaka J, Ozawa T, Nomura T, Ossaka T, Hirabayashi J, Takaesu A, Hayashi T (1980) Variation of chemical compositions in volcanic gases and waters at Kusatsu-Shirane volcano and its activity in 1976. Bull Volcanol 43:207–216. https://doi.org/10.1007/BF02597622 View ArticleGoogle Scholar
- Ossaka J, Ossaka T, Hirabayashi J, Oi T, Ohba T, Nogami K, Kikawada Y, Yamano M, Yui M, Fukuhara H (1997) Volcanic activity of Kusatsu-Shirane volcano, Gunma, and secular change in water quality of crater lake Yugama. Chikyukagaku 31:119–128. https://doi.org/10.14934/chikyukagaku.31.119 (In Japanese with English abstract) Google Scholar
- Rouwet D, Tassi F, Mora-Amador R, Sandri L, Chiarini V (2014) Past, present and future of volcanic lake monitoring. J Volcanol Geotherm Res 272:78–97. https://doi.org/10.1016/jjvolgeores.2013.12.009 View ArticleGoogle Scholar
- Rouwet D, Mora-Amador R, Ramírez-Umaña CJ, González G, Inguaggiato S (2016) Dynamic fluid recycling at Laguna Caliente (Poas, Costa Rica) before and during the 2006-ongoing phreatic eruption cycle (2005–10). Geol Soc Lond Spec Publ. https://doi.org/10.1144/SP437.11 Google Scholar
- Rowe GL, Brantley SL, Fernandez M, Fernandez JF, Borgia A, Barquero J (1992) Fluid–volcano interaction in an active stratovolcano; the crater lake system of Poás Volcano, Costa Rica. J Volcanol Geotherm Res 49:23–51. https://doi.org/10.1007/BF00301395 View ArticleGoogle Scholar
- Schaefer JR, Scott WE, Evans WC, Jorgenson J, McGimsey RG, Wang B (2008) The 2005 catastrophic acid lake drainage, lahar, and acidic aerosol formation at Mount Chiginagak volcano, Alaska, USA: field observations and preliminary water and vegetation, chemistry results. Geochem Geophys Geosyst. https://doi.org/10.1029/2007GC001900 Google Scholar
- Schwarzbach M, Laiacker M, Mulero-Pázmány M, Kondak K (2014) Remote water sampling using flying robots. In: Proceedings of 2014 international conference on unmanned aircraft systems (ICUAS), pp 72–76. https://doi.org/10.1109/icuas.2014.6842240
- Shinohara H (2013) Composition of volcanic gases emitted during repeating vulcanian eruption stage of Shinmoedake, Kirishima volcano, Japan. Earth Planets Space 65:667–675. https://doi.org/10.5047/eps.2012.11.001 View ArticleGoogle Scholar
- Shinohara H, Yoshikawa S, Miyabuchi Y (2015) Degassing activity of a volcanic crater lake: volcanic plume measurements at the Yudamari crater lake, Aso volcano, Japan. In: Rouwet D, Christenson BW, Tassi F, Vandemeulebrouck J (eds) Volcanic lakes. Springer, Berlin, pp 201–218. https://doi.org/10.1007/978-3-642-36833-2_8 Google Scholar
- Takano B, Watanuki K (1990) Monitoring of volcanic eruptions at Yugama crater lake by aqueous sulfur oxyanions. J Volcanol Geotherm Res 40:71–87. https://doi.org/10.1016/0377-0273(90)90107-Q View ArticleGoogle Scholar
- Takano B, Kuno A, Ohsawa S, Kawakami H (2008) Aqueous sulfur speciation possibly linked to sublimnic volcanic gas-water interaction during a quiescent period at Yugama crater lake, Kusatsu-Shirane volcano, Central Japan. J Volcanol Geotherm Res 178:145–168. https://doi.org/10.1016/j.jvolgeores.2008.06.038 View ArticleGoogle Scholar
- Terada A, Hashimoto T (2017) Variety and sustainability of volcanic lakes: response to subaqueous thermal activity predicted by a numerical model. J Geophys Res Solid Earth. https://doi.org/10.1002/2017JB014387 Google Scholar
- Tsuya H (1933) Explosive activity of volcano Kusatu-Sirane in October, 1932. Bull Earthq Res Inst 11:82–112Google Scholar
- Wessel P, Smith WHF (1998) New, improved version of generic mapping tools released. EOS Trans AGU 79:579. https://doi.org/10.1029/98EO00426 View ArticleGoogle Scholar
- Westoby MJ, Brasington J, Glasser NF, Hambrey MJ, Reynolds JM (2012) ‘Structure from-Motion’ photogrammetry: a low-cost, effective tool for geoscience applications. Geomorphology 179:300–314. https://doi.org/10.1016/j.geomorph.2012.08.021 View ArticleGoogle Scholar