bluuebunny/crossref_metadata_2025 huggingface dataset:
A Vehicle System for Autonomous Relative Survey of In-Water Ships
Authors: Hover F.S. , Vaganay J. , Elkins M. , Willcox S. , Polidoro V. , Morash J. , Damus R. , Desset S.
Published: June 2009

A new vehicle system for relative inspection of in-water ship hulls has been developed, wherein a Doppler velocity logger is used to navigate relative to the surface being inspected, and imaging is performed with a DIDSON sonar. The system is capable of working with no compass or external
navigation system, and in zero visibility waters. The ability to locate and lock onto a wall, and then perform full-coverage survey is demonstrated in several field tests.
Cost of Plug and Abandonment Operations in the Gulf of Mexico
Authors: Kaiser Mark J. , Dodson Richard
Published: June 2009

To explore, delineate, and produce hydrocarbon reserves, holes must be drilled into geologic formations. During the course of production, wells may become inactive because of diminished economic returns or technical problems, and be shut-in or temporarily abandoned. At the end of the
life of every well, the well will be permanently plugged and abandoned (P&A). The P&A process is the first stage of a decommissioning program in which a site is returned to its original greenfield status in accord with regulatory requirements. The purpose of this paper is to describe
the factors that influence P&A operations and summarize cost statistics from a sample of 118 jobs and 390 wells performed by Tetra Applied Technologies in the Gulf of Mexico from 2002-2003. Descriptive statistics are summarized and the impact of learning and scale economies are examined.
Regression models are derived that estimate the cost of P&A activities based on job characteristics.
Technical Report of the Eastern Edge Robotics Team The Marine Institute of Memorial University 2007 MATE/MTS International Robotics Competition, Explorer Class
Authors: Brockerville Leanne , Button Caitlin , Courish Mark , Crewe Stephen , Doyle Gina , Follett Matthew , Follett Scott , Freeman Mikhail , Furneaux Andrew , Higdon Justin , Hornell David , Howse Jonathan , Minay-Goldring Matthew , Quick Renée , Taylor Austin , Waterman Erin , Winsor Stephen , Howse Dwight , Button Clar , Donovan Thomas , Howse Diane
Published: June 2009

This report describes the development of the ROV Bartlett, designed and fabricated by the Eastern Edge Robotics Team, Newfoundland & Labrador, Canada. Bartlett was purpose-built for use in the 2007 MATE/MTS International ROV Competition to perform three missions based
on the 2007 International Polar Year (IPY) theme. Bartlett has a structural frame of 12.5-mm-thick Lexan™, six (6) orthogonally positioned thrusters providing motion in six degrees of freedom, three (3) tilting, hi-resolution cameras, four (4) variable intensity LED cluster
lamps, a waterproof Lexan™ electronics housing and low-compressibility (690 kPa), H-100, “High-load” structural Styrofoam™ encased in fiberglass, forming the flotation. Fiber-optic signal transmission is used in propulsion and tool control, sensor input and video systems.
Custom programming using C# incorporates data visualization tools from Dundas Gauge and DirectX. Custom tether is neutrally buoyant in the competition environment. Task-specific tools of original design or application have been fabricated for each mission task. The priority in design was
simplicity, low drag, low weight, high efficiency, reliability, and robust materials. The Eastern Edge Robotics Team is a diverse group, comprising 17 students from three academic institutions: Memorial University, the Marine Institute, and the College of the North Atlantic. The polar
theme of the 2007 MATE/MTS ROV Competition inspired the team to name their ROV Bartlett after Captain Robert Bartlett, an eminent polar explorer born in the British colony of Newfoundland.
Outfall Inspections, Token Repairs, and Major Remedial Works
Authors: Grace Robert A.
Published: June 2009

The coastal marine environment is fraught with risk for any exposed or minimally-buried seabed structure such as an outfall. Thus, conduits of this type should be inspected on a regular basis, whether by divers, remotely operated vehicles, or manned submersibles. Small deficiencies
may be handled upon detection by the same person or system. Major problems will require a competent marine contractor and an elapse of time. The paper lists a number of outfall malfunctions of various scales and, in most cases, the remedial measures pursued. With care, a typical pipe of this
type should function efficiently for many years.
Unmanned Surface Vehicle for Coastal and Protected Waters Applications: the Charlie Project
Authors: Caccia M. , Bibuli M. , Bono R. , Bruzzone Ga. , Bruzzone Gi. , Spirandelli E.
Published: June 2009

The paper deals with the design, development, test and exploitation of an unmanned surface vehicle (USV) for coastal and protected waters applications, such as sampling of the sea surface microlayer and harbor survey. The unmanned catamaran Charlie, which is fully autonomous from the
point of view of both power supply and computing capabilities and is supervised by a portable human operator station, is characterized by a state-of-the-art hardware, software and control architecture. A PC-compatible computing platform and a GNU/Linux-based embedded real-time system support
an intelligent control architecture, while advanced modeling and identification techniques, based on on-board sensors, allow the implementation of accurate navigation, guidance and control model-based algorithms. Results of experiments carried out on motion estimation and maneuvering control
in the Genoa-Prà harbor are presented and discussed as well as the vessel exploitation in scientific applications and research projects.
An Integrating Architecture for Coastal Inundation and Erosion Program Planning and Product Development
Authors: Marra John , Allen Tashya , Easterling David , Fauver Stephanie , Karl Thomas , Levinson David , Marcy Douglas , Payne Jeffrey , Pietrafesa Leonard , Shea Eileen , Vaughan Lisa
Published: June 2009

The need for data and information that can be used to enhance community resilience to coastal inundation and erosion has been highlighted by the devastating impacts of recent events such as Hurricane Katrina and the 2004 Indian Ocean tsunami. The physical systems causing coastal inundation
and erosion are governed by a complex combination of oceanic, atmospheric, and terrestrial processes interacting across a broad range of temporal and spatial scales. Depending on time and place the expression of these processes may variously take the form of episodic storm-induced surge or
wave overtopping and undercutting, chronic flooding and erosion associated with long-term relative sea level rise, or catastrophic inundation attributable to tsunami. Differences related to geographic setting, such as sea ice in Alaska or coral reefs in Hawai'i and the Pacific Islands, enhance
this phenomenological variability. Anticipating the expression of these phenomena is also complicated by observed and projected changes in climate. Combined with these physical systems are social systems made up of diverse cultural, economic, and environmental conditions. Like the physical
systems, the social systems are changing, largely because of increases in population and infrastructure along coastlines. These diverse conditions and systems reveal wide-ranging needs for the content, format, and timing of data and information to support decision-making. In addition, other
considerations complicate these requirements for data and information: (1) the decentralized acquisition of information from a variety of platforms (e.g., tide gauges, wave buoys, satellites, radars); (2) data and models of varying complexity and spatial and temporal application; and (3) gaps
and overlaps in agency, institutional, and organizational activity and authority. This systemic complexity presents a challenge to scientists, planners, managers, and others working to increase community resilience in the face of the risks associated with inundation and erosion. This paper
describes a conceptual framework for an integrating architecture that would support program planning and product development toward hazard resilient communities. Central to this framework is a comprehensive, horizontally and vertically integrated view of the physical and social systems that
shape the risks associated with coastal inundation and erosion, and the kinds of information needed to manage those risks. Equally important, the framework addresses the necessary connections among systems and scales. This integrated approach also emphasizes the needs of planners, managers,
and decision-makers in a changing physical and social environment, as well as the necessity of an iterative, nested, collaborative, and participatory process.
Development of an Ocean Forecasting System off the West Coast of the United States: Sea Level Applications
Authors: Chao Yi , DiGiacomo Paul M.
Published: June 2009

In the context of continuing development and implementation of global and regional ocean observing systems, we describe here the need and essential ingredients for a coastal ocean forecasting system focused on sea level and associated inundation issues and applications. Such a system
must consist of the following key components: 1) satellite and in situ observations, 2) atmospheric forcing, 3) ocean circulation and tide modeling, 4) data assimilation for initialization, 5) forecast error estimation, and 6) data and model management. We describe these components,
their continuing development and integrated implementation and application as part of a prototype coastal ocean forecast system for the U.S. West Coast. The multiscale nested modeling approach utilized here has demonstrated that sea level simulation can be improved by increasing the spatial
resolution of observations. This and other regional ocean forecast systems are complementary and necessary elements of the emerging Global Ocean Observing System (GOOS) needed to predict changes in sea level. Building on the increasing maturity of ocean observing and forecasting capabilities,
there are a number of significant challenges that require immediate attention, planning and development. These include: 1) further development of models, data assimilation algorithms and information management system, 2) adaptive sampling to reduce uncertainty in ocean forecasting, 3) Observing
System Simulation Experiments (OSSE) to optimize observing system design, 4) bridging the land-sea boundary, and 5) moving from measurements to information in support of management and decision-making.
Acoustic Detection of Small Mesoplankton Such as Copepod Nauplii in the Marine Environment
Authors: Fornshell John A.
Published: June 2009

The feasibility of using acoustic surveying techniques to study the distribution of planktonic copepod nauplii in the marine environment is investigated using a computer simulation model. The models simulate the effects of sound frequency, density of sea water and target organisms and
celerity on the acoustic signature of copepod nauplii using the polyarthran Coullana canadensis as a model. The advantage is that the acoustic sampling can be for much greater lengths than those for net sampling episodes before the net becomes clogged (in less than 200 meters towing
distance). The volume of water sampled for a given tow length would be about the same as conventional net sampling methods. Acoustic sampling and enumeration of planktonic copepod nauplii is shown to be feasible, but has limitations which must be considered in planning a field survey.
A Regional Assessment of the U.S. Offshore Wind Energy Resource through the Use of Mesoscale Modeling
Authors: Bailey Bruce H. , Freedman Jeffrey M.
Published: June 2009

Interest in offshore wind power is rapidly developing in the United States. Estimates of the potential offshore wind resource in U.S. waters exceed 900 GW. Thus, there is a need for tools to accurately evaluate and depict wind power availability. This necessitates observation and modeling
strategies that focus on describing the physical and dynamical processes that operate within and just above the marine atmospheric boundary layer over a spectrum of spatial and temporal scales. Here, we discuss the data assimilation and modeling methods used to characterize the offshore wind
environment through examples of resource mapping, observational studies, and model simulations. We present high resolution (200 m) offshore wind resource maps for New England, Texas, Louisiana, and the Great Lakes. Finally, we discuss the results of a recent intensive field measurement campaign
in the waters south of Long Island, NY, and a modeling analysis and verification study of the coastal atmospheric regime.
Behavioral Responses of Two Species of Sharks to Pulsed, Direct Current Electrical Fields: Testing a Potential Shark Deterrent
Authors: Marcotte Megan M. , Lowe Christopher G.
Published: June 2009

To describe and contrast the behavioral responses of two species of sharks to an electrical deterrent, sharks were baited to a food odor source within a strong pulsed, direct current electrical field. A head twitch behavior was elicited in scalloped hammerhead (Sphyrna lewini)
and leopard sharks (Triakis semifasciata) at mean voltage gradient thresholds of 4.16 ± 0.59 V/m (X ± SD) and 4.30 ± 0.78 V/m, respectively, and did not differ significantly. A shimmy behavioral response was elicited in some hammerhead sharks at a mean threshold
of 5.54 ± 1.55 V/m. A retreat behavioral response occurred in hammerhead and leopard sharks at a mean, maximum threshold of 18.50 ± 13.27 V/m and 9.64 ± 10.28 V/m, respectively. The hammerhead sharks retreated at significantly stronger field strengths than the leopard
sharks, suggesting that some species may require stronger electrical fields for effective deterrence. Both species of shark remained significantly further away and spent less time near the food odor source when the electrical field was on versus off. The maximum voltage gradient threshold
required to cause the sharks to retreat was much higher than previously reported, and the electrical field was not 100% effective at excluding sharks. The sharks only retreated after involuntary muscle contractions were induced by the electrical field.
Floating Offshore Wind Turbines
Authors: Sclavounos Paul
Published: June 2009

Wind is a rapidly growing renewable energy source, increasing at an annual rate of 30%, with the vast majority of wind power generated from onshore wind farms. The growth of these facilities, however, is limited by the lack of inexpensive land near major population centers and the visual
impact caused by large wind turbines.Wind energy generated from floating offshore wind farms is the next frontier. Vast sea areas with stronger and steadier winds are available for wind farm development and 5 MW wind turbine towers located 20 miles from the coastline are invisible. Current
offshore wind turbines are supported by monopoles driven into the seafloor or other bottom mounted structures at coastal sites a few miles from shore and in water depths of 10-15 m. The primary impediment to their growth is their prohibitive cost as the water depth increases.This article
discusses the technologies and the economics associated with the development of motion resistant floating offshore wind turbines drawing upon a seven-year research effort at MIT. Two families of floater concepts are discussed, inspired by developments in the oil and gas industry for the deep
water exploration of hydrocarbon reservoirs. The interaction of the floater response dynamics in severe weather with that of the wind turbine system is addressed and the impact of this coupling on the design of the new generation of multi-megawatt wind turbines for offshore deployment is discussed.
The primary economic drivers affecting the development of utility scale floating offshore wind farms are also addressed.
Building on the SEACOOS Experience: Recommendations from the Final SEACOOS Workshop
Authors: Nelson James R. , Simoniello Christina
Published: June 2009

The final SEACOOS workshop included discussion of several topics relevant to further development of the SE regional coastal ocean observing system (RCOOS). First, many of the Information Management (IM) tools developed in the SEACOOS program can be migrated to a future RCOOS. It is
recognized that IM is evolving, and continued communication with national and regional IM efforts will be required. Of particular importance is the establishment of standards for data quality assurance/quality control. Second, serving various user needs will require development of specific
products (applications). Mechanisms to better link research and development (R&D) conducted by the RCOOS to applications development are needed, and dedicated funding for both R&D and for migrating from pilot to operational applications is required. It was suggested that the regional
association (RA) could play a key role in this process; interfacing with users, prioritizing potential applications in relation to RCOOS capabilities, and coordinating with federal agencies and private industry. Third, it is essential that roles and responsibilities are clearly defined for
the RCOOS and for the federal agencies contributing to the "national backbone" of the U.S. Integrated Ocean Observing System (IOOS). This requires agreement on a Concept of Operations (CONOPS). The CONOPS must be defined at several levels and over a time frame sufficient to accommodate the
transition from research/pilot to operational stages. To help coordinate regional and federal agency efforts in coastal ocean observing in the near-term, an interim CONOPS should be defined and designs for the RCOOS should be documented and evaluated.
Societal Benefits of the Real-Time Coastal Observation Network (ReCON): Implications for Municipal Drinking Water Quality
Authors: Ruberg Steven A. , Guasp Edwin , Hawley Nathan , Muzzi Ronald W. , Brandt Stephen B. , Vanderploeg Henry A. , Lane John C. , Miller Terry , Constant Stephen A.
Published: June 2009

Environmental conditions on Lake Erie in summer 2006 produced hypoxic waters (1.2 mg/l dissolved oxygen), with characteristic low pH (7.2), low temperature (18°C) and high manganese levels, negatively impacting water processing at the Cleveland Water Department. A ReCON system deployed
in 2005 recorded the onset of similar conditions and is used to explain the episodic nature of the event. Internal waves initiated by winds can propagate around the central basin of Lake Erie for several days explaining the cyclical nature of the event. Future deployments of a ReCON buoy system
in Lake Erie's central basin will provide real-time observations of temperature and dissolved oxygen to water department managers. The buoy will function as an early warning system for the detection of low oxygen and the onset of internal waves responsible for delivering hypoxic waters to
water intakes, thus ensuring the quality of drinking water for approximately 1.5 million residents of Cleveland, OH.
In Situ Observations and Satellite Remote Sensing in SEACOOS: Program Development and Lessons Learned
Authors: Nelson James R. , Weisberg Robert H.
Published: June 2009

In situ observing and satellite remote sensing components of the Southeast Atlantic Coastal Ocean Observing System (SEACOOS) implemented from 2002 through 2006 are reviewed and "lessons learned" from the operation of these systems are summarized. The in situ observing
program built upon several efforts initiated at academic institutions in the southeast U.S. prior to 2002. The partnership and observing capacity were expanded as the SEACOOS program developed. Sustained near real-time in situ observations were obtained from buoys, offshore towers,
pier and shore stations, and mobile platforms (ships, gliders, drifters) using several communications options. The SEACOOS observing program also included several test-bed studies, and a pilot program in regional satellite remote sensing utilized established capabilities at partner institutions
to deliver satellite products in near real-time to SEACOOS. Many of the SEACOOS observing activities leveraged personnel and infrastructure resources at partner institutions and support from complementary research projects. The SEACOOS experience provides a number of pragmatic (operational)
"lessons learned" that are relevant to the future operation of a Regional Coastal Ocean Observing System (RCOOS). Adequate support of experienced personnel is critical to the efficient, sustained operation of a real-time observing network. Also required are sufficient inventories of spare
components, appropriate transportation options to accommodate both routine and unscheduled maintenance, robust communications with sufficient bandwidth and back-up options, and data logging on deployment platforms to minimize gaps in the time-series. RCOOS planning should include mechanisms
to ensure effective communications on operational matters among technical personnel within and across regions.
Supporting and Extending the SEACOOS Program: The Extension and Education Work Group
Authors: Simoniello Christina , Spence Lundie , Thigpen Jack
Published: June 2009

In addition to the observation, collection and analysis of data, Southeast Atlantic Coastal Ocean Observing System (SEACOOS) funding supported the development of a complementary Extension and Education (E&E) component. Extension activities were operated through the Sea Grant Extension
Programs of North Carolina, South Carolina, Georgia and Florida. Education activities were channeled through the three Centers for Ocean Sciences Education Excellence in the SEACOOS domain, and the University of Georgia Marine Extension program. E&E Work Group (WG) activities included
identifying stakeholders and their needs, increasing awareness of SEACOOS and ocean observing systems in general, and developing concepts for potential products. This article is designed to describe (1) how education and outreach functions were developed with SEACOOS funding to E&E Principal
Investigators, (2) the "lessons learned" from the many collaborations, and (3) "best practices" gleaned from the four years of activity funding. Best practices for E&E included defining clearly the target audiences, identifying information needs, providing products appropriate to the audience,
designing evaluations with a strong feedback loop, and developing long-term relationships between audiences and providers. This article is one of seven published in this special edition of the MTS Journal to provide a forward-looking discussion of future development of the Southeast
Regional Coastal Ocean Observing System (SE RCOOS).
Status of Sensors for Physical Oceanographic Measurements
Authors: Luther Mark E. , Gilbert Sherryl A. , Tamburri Mario
Published: June 2009

This paper draws from recent workshops held by the Alliance for Coastal Technologies to summarize the present status of sensors and sensor platforms for making physical oceanographic observations. Technologies reviewed include those for current measurements, HF Radar, wave sensors,
drifting buoys, profiling floats, surface meteorological observations, and automated vessel-based systems, as well as related issues of data telemetry and biofouling.
The Present State of Autonomous Underwater Vehicle (AUV) Applications and Technologies
Authors: Nicholson J. W. , Healey A. J.
Published: June 2009

AUVs have proved their usefulness in recent years and continue to do so. This paper is a review of the current state of the art of AUVs. Present AUV capabilities are reviewed through a discussion of feasible present-day AUV missions. The state of key AUV design features and sensor technologies
is also addressed, identifying those areas most critical to continued future progress in AUV development.
New Ship Technology and Design
Authors: Bash John F.
Published: June 2009

The ship building industry is experiencing a wave of new ship technology and design. Historically, ship design has been slow to change. For example, the mono-hull design has been around for centuries. Propulsion has evolved as technology advanced but we see ship owners as very conservative
in embracing new advances. In the past 20 years this trend has shifted as new designs begin to appear. This article explores some of these changes and the drivers that are causing this shift. Clearly, as technology advances and uses for ships expand, the ship building industry design is evolving.
New issues have come to the fore and have accelerated the design change. These drivers include fuel costs, reduced crewing, speed, security issues, pollution regulations, stealth needs, human factors, safety, geopolitical changes, multi-mission requirements, and acoustic quietness. Examples
of military, commercial, and research ships are discussed.
High-Bandwidth Underwater Communications
Authors: Lacovara Philip
Published: June 2009

The rapid exchange of data with underwater sensors and systems is increasingly valuable for oceanography, oil exploration and other investigations of undersea phenomena. This paper reviews the potential, as well as the limitations, of acoustic, radio-frequency electromagnetic, fiber-optical
and free-space optical techniques for high-bandwidth, undersea communication. In particular, we discuss the environmental and hardware attributes that bound the performance of free-space optical communications in a variety of undersea scenarios. Free-space optical approaches are capable of
providing data bandwidths approaching 109 bits per second (bps) under suitable environmental conditions. More commonly, 10-100 × 106 bps can be achieved over ranges approaching 100 meters. Turbid water and high-ambient light conditions (primarily from downwelling
sunlight) pose a serious challenge to performance at moderate and long ranges.
Trends in ROV Development
Authors: Cohan Steve
Published: June 2009

This paper describes three new directions in the development of ROV control systems: exploiting the capabilities of digital video, using model-based control techniques for ROV operations, and providing ROV systems with sophisticated remote diagnostics. Goals of these trends are to increase
the value of ROV operations end products (such as video), to increase efficiency of operations by adding automation, and to increase productive time by bringing outside resources to the ROV for maintenance and troubleshooting.Advances in digital video can enhance the value of video imagery
by facilitating the combination of video with other data, improving utility, and increasing the range of analyses and products that can be created from video. Current digital video technology enables systems to treat video in a manner close to the transmission and processing of other sensor
data, reducing the number of components and interfaces between the camera and the video imagery's end use. Model-based control has the potential to relieve pilots from managing all tasks concerning low-level motion, coordination, and control, enabling pilots to concentrate on higher-level
task planning and execution. Applying software techniques designed specifically for managing data flow in distributed control systems can give remote experts access to all the tools and information necessary to assist with worksite maintenance and troubleshooting.
Using Stereo-Video for Deep Water Benthic Habitat Surveys
Authors: Shortis M.R. , Seager J.W. , Williams A. , Barker B.A. , Sherlock M.
Published: June 2009

Towed body systems of various configurations have been used for many years to map the seabed. Prior to the last several years, single video camera systems were widely used to gather qualitative data, or collect often low-accuracy quantitative data using laser dot patterns projected
into the field of view. The introduction of stereo-video systems has enabled the capture of accurate and reliable spatial information with estimates of accuracy and precision. CSIRO has recently adopted stereo-video on a towed body system used for habitat mapping and biodiversity survey work
in the deep ocean (100 to 2,000 m depths). This paper provides an overview of the research context, describes the towed body system, and reports on the addition of stereo-video to the system and the status of ongoing developments in the project. Applications of the system to managing marine
biological resources are illustrated using examples from surveys undertaken recently off Southeast Australia.
A Subjective Cost-Benefit Analysis Approach for Selecting Ship Propulsion Systems
Authors: Godaliyadde D. , Godaliyadde D.D.K. , Phylip-Jones G. , Yang Z.L. , Batako A.D. , Wang J.
Published: June 2009

A ship propulsion system is the major contributor to the occurrence of Ship Hull Vibration (SHV), which can easily lead to marine tragedies. Wrongly selecting ship propulsion systems will also significantly increase ship owners' operational costs. Based on a hierarchical structure for
modelling propulsion systems, a subjective novel cost-benefit criteria analysis approach is developed to select the most economical propulsion system with the consideration of vibration characteristics. The weights of all the criteria are estimated by utilising an Analytical Hierarchy Process
(AHP) technique. All the quantitative criteria in the hierarchy are converted into the qualitative criteria by proposing a novel approach. Membership Functions (MFs) of continuous fuzzy sets are employed to estimate the fuzzy performance ratings of all the criteria. By taking into account
fuzzy performance ratings of all the criteria, a fuzzy Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) decision matrix is constructed. Finally, the most economical propulsion system, with consideration of vibration characteristics, is selected using the fuzzy TOPSIS
method. The results of this paper reveal that the fuzzy TOPSIS is suitable for propulsion system selection.
Low-Cost, Man-Portable Autonomous Underwater Vehicles for Rapid Environmental Assessment
Authors: Incze Michael Laszlo
Published: June 2009

The requirements to rapidly characterize environmental conditions in dynamic near-shore waters have greatly outpaced the developing inventory of traditional resources to conduct this sampling. Research vessels, remote sensors, and networked in situ sensing platforms (fixed and
drifting) are often limited in availability, capability, and/or adaptability, with the result that surveys can not be rapidly conducted in areas of immediate concern to communities, industry, and military defense. Autonomous underwater vehicles (AUVs) have been evolving over the past decade,
with the ability to provide rapid environmental assessment as one of the primary objectives. However, the trade-off of cost and capability limited early designs and prohibited broad and effective utilization of these platforms for environmental data-collection missions. AUVs capable of sustained
performance for sampling dynamic parameters in areas of high spatial and temporal variability were too costly, both in terms of procurement and operation, and lower cost AUVs did not have sufficient performance for operating in these challenging near-shore conditions. The development of low-cost,
lightweight vehicles for these missions has only recently occurred, enabling responsive, multi-platform surveys to capture synoptic characterizations of near-shore waters with sufficient resolution to support data-centric 3-D models and provide baseline data sets for development and validation
of physics-based forecasting models. Recent survey operations with one candidate class of AUVs developed by OceanServer Technology, Inc. reveal the hardware/software status of state-of-the-art designs and provide a basis for developing survey strategies essential to effective mission planning.
A Study of a Rescue Device for Marine Accidents Using Radar Cross Section Characteristics
Authors: Kang Hee Jin , Lee Dongkon , Shin Jong-Gye , Park Cheol-Soo , Park Beom Jin , Choi Jin
Published: June 2009

Despite continued advances in life-saving technological devices, communications, and search and rescue, people continue to lose their lives at sea. Search time is a very important factor in determining the success of rescue operations. However, visual searches by aircraft and ship can
be restricted by weather conditions and are impossible at nighttime. The personal-use light stick is not bright enough at daytime. Search and Rescue Transponders (SART) for life-saving appliances are too large and too heavy to equip individual personnel, and moreover have limited range. Emergency
Position Indicating Radio Beacons (EPIRBs) using satellite communication also require large and expensive equipment, and generally have an error range of 3 nautical miles. Therefore, a new device that is simple, convenient and efficient is required to reduce search time and prevent loss of
life at sea. In this paper, we undertake a study of a new rescue device based on Radar Cross Section characteristics to improve search and rescue (SAR) activities. First, the characteristics of current rescue devices were investigated; the characteristics of Radar Cross Section (RCS),
which is the measure of a target's ability to reflect radar signals, were also reviewed. New radar-reflecting rescue devices for personal and life-saving use were also designed, and the RCS of these designed devices was analyzed. The proposed device will aid in SAR activities and save lives.
Ancient Shipwreck Survey and the Modern Submarine Landscape off Yalikavak, Turkey
Authors: Brennan Michael L.
Published: June 2009

AbstractThe Aegean Sea has long been considered a prime location to search for shipwrecks from antiquity. An expedition in 2008 conducted surveys off the southwestern coast of Turkey in coastal waters deeper than 50 m. In addition to locating four ancient wrecks, we documented
the condition of the modern landscape, which included heavy damage to the seabed and submarine features by trawling operations. A navigational boundary on the chart for this area delineates a region within which large vessels are prohibited from operating. All of the wrecks were found within
this zone, but outside it very few targets were found with sonar. The modern impacts on the submarine landscape have masked potential areas where ancient sites may have once been. The scarred condition of the seafloor in large areas of the Aegean Sea is a result of trawling activity in the
region. Studies of modern activities in coastal areas may help target areas in which wrecks may still be preserved today.
Unmanned Autonomous Sailing: Current Status and Future Role in Sustained Ocean Observations
Authors: Rynne Patrick F. , von Ellenrieder Karl D.
Published: June 2009

AbstractThe use of unmanned autonomous sailing craft for sustained oceanographic observations could result in sea surface measurements that have higher spatial and temporal resolution than contemporary methods such as Lagrangian floats, moored buoys, manned expeditions and
satellite observations. Mission-specific autonomous sailing platforms could provide energetically sustainable mission-specific systems to forecast environmental events and to trace the distribution of meteorological and ocean conditions over a long-term period. This paper briefly discusses
the motivation for using wind-powered unmanned autonomous vehicles for oceanographic/meteorological measurements, comments on significant historical considerations, outlines some current and past work, introduces aspects of such a vehicle developed at Florida Atlantic University and concludes
by presenting policy issues and recommendations for future work.
Shallow Water Surveying Using Experimental Interferometric Synthetic Aperture Sonar
Authors: Silva Sérgio Rui , Cunha Sérgio , Matos Aníbal , Cruz Nuno
Published: June 2009

AbstractThis paper describes an interferometric synthetic aperture sonar system based on an unmanned surface vehicle customized for shallow water environments. Synthetic aperture sonar enables imagery of high resolution that is independent of range by using the displacement
of the sonar platform to create a large virtual array. If two geometrically displaced images are obtained, the construction of three-dimensional topographic maps is possible through the use of interferometric techniques. The use of an unmanned surface vehicle presents several advantages that
alleviate some problems related to the formation of synthetic aperture images, which are mainly related to the fact that a precise navigation system can be used for the boat control and sonar imagery motion compensation. Also, a small unmanned surface vehicle is advantageous in terms of cost
of operation, maintenance and ease of deployment. Mapping of shallow water areas is an important task for many commercial and scientific applications like river navigability, infrastructure maintenance and natural resource monitoring. These tasks can be done efficiently with this system. Sample
data obtained during test trials illustrate how synthetic aperture can be used to generate underwater imagery and bathymetric data.
The Underwater Cultural Heritage and Marine Scientific Research in the Exclusive Economic Zone
Authors: Croff Katherine L.
Published: June 2009

AbstractThis paper reviews the relationship between activities aimed at the underwater cultural heritage and marine scientific research in the exclusive economic zone, in particular the question of whether or not underwater cultural heritage research can be classified as
marine scientific research. The study examines the definitions, practice, and jurisdiction of each, according to the Third UN Conference on the Law of the Sea, the UNESCO Convention on the Protection of the Underwater Cultural Heritage, and States’ current practice. By revising the current
interpretation of international law, underwater cultural heritage research can potentially be classified as marine scientific research. The inclusion of archaeology as marine science would have implications that would open up new rights and responsibilities of coastal and research States,
as both fulfill their duties to protect and preserve archaeological and historical objects found on the seabed.
Diving to the Deep: Uncovering the Mysteries of Mid-Ocean Ridges
Authors: Jasper Ian D. , Ramsey Adam
Published: June 2009

AbstractLong Beach City College (LBCC) returns to the 2008 MATE Remotely Operated Vehicle (ROV) Competition with the Viking Super Agile Benthic Exploration ROV (SABER) ready for work. The purpose of this ROV is to explore the depths of the mid-oceanic ridges while taking
temperature readings of black smokers, recovering samples and safely returning them to the surface. The ROV was designed with a frame made from buoyant PVC. The design made in SolidWorks greatly increases water flow, allowing it to glide through the water to a depth of about 30 m due to tether
length. The length, width, and height of the ROV are 76 cm, 50 cm, and 28 cm, respectively. With a surprising 16 kg of weight, an average person could lift it easily, using the handles that are part of the frame design. LBCC’s ROV carries four cameras: a dual camera stereovision system,
which creates a distance-measuring viewing system; a single high-resolution, low-light color camera with multi-directional movement; and an unfixed camera, which can be mounted anywhere for extra viewing. The five thrusters provide 2.9 kg of thrust each, enabling it to be quick and powerful.
In order to complete the assigned tasks, a multi-function gripper was designed and built. This gripper has a built-in hook to grab the ocean bottom seismometer and help return it to the surface. The gripper has a channel cut into the middle of it to allow water flow, so the temperature sensor
can be deployed properly and it can also easily pick up the lava samples.
HERMES—A High Bit-Rate Underwater Acoustic Modem Operating at High Frequencies for Ports and Shallow Water Applications
Authors: Beaujean Pierre-Philippe J. , Carlson Edward A.
Published: June 2009

AbstractAn underwater acoustic modem capable of point-to-point transmission of data at high bit rates is presented in this article. The high data-rate acoustic uplink operates between 262 kHz and 375 kHz in three sub-bands. The lower sub-band (262.5 kHz to 337.5 kHz) carries
the binary information. The middle sub-band (347-373 kHz) is for detection purposes. The higher sub-band carries a narrow-band, 375-kHz tone designed to improve the Doppler-tracking capability of the high bit-rate acoustic uplink. The acoustic uplink uses phase-modulated symbols of adjustable
bandwidth (25 kHz, 50 kHz or 75 kHz). The peak data rate is 87,768 bits-per-second at a maximum range of 180 m using an omni-directional source and an omni-directional receiver. The source level required to achieve this range is 185.8 dB re 1 μPa at 1 m. This modem is also equipped with
an acoustic downlink designed for command-and-control in a lower frequency band (62-76 kHz) and at a lower data rate. The focus of this paper is on the high bit-rate uplink. A series of experimental results demonstrate that this underwater acoustic modem can operate reliably in difficult environments
such as ports and very shallow waters. High-resolution sonar images are transmitted in real-time from various types of autonomous underwater vehicles during the inspection of ship hulls, walls and sea bottom.
Design Requirements for Autonomous Multivehicle Surface-Underwater Operations
Authors: Bingham Brian S. , Prechtl Eric F. , Wilson Richard A.
Published: June 2009

AbstractFuture autonomous marine missions will depend on the seamless coordination of autonomous vehicles: unmanned surface vehicles (USVs), unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs). Such coordination will enable important inter-vehicle applications
such as autonomous refueling, high-throughput data transfer and periodic maintenance to extend the mission length. A critical enabling capability is the autonomous capture, retrieval and deployment of a UUV from a USV platform. As a first step toward solving this problem, we propose a performance
specification that quantifies the necessary motion compensation required to safely and reliably operate a USV and UUV in concert in the dynamic marine environment. To accomplish this, we use a model-based approach to predict the motion of typical vehicles under the influence of the same sea
conditions. We summarize the predictions succinctly using a scalar performance metric, the peak-to-peak vertical displacement, as a function of vehicle type, sea-state and vehicle formation.To substantiate this model-based approach experimentally, we present sea-trial data and compare
the empirical observations to model predictions. The results show that although simple three degree-of-freedom models do not capture the full complexity of an actual six degree-of-freedom ship motion, they can prove expedient in an engineering context for quantifying the design requirements
of a USV-UUV capture, deployment and retrieval system.
The NOAA Ship Okeanos Explorer: Continuing to Unfold the President's Panel on Ocean Exploration Recommendation for Ocean Literacy
Authors: Keener-Chavis Paula , Hotaling Liesl , Haynes Susan
Published: June 2009

AbstractThe NOAA Ship Okeanos Explorer, commissioned as the first federal vessel dedicated solely to ocean exploration, will offer unparalleled opportunities to the scientific and education communities for “reaching out in new ways to stakeholders to improve
the literacy of learners of all ages with respect to ocean issues” (The President's Panel on Ocean Exploration, 2000) and for enhancing awareness of Ocean Literacy Essential Principle #7 — “The ocean is little explored.”
Using a systematically mission-driven exploration protocol and advanced technological instrumentation and systems to explore little-known or unknown regions of the ocean, the ship will employ an integrated telepresence system that will provide broadband satellite transmission of data and discoveries
in real time for science, education, and outreach. This paper describes the capabilities and assets of the ship, begins to address some of the opportunities that the ship will offer for “learning in new ways,” describes the Okeanos Explorer Education Forum held in the summer
of 2008, and addresses some of the issues that will be taken into consideration in using real-time data in a variety of learning environments as the education program for the ship unfolds.
An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL
Authors: Brown Hunter C. , Kim Ayoung , Eustice Ryan M.
Published: June 2009

AbstractThis article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research centers on improving AUV autonomy via
algorithmic advancements in environmentally based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are (1) real-time visual simultaneous localization and mapping (SLAM), (2) cooperative multi-vehicle navigation, and (3) perception-driven control.
Pursuant to these research objectives, PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article, we detail our testbed development,
provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms.
Multi-Objective Optimization of an Autonomous Underwater Vehicle
Authors: Martz M. , Neu W. L.
Published: June 2009

AbstractThe design of complex systems involves a number of choices, the implications of which are interrelated. If these choices are made sequentially, each choice may limit the options available in subsequent choices. Early choices may unknowingly limit the effectiveness
of a final design in this way. Only a formal process that considers all possible choices (and combinations of choices) can insure that the best option has been selected. Complex design problems may easily present a number of choices to evaluate that is prohibitive. Modern optimization algorithms
attempt to navigate a multidimensional design space in search of an optimal combination of design variables. A design optimization process for an autonomous underwater vehicle is developed using a multiple objective genetic optimization algorithm that searches the design space, evaluating
designs based on three measures of performance: cost, effectiveness, and risk. A synthesis model evaluates the characteristics of a design having any chosen combination of design variable values. The effectiveness determined by the synthesis model is based on nine attributes identified in
the U.S. Navy’s Unmanned Undersea Vehicle Master Plan and four performance-based attributes calculated by the synthesis model. The analytical hierarchy process is used to synthesize these attributes into a single measure of effectiveness. The genetic algorithm generates a set of Pareto
optimal, feasible designs from which a decision maker(s) can choose designs for further analysis.