Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / Includes bibliographical references (p. 88-91). / The work presented in this thesis addresses the problem of the detection, classification and localization of seabed objects in shallow water environments using a time reversal approach in a bistatic configuration. The waveguide is insonified at low frequency ('kHz) with an omnidirectional source and the resulting scattered field is sampled by a receiving array towed behind an Autonomous Underwater Vehicle (AUV). The recorded signals are then processed to simulate onboard the AUV, the time reversed transmissions which serve to localize the origin of the scattered field on the seabed and estimate the position of the targets present. The clutter rejection based upon the analysis of the singular values of the Time Reversal operator is investigated with simulated data and field measurements collected off the coast of Palmaria (Italy) in January 2008. / by Alexis J. Dumortier. / S.M.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2006. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references (p. 89-96). / Blainville's beaked whales (Mesoplodon densirostris) use broadband, ultrasonic echolocation signals (27 to 57 kHz) to search for, localize, and approach prey that generally consist of mid-water and deep-water fishes and squid. Although it is well known that the spectral characteristics of broadband echoes from marine organisms are a strong function of size, shape, orientation and anatomical group, little is known as to whether or not these or other toothed whales use spectral cues in discriminating between prey and non-prey. In order to study the prey-classification process, a stereo acoustic tag was mounted on a Blainville's beaked whale so that emitted clicks and corresponding echoes from prey could be recorded. A comparison of echoes from prey selected by the whale and those from randomly chosen scatterers suggests that the whale may have, indeed, discriminated between echoes using spectral features and target strengths. Specifically, the whale appears to have favored prey with one or more deep nulls in the echo spectra as well as ones with higher target strength. A three-dimensional, acoustic scattering model is also developed to simulate broadband scattering from squid, a likely prey of the beaked whale. / (cont.) This model applies the distorted wave Born approximation (DWBA) to a weakly-scattering, inhomogeneous body using a combined ray trace and volume integration approach. Scatterer features are represented with volume elements that are small (less than 1=12th of the wavelength) for the frequency range of interest (0 to 120 kHz). Ranges of validity with respect to material properties and numerical considerations are explored using benchmark computations with simpler geometries such as fluid-filled spherical and cylindrical fluid shells. Modeling predictions are compared with published data from live, freely swimming squid. These results, as well as previously published studies, are used in the analysis of the echo spectra of the whale's ensonified targets. / by Benjamin A. Jones. / S.M.

Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Biology; and the Woods Hole Oceanographic Institution), 2008. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references. / Ecological processes at deep-sea hydrothermal vents on fast-spreading mid-ocean ridges are punctuated by frequent physical disturbance. Larval dispersal among disjunct vent sites facilitates the persistence of sessile invertebrate species in these geologically and chemically dynamic habitats despite local extinction events. Regional population extension and rapid recolonization by the siboglinid tubeworm Riftia pachyptila have been well documented along the East Pacific Rise and the Galápagos Rift. To analyze spatial and temporal population genetic patterns and the processes governing them at ephemeral and disjunct habitats, a suite of 12 highly variable microsatellite DNA markers were developed for this species. Eight of these loci were used to assess the regional and within-ridge genetic structure of recent colonists and resident adults collected from nine sites in the eastern Pacific Ocean over period of three to seven years. A significant seafloor eruption during the seven-year sampling period allowed investigation into the role of local extinction in population genetic diversity at the Tica vent site at 9°N EPR, while collections within two and five years of an eruption that created the Rosebud vent field at 86°W GAR provided insights into genetic diversity input over population establishment. For the first time, this thesis demonstrated significant genetic differences between Riftia populations on the East Pacific Rise and Galápagos Rift. Moreover, the separate treatment of colonist and resident subpopulations revealed a high potential for local larval retention at vent sites. This mechanism for recruitment likely sustains disjunct populations and supports the recolonization of locally extinct areas after disturbance events, while episodic long-distance dispersal maintains genetic coherence of the species. / (cont.) Temporal population genetic consideration at the Tica site on the East Pacific Rise suggests that the 2005-2006 seafloor eruption had little to no discernable effect on local population genetic composition. Yet local populations appear to exhibit a small degree of genetic patchiness, with a high degree of relatedness (half-sibs) among subsets of individuals within both colonist and resident cohorts. This thesis broadens the application of recently developed molecular techniques to study the effect of ridge-crest processes and offers new perspectives into marine dispersal, gene flow, and population differentiation. / by Abigail Jean Fusaro. / Ph.D.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2008. / Includes bibliographical references (p. 54-56). / Landmines and mine-like traps are effective weapons that are difficult to detect and discriminate from a safe distance. The ability to detect landmines in their host environment at a distance and to discriminate them from other objects would be valuable for countering the landmine threat. This paper explores a standoff acoustic/laser technique to discriminate landmines from other forms of man-made objects (clutter) in an urban environment. A novel approach currently under investigation by MIT Lincoln Labs, University of Mississippi, and other groups employs a non-contact acoustic/laser technique to detect landmines from a safe standoff range. This technique uses a sound source to excite vibrations in targets with an acoustic wave. These vibrations are in turn measured remotely with a Laser Doppler Vibrometer (LDV). In this thesis, the vibration responses of landmine variants are measured, analyzed, and compared to those of common urban objects likely to be found on a landmine field or roadside. The Fourier Transform of the vibration of the target as measured by the LDV is used to generate a target vibration spectrum. Target vibration spectra in response to a sound source were experimentally measured for 59 trials, 28 of which were of simulated landmine variants and the remaining trials were of urban clutter objects. Using an algorithm adapted from a methodology for mass spectral analysis, parameters of the target signatures are estimated; then individual target signatures are classified using a Support Vector Machine (SVM) with a training set composed of parameters from the remaining members of the total population. The best results obtained from this methodology had a 71% probability of detection and a 3% false alarm rate corresponding to 20 of 28 of the simulated landmine variants correctly identified and a single clutter object misidentified as a landmine variant. / by John Houston Doherty. / S.M.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2008. / Includes bibliographical references (p. 159-170). / This thesis formulates an estimation framework for Simultaneous Localization and Mapping (SLAM) that addresses the problem of scalability in large environments. We describe an estimation-theoretic algorithm that achieves significant gains in computational efficiency while maintaining consistent estimates for the vehicle pose and the map of the environment.We specifically address the feature-based SLAM problem in which the robot represents the environment as a collection of landmarks. The thesis takes a Bayesian approach whereby we maintain a joint posterior over the vehicle pose and feature states, conditioned upon measurement data. We model the distribution as Gaussian and parametrize the posterior in the canonical form, in terms of the information (inverse covariance) matrix. When sparse, this representation is amenable to computationally efficient Bayesian SLAM filtering. However, while a large majority of the elements within the normalized information matrix are very small in magnitude, it is fully populated nonetheless. Recent feature-based SLAM filters achieve the scalability benefits of a sparse parametrization by explicitly pruning these weak links in an effort to enforce sparsity. We analyze one such algorithm, the Sparse Extended Information Filter (SEIF), which has laid much of the groundwork concerning the computational benefits of the sparse canonical form. The thesis performs a detailed analysis of the process by which the SEIF approximates the sparsity of the information matrix and reveals key insights into the consequences of different sparsification strategies. We demonstrate that the SEIF yields a sparse approximation to the posterior that is inconsistent, suffering from exaggerated confidence estimates. / (cont) This overconfidence has detrimental effects on important aspects of the SLAM process and affects the higher level goal of producing accurate maps for subsequent localization and path planning. This thesis proposes an alternative scalable filter that maintains sparsity while preserving the consistency of the distribution. We leverage insights into the natural structure of the feature-based canonical parametrization and derive a method that actively maintains an exactly sparse posterior. Our algorithm exploits the structure of the parametrization to achieve gains in efficiency, with a computational cost that scales linearly with the size of the map. Unlike similar techniques that sacrifice consistency for improved scalability, our algorithm performs inference over a posterior that is conservative relative to the nominal Gaussian distribution. Consequently, we preserve the consistency of the pose and map estimates and avoid the effects of an overconfident posterior. We demonstrate our filter alongside the SEIF and the standard EKEF both in simulation as well as on two real-world datasets. While we maintain the computational advantages of an exactly sparse representation, the results show convincingly that our method yields conservative estimates for the robot pose and map that are nearly identical to those of the original Gaussian distribution as produced by the EKF, but at much less computational expense. The thesis concludes with an extension of our SLAM filter to a complex underwater environment. We describe a systems-level framework for localization and mapping relative to a ship hull with an Autonomous Underwater Vehicle (AUV) equipped with a forward-looking sonar. The approach utilizes our filter to fuse measurements of vehicle attitude and motion from onboard sensors with data from sonar images of the hull. We employ the system to perform three-dimensional, 6-DOF SLAM on a ship hull. / by Matthew R. Walter. / S.M.

Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Biology; and the Woods Hole Oceanographic Institution), 2008. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references. / The benthic habitat is the terminal destination for marine animals in terms of their reproductive lifecycle. Recruitment dynamics relating to seasonal changes in the benthic habitat may be the best source of information for predicting recruit abundance and for marine resources management. The transition from the pelagic to the benthic phases is the last stage in the connectivity between benthic populations. The transition to the benthos may be a process that dominates recruitment dynamics to the exclusion of other characteristics of larvae such as their quality and their density. Recruitment of benthic marine animals is influenced by two seasonally varying factors of the benthic habitat. First, the availability of suitable habitat for recruitment can in large part determine the survival probability for settlers, a trend that is most pronounced for low or no survival when the settlement substrate is saturated by conspecifics from a recruitment cohort. Preemption is caused by the presence of current occupants from a recruit cohort, and it influences the settlement rate or the survival probability of conspecifics. Descriptive statistics (Chapter 2) and a field experiment (Chapter 4) highlight the role of preemption on barnacle recruitment. The second factor results from seasonal changes in environmental conditions that settlers experience in the benthic habitat, which could affect the physiology and survival probability of barnacle settlers. Highly unpredictable features of recruitment dynamics also play a role, such as wind that enhances wave action in the rocky intertidal that has been linked to the rate of settlement. Day to day variability in wind may cause patterns of settlement to be highly unpredictable. Predator induced mortality is spatially aggregated, and the random pattern of mortality in space is highly unpredictable. In contrast to these high frequency sources of recruitment variability, seasonal factors that vary at lower frequencies and that often change monotonically lend great predictive ability for recruitment dynamics. It appears that barnacles have evolved to compete for suitable habitat and have mechanisms to cope with seasonally varying environmental conditions in the benthic habitat, which may be the basis for why these features dominate the barnacle recruitment dynamic. / by Jonathan N. Blythe. / Ph.D.

Thesis (M.S.)--Joint Program in Oceanography and Oceanographic Engineering (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), June 1996. / "May 1996." / Includes bibliographical references (leaves 66-68). / This thesis details two years of research conducted with the guidance and support of three advisors: Dr. J. K. Whelan, Dr. J. S. Seewald and Dr. T. I. Eglinton. Each of the three chapters represents a different, self-contained research project. All of the projects are related to the organic geochemistry of marine sediments, however, this is a fairly encompassing area of study. Chapters 1 and 2 stem from the same experimental study -- the use of hydrous-pyrolysis to investigate mechanisms leading to the production of petroleum-related products during kerogen maturation. Chapter 3, on the other hand, utilizes a recently developed technique of isolating and AMS-14C dating individual compounds from complex sedimentary organic mixtures. The samples used in each investigation came from all over the world. The first two chapters utilize ancient marine sediment samples obtained from an outcrop in California (Chpts. 1 and 2) and from a well in Alabama (Chpt. 2). In contrast, recent marine sediment samples were obtained from the Arabian and Black Seas for the third chapter. Several preparative and analytical methods are common to all three studies. Nevertheless, each employ techniques totally unique from one another and from previous investigations. In Chapter 1, for example, X-ray absorption spectroscopy (XANES) is used to determine the speciation of organic sulfur present in kerogen, bitumen, and bulk sediment samples. While Chapter 3 represents the first study in which the "4C ages of individual, known hydrocarbon biomarkers are determined after isolation by Preparative Capillary Gas Chromatography (PCGC). The insights gained by these investigations are discussed in detail in the following chapters. The common thread between the three chapters is that the source of organic matter, the rate at which it is delivered to marine sediments and the depositional environment, all set the stage for kerogen formation and eventual petroleum generation. / by Bryan C. Benitez-Nelson. / M.S.

Thesis (S.M.)--Joint Program in Oceanographic Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution), 1999. / Bibliography: p. 111-112. / by Kevin Xu. / S.M.

Thesis (M.S.)--Joint Program in Oceanographic Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution), 1997. / Includes bibliographical references (p. 65-66). / The Surface Suspended Acoustic Receiver (SSAR) is a free-drifting platform intended for use as a receiver in large scale acoustic tomography experiments. Early prototypes of the SSAR exhibited very poor signal-to-noise ratios in the frequency band of the hydrophones. This thesis details efforts to reduce the hydrophone noise level by combining the analysis of experimental data with the results from numerical models. Experiments were conducted to quantify both the frequency content and magnitude of noise generated on the SSAR. Through a program of sea trials and pond testing, two noise sources were identified. The dominant source of noise in the SSAR is velocity dependent flow noise that results from turbulent pressure fluctuations on the hydrophones. A second noise source results from the acceleration sensitivity of the hydrophones in conjunction with high frequency accelerations present in the hydrophone array cable. These high frequency accelerations also show a velocity dependence. The presence of the acceleration-induced noise leads to correlations between the signals from adjacent hydrophones, thus distorting the typical picture that flow noise should be uncorrelated along an array. The primary methods of eliminating the noise are encapsulating the hydrophone in a flow shield, eliminating the array cable, and slowing the system down by replacing the wave following surface buoy with a spar buoy. Using the experimental results, empirical relationships between hydrophone velocity and expected noise level are formed for both shielded and unshielded hydrophones. The numerical models developed as a part of this effort are then used to predict the velocities for a wide range of possible SSAR configurations. The models can also provide information, such as system tensions, that is useful in evaluating the longevity and survivability of SSARs. Modeled design fixes include subsurface component changes as well as comparing a wave following surface buoy to a spar buoy. / by Jason I. Gobat. / M.S.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Biology; and the Woods Hole Oceanographic Institution), 2005. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references. / The goals of this thesis were to quantify the behavior of gastropod larvae (mud snails Ilyanassa obsoleta) in turbulence, and to investigate how that behavior affects larval supply in a turbulent coastal inlet. Gastropod larvae retract their velums and sink rapidly in strong turbulence. Turbulence-induced sinking would be an adaptive behavior if it resulted in increased larval supply and enhanced settlement in suitable coastal habitats. In laboratory experiments, mud snail larvae were found to have three behavioral modes: swimming, hovering, and sinking. The proportion of sinking larvae increased exponentially with the turbulence dissipation rate over a range comparable to turbulence in a tidal inlet, and the mean larval vertical velocity shifted from upward to downward in turbulence resembling energetic nearshore areas. The larval response to turbulence was incorporated in a vertical advection-diffusion model to characterize the effects of this behavior on larval supply and settlement in a tidal channel. Compared to passive larvae, larvae that sink in turbulence have higher near-bed concentrations throughout flood and ebb tides. / (cont.) This high larval supply enables behaving larvae to settle more successfully than passive larvae in strong currents characteristic of turbulent tidal inlets. A study was conducted at Barnstable Harbor, MA to estimate the responses of larvae to turbulence in the field. Gastropod larvae from different coastal environments had genus-specific responses to turbulence, suggesting that larvae use turbulence for large-scale habitat selection. On ebb tides, mud snail larvae had a similar response to turbulence as in the laboratory, with greater sinking velocities in strong turbulence. Behavior estimates differed for flood and ebb tides, indicating that additional physical cues influence behavior. Turbulence-induced sinking behavior would enhance retention and promote settlement of mud snail larvae in habitats like Barnstable Harbor. / by Heidi L. Fuchs. / Ph.D.