No description available.

There are benefits to the use of internal actuators for rotational maneuvers of small-scale underwater vehicles. Internal actuators are protected from the outside environment by the external pressure hull and will not disturb the surrounding environment during inspection tasks. Additionally, internal actuators do not rely on the relative fluid motion to exert control moments, therefore they are useful at low speed and in hover. This paper describes the design, fabrication and testing of one such autonomously controlled, internally actuated underwater vehicle. The Internally Actuated, Modular Bodied, Untethered Submersible (IAMBUS) can be used to validate non-linear control strategies using internal actuators. Vehicle attitude control is provided by three orthogonally mounted reaction wheels. The housing is a spherical glass pressure vessel, which contains all of the components, such as actuators, ballast system, power supply, on-board computer and inertial sensor. Since the housing is spherically symmetric, the hydrodynamics of IAMBUS are uncoupled (e.g. a roll maneuver does not impact pitch or yaw). This hull shape enables IAMBUS to be used as a spacecraft attitude dynamics and control simulator with full rotational freedom. / Master of Science

Scleractinian cold-water corals are widely distributed in seaways and basins of the North Atlantic Ocean, including the Straits of Florida. These corals can form extensive biogenic mounds, which are biodiversity hotspots in the deep ocean. The processes that lead to the genesis of such cold-water coral mounds and control their distribution and morphology are poorly understood. This work uses an innovative mapping approach that combines 130 km2 of high resolution geophysical and oceanographic data collected using an Autonomous Underwater Vehicle (AUV) from five cold-water coral habitats in the Straits of Florida. These AUV data, together with ground-truthing observations from eleven submersible dives, are used to investigate fine-scale mound parameters and their relationships with environmental factors. Based on these datasets, automated methods are developed for extracting and analyzing mound morphometrics and coral cover. These analyses reveal that mound density is 14 mound/km2 for the three surveyed sites on the toe-of-slope of Great Bahama Bank (GBB); this density is higher than previously documented (0.3 mound/km2) in nearby mound fields. Morphometric analyses further indicate that mounds vary significantly in size, from a meter to up to 110 m in relief, and 81 to 600,000 m2 in footprint area. In addition to individual mounds, cold-water corals also develop in some areas as elongated low-relief ridges that are up to 25 m high and 2000 m long. These ridges cover approximately 60 and 70% of the mapped seafloor from the sites at the center of the Straits and at the base of the Miami Terrace, respectively. Morphometrics and current data analyses across the five surveyed fields indicate that mounds and ridges are not in alignment with the dominant current directions. These findings contradict previous studies that described streamlined mounds parallel to the northward Florida Current. In contrast, this study shows that the sites dominated by coral ridges are influenced by unidirectional flowing current, whereas the mounds on the GBB slope are influenced by tidal current regime. The GBB mounds also experience higher sedimentation rates relative to the sites away from the GBB slope. Sub-surface data document partially or completely buried mounds on the GBB sites. The sediments burying mounds are off-bank material transported downslope by mass gravity flow. Mass gravity transport creates complex slope architecture on the toe-of-slope of GBB, with canyons, slump scars, and gravity flow deposits. Cold-water corals use all three of these features as location for colonization. Coral mounds growing on such pre-existing topography keep up with off-bank sedimentation. In contrast, away from the GBB slope, off-bank sedimentation is absent and coral ridges grow independently of antecedent topography. In the sediment-starved Miami Terrace site, coral ridge initiation is related to a cemented mid-Miocene unconformity. In the center of the Straits, coral ridges and knobs develop over an unconsolidated sand sheet at the tail of the Pourtales drift. Coral features at the Miami Terrace and center of the Straits have intricate morphologies, including waveform and chevron-like ridges, which result from asymmetrical coral growth. Dense coral frameworks and living coral colonies grow preferentially on the current-facing ridge sides in order to optimize food particle capture, whereas coral rubble and mud-sized sediments accumulate in the ridge leesides. Finally, this study provides a method using solely acoustic data for discriminating habitats in which cold-water corals are actively growing. Results from this method can guide future research on and management of cold-water coral ecosystems. Taken together, spatial quantitative analyses of the large-scale, high-resolution integrated surveys indicate that cold-water coral habitats in the Straits of Florida: (1) are significantly more diverse and abundant than previously thought, and (2) can be influenced in their distribution and development by current regime, sedimentation, and/or antecedent topography.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: In recent years Autonomous Underwater Vehicles (AUVs) have become interesting for harbor mapping and protection. AUVs require a SONAR sensor for observing their surroundings, thus enabling them to perform collision avoidance manoeuvres and scanning their operating environment for intruders or foreign objects, e.g. mines. To perform such actions the SONAR sensor is required to supply very fine range resolution for target imaging, as well as providing information about possible target velocity. Basic SONAR theory is discussed, as well as different approaches to signal design and processing techniques, for achieving the required resolution in range and target velocity. Two of the discussed approaches are selected for processing range and target velocity, respectively. Both approaches are simulated for their validity before being tested by using a custom-built platform. The platform is highly configurable and designed for capacity of testing a variety of SONAR signals and set ups. Furthermore, the platform is built by using off-the-shelf components to minimize development costs. The results of simulations and practical tests are presented. A high correlation between theory and practice is achieved. The knowledge and the platform presented form the stepping stone for further SONAR sensor developments. / AFRIKAANSE OPSOMMING: In die laaste jare het outonome onderwater voertuie (OOV) toenemend belangrik geword vir die kartografie en beskerming van hawens. OOV’s vereis SONAR sensore wat hulle in staat stel, om hulle omgewing waar te neem en sodoende botsing vermydings take te verrig en ook om hul werksomgewing noukeurig te skandeer om indringers of vreemde voorwerpe, bv. myne, op te spoor. Om sulke werk te verrig, word van die SONAR sensor vereis, om baie fyn afstand oplossings vir teiken te verskaf, insluitend die moontlike snelheid van die teiken. Basiese SONAR teorie word bespreek, en dan verskeie benaderings van sein ontwerp en verwerkings tegnieke. Twee van die bespreekte benaderings word gekies om afstand en teiken snelheid onderskeidelik te verwerk. Altwee benaderings word gesimuleer om hul geldigheid vas te stel, voor dat hulle getoets word op ’n pasmaat vervaardigde platform. Die platform is hoogs aanpasbaar en is ontwerp vir sy vermoë om ’n verskeidenheid SONAR seine en verwerkings te hanteer. Verder is die platform vervaardig met standard rakonderdele om ontwikkelingskoste so laag as moontlik te hou. Die uitslae van die simulerings en praktiese toetse word voorgestel. ’n Hoë mate aan korrelasie is bereik tussen teorie en praktyk. Die kennis en die platvorm, wat hier voorgestel word, vorm die eerste trappie vir toekomstige SONAR sensor ontwikkeling.

<div>Exploring and surveilling the marine environment away from shore is critical for scientific, economic, and military purposes as we progress through the 21st century. Until recently, these missions far from shore were only possible using manned surface vehicles. Over the past decade, advances in energy density, actuators, electronics, and controls have enabled great improvements in vehicle endurance, yet, no solution is capable of supporting persistent operation especially when considering power hungry scientific surveys. This dissertation summarizes contributions related to the development of an adaptable underwater docking station and associated navigation solutions to allow applications in the wide range of maritime missions. The adaptable docking system is a novel approach to the standard funnel shaped docking station design that enables the dock to be collapsible, portable, and support a wide range of vehicles. It has been optimized and tested extensively in simulation. Field experiments in both pool and open water validate the simulation results. The associated control strategies for approach and terminal homing are also introduced and studied in simulation and field trials. These strategies are computationally efficient and enable operation in a variety of scenarios and conditions. Combined, the adaptable docking system and associated navigation strategies can form a baseline for future extended endurance missions away from manned support.</div>

<p>Small, low cost Autonomous underwater vehicles (AUVs) provide ideal platforms for shallow water survey, as they are capable of unmanned navigation and can be programmed to acquire data at constant depth, or constant altitude above the seabed. AUVs can be deployed under most sea states and are unaffected by vessel motions that often degrade sonar and magnetometer data quality. The integration of sonar and magnetometer sensors on AUV’s is challenging, however, due to limited payload and strong magnetic fields produced by the vehicle motor.</p> <p>In this study, a Marine Magnetics Explorer Overhauser magnetometer was mated to a portable AUV (OceanServer Iver2) creating the first practical AUV- deployed magnetic survey system. To eliminate magnetic interference from the AUV, the magnetometer was tethered to the AUV with a 5 m tow cable, as determined by static and dynamic instrument testing. The results of the magnetic tests are presented, along with field data from a shallow water test area in Lake Ontario near Toronto, Canada. AUV-acquired magnetic survey data were compared directly with a conventional boat-towed magnetic survey of the same area. The AUV magnetic data were of superior quality despite being collected in rough weather conditions that would have made conventional survey impossible. The resulting high-resolution total magnetic intensity and analytic signal maps clearly identify several buried and surface ferrometallic targets that were verified in 500-kHz side- scan sonar imaging and visual inspection by divers.</p> / Master of Science (MSc)

Approved for public release, distribution is unlimited / In order to plug-in current open sourced, open standard Java programming technology into the building blocks of the US Navy's ForceNet, first, stove-piped systems need to be made extensible to other pertinent applications and then a new paradigm of adopting extensible and cross-platform open technologies will begin to bridge gaps with old and new weapons systems. The battle-space picture in real time and with as much detail, or as little detail needed is now a current vital requirement. Access to this information via wireless laptop technology is here now. Transmission of data to increase the resolution of that battle-space snapshot will invariably be through noisy links. Noisy links such as found in the shallow water littoral regions of interest will be where Autonomous Underwater and Unmanned Underwater Vehicles (AUVs/UUVs) are gathering intelligence for the sea warrior in need of that intelligence. The battle-space picture built from data transmitted within these noisy and unpredictable acoustic regions demands efficiency and reliability features abstract to the user. To realize this efficiency Extensible Markup Language (XML) Schema-based Binary Compression (XSBC), in combination with Vandermode-based Forward Error Correction (FEC) erasure codes, offer the qualities of efficient streaming of plain text XML documents in a highly compressed form, and a data self-healing capability should there be loss of data during transmission in unpredictable transmission mediums. Both the XSBC and FEC libraries detailed in this thesis are open sourced Java Application Program Interfaces (APIs) that can be readily adapted for extensible, cross-platform applications that will be enhanced by these desired features to add functional capability to ForceNet for the sea warrior to access on demand, at sea and in real-time. These features will be presented in the Autonomous Underwater Vehicle (AUV) Workbench (AUVW) Java-based application that will become a valuable tool for warriors involved with Undersea Warfare (UW). / Lieutenant, United States Navy