Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 169-174). / Internal tides are internal waves of tidal period generated by tidal currents flowing over submarine topography. Tall ridges that are nominally two-dimensional (2-D) are sites of particularly strong generation. The subsequent dissipation of internal tides contributes to ocean mixing, thereby playing an important role in the circulation of the ocean. Strong internal tides can also evolve into internal wave solitons, which affect acoustic communication, offshore structures and submarine navigation. This thesis addresses the generation of internal tides by tall submarine ridges using a combined analytical and experimental approach. The first part of the thesis is an experimental investigation of a pre-existing Green function formulation for internal tide generation by a tall symmetric ridge in a uniform density stratification. A modal decomposition technique was developed to characterize the structure of the experimental wave fields generated by 2D model topographies in a specially configured wave tank. The theory accurately predicts the low mode structure of internal tides, and reasonably predicts the conversion rate of internal tides in finite tidal excursion regimes, for which the emergence of non-linearities was notable in the laboratory. In the second part of the thesis, the Green function method is advanced for asymmetric and multiple ridges in weakly non-uniform stratifications akin to realistic ocean situations. / (cont.) A preliminary investigation in uniform stratification with canonical asymmetric and double ridges reveals asymmetry in the internal tide that can be very sensitive to the geometric configuration. This approach is then used with realistic topography and stratification data to predict the internal tide generated by the ridges at Hawaii and at the Luzon Strait. Despite the assumption of two-dimensionality, there is remarkably good agreement between field data, simulations and the new theory for the magnitude, asymmetry and modal content of the internal tide at these sites. The final part of the thesis investigates the possibility of internal wave attractors in the valley of double-ridge configurations. A one-dimensional map is developed to identify the existence and stability of attractors as a function of the ridge geometry. The Green function method is further advanced to include a viscous correction to balance energy focusing and dissipation along an attracting orbit of internal wave rays, and very good agreement is obtained between experiment and theory, even in the presence of an attractor. / by Paula Echeverri Mondragón. / Ph.D.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2005. / Includes bibliographical references (leaves 96-98). / The changing state of warfare has driven the US Navy's area of operations closer to shore into littoral coastal waters. Mine Warfare has been proven as an extremely effective means of battlespace control in these waters. Mines can be inexpensively mass produced and rapidly deployed over large areas. The most common type of mine in use is the bottom placed mine, an object with simple geometry that sits on the seafloor. These mines often exhibit scour induced burial below the seafloor, making detection through traditional mine hunting methods difficult or impossible, while the mines themselves remain lethal. The Office of Naval Research (ONR) has developed a computer model that predicts the extent of mine burial to aid mine hunting and mine clearing operations. Investigations under ONR's Mine Burial Program are presently being conducted to calibrate and validate this model. This thesis uses data from the deployment of an acoustically instrumented model mine near the Martha's Vineyard Coastal Observatory in part of a larger, 16 total object investigation. A 2-axis pencil beam sonar was deployed concurrently with the mine to obtain microbathymetric measurements of the scour pit development and the progression of mine burial. Data correction techniques to correct for beam pattern induced bathymetry errors and a transformed coordinate system are detailed within. / (cont.) An analysis of scour pit dimensions includes scour depth, area, and volume as well as a look into percent burial by depth as a characteristic measurement important for operational mine hunting. The progression of mine burial is related to the wave climate, unsteady flow hydrodynamic forcing, and bed-load transport. The analysis examines the relative roles of these mechanisms in the scour-infill-bury process. / by Brendan Reed Gotowka. / S.M.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2005. / Includes bibliographical references (leaves 124-125). / A detailed study was conducted to prove the concept of an iterative approach to single transponder navigation for REMUS Autonomous Underwater Vehicles (AUVs). Although the concept of navigation with one acoustic beacon is not new, the objective was to develop a computer algorithm that could eventually be integrated into the REMUS architecture. This approach uses a least squares fit routine coupled with restrictive geometry and simulated annealing vice Kalman filtering and state vectors. In addition, to provide maximum flexibility, the single transponder was located on a GPS equipped surface ship that was free to move instead of the more common single bottom mounted beacon. Using only a series of spread spectrum ranges logged with time stamp, REMUS standard vehicle data, and reasonable initial conditions, the position at a later time was derived with a figure of merit fit score. Initial investigation was conducted using a noise model developed to simulate the errors suspected with the REMUS sensor suite. Results of this effort were applied to a small at sea test in 3,300 meters with the REMUS 6000 deep water AUV. A more detailed test was executed in Buzzard's Bay, Massachusetts, in 20 meters of water with a REMUS 100 AUV focusing on navigation in a typical search box. / (cont.) While deep water data was too sparse to reveal conclusive results, the Buzzard's Bay work strongly supports the premise that an iterative algorithm can reliably integrate REMUS logged data and an accurate time sequence of ranges to provide position fixes through simple least squares fitting. Ten navigational legs up to 1500 meters in length showed that over 90% of the radial position error can be removed from an AUV's position estimate using the STRONG algorithm vice dead reckon navigation with a magnetic compass and Doppler Velocity Log alone (DVL). / by J. Carl Hartsfield, Jr. / S.M.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution), 2005. / Bibliography: p. 119-129. / Obtaining accurate and repeatable navigation for robotic vehicles in the deep ocean is difficult and consequently a limiting factor when constructing vehicle-based bathymetric maps. This thesis presents a methodology to produce self-consistent maps and simultaneously improve vehicle position estimation by exploiting accurate local navigation and utilizing terrain relative Measurements. It is common for errors in the vehicle position estimate to far exceed the errors associated with the acoustic range sensor. This disparity creates inconsistency when an area is imaged multiple times and causes artifacts that distort map integrity. Our technique utilizes small terrain "sub-maps" that can be pairwise registered and used to additionally constrain the vehicle position estimates in accordance with actual bottom topography. A delayed state Kalman filter is used to incorporate these sub-map registrations as relative position measurements between previously visited vehicle locations. The archiving of previous positions in a filter state vector allows for continual adjustment of the sub-map locations. The terrain registration is accomplished using a two dimensional correlation and a six degree of freedom point cloud alignment method tailored for bathymetric data. / (cont.) The complete bathymetric map is then created from the union of all sub-maps that have been aligned in a consistent manner. Experimental results from the fully automated processing of a multibeamn survey over the TAG hydrothermal structure at the Mid-Atlantic ridge are presented to validate the proposed method. / by Christopher N. Roman. / Ph.D.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; 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. / Bibliography: leaves 292-301. / This thesis investigates the application of acoustic measurements in the deep and shallow ocean to infer the sound velocity profile (svp) in the seabed. For the deep water ocean, an exact method based on the Gelfand-Levitan integral equation is evaluated. The input data is the complex plane-wave refection coefficient estimated from measurements of acoustic pressure in water. We apply the method to experimental data and estimate both the refection coefficient and the seabed svp. A rigorous inversion scheme is hence applied in a realistic problem. For the shallow ocean, an inverse eigenvalue technique is developed. The input data are the eigenvalues associated with propagating modes, measured as a function of source receiver range. We investigate the estimation of eigenvalues from acoustic fields measured in laterally varying environments. We also investigate the errors associated with estimating varying modal eigenvalues, analogous to the estimation of time-varying frequencies in multicomponent signals, using time-varying autoregressive (TVAR) methods. We propose and analyze two AR sequential estimators, one for model coefficients, another for the zeros of the AR characteristic polynomial. / (cont.) The decimation of the pressure field defined in a discrete range grid is analyzed as a tool to improve AR estimation. The nonlinear eigenvalue inverse problem of estimating the svp from a sequence of eigenvalues is solved by iterating linearized approximations. The solution to the inverse problem is proposed in the form of a Kalman filter. The resolution and variance of the eigenvalue inverse problem are analyzed in terms of the Cramer-Rao lower bound and the Backus{Gilbert (BG) resolution theory. BG theory is applied to the design of shallow-water experiments. A method is developed to compensate for the Doppler deviation observed in experiments with moving sources. / by Luiz Alberto Lopes de Souza. / Ph.D.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 2007. / Includes bibliographical references (p. 177-186). / Observations of current velocity, temperature, salinity and pressure from a 2-year moored array deployment and four hydrographic cruises conducted by the United States Southern Ocean GLOBEC program on the western Antarctic Peninsula continental shelf are used to characterize the ocean circulation and its connection to fresh water and heat fluxes on the shelf. Mean velocities on the shelf are of the order of 5 cm/s or less. Tidal motions are dominated by the M2 and S2 semi-diurnal tides and the 01 and K1 diurnal tides, although the tidal velocities are typically less than 2 cm/s. Near-inertial motions are relatively large, with current velocities as high as 26 cm/s. It is shown that Marguerite Trough, a large bathymetric feature connecting the shelf-break to Marguerite Bay, plays a critical role in determining the circulation. The mean flow is strongly steered in the along-slope direction, and the tidal currents also show increasing current polarization at depth in Marguerite Trough. At time-scales of 5 to 20 days, the observations show bottom-intensified motion in Marguerite Trough consistent with bottom-trapped topographic Rossby waves. / (cont.) The subtidal circulation in the trough has a significant wind-driven component in Marguerite Trough, with downwelling-favorable winds forcing cross-shelf flow on the northern side of the trough and along the shore on the outer shelf. Upwelling-favorable winds force roughly the opposite circulation. The cyclonic circulation on the trough helps advect blobs of salty, warm and nutrient-rich water across the shelf. These intrusions are small (;4 km) and frequent (4 events/month). Also, the Antarctic Peninsula Coastal Current (APCC), a coastal buoyant current which is described for the first time here. The APCC is a seasonal current which is only present during the ice-free season and is forced by freshwater fluxes associated with large glacier melt and precipitation rates in the region. / by Carlos F. Moffat Varas. / Ph.D.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 111-112). / Over the past 20 years, underwater vehicle technology has undergone drastic improvements, and vehicles are quickly gaining popularity as a tool for numerous oceanographic tasks. Systems used on the vehicle to alter buoyancy, or variable buoyancy (VB) systems, have seen only minor improvements during the same time period. Though current VB systems are extremely robust, their lack of performance has become a hinderance to the advancement of vehicle capabilities. This thesis first explores the current status of VB systems, then creates a model of each system to determine performance. Second, in order to quantitatively compare fundamentally different VB systems, two metrics, [beta]m and [beta]vol, are developed and applied to current systems. By determining the ratio of performance to size, these metrics give engineers a tool to aid VB system development. Finally, the fundamental challenges in developing more advanced VB systems are explored, and a couple of technologies are investigated for their potential use in new systems. / by Harold Franklin Jensen III. / S.M.

Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 1998. / Includes bibliographical references. / by Youngsook Huh. / Ph.D.

Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 2004. / Includes bibliographical references. / Onshore sediment transport and sandbar migration are important to the morphological evolution of beaches, but are not understood well. Here, a new model that accounts for accelerations of wave-orbital velocities predicts onshore sandbar migration observed on an ocean beach. In both the observations and the model, the location of the maximum acceleration-induced transport moves shoreward with the sandbar, resulting in feedback between waves and morphology that drives the bar shoreward until conditions change. A model that combines the effects of transport by waves and mean currents simulates both onshore and offshore bar migration observed over a 45-day period. A stochastic nonlinear Boussinesq model for the evolution of waves in shallow water is coupled with the wave-acceleration-driven sediment transport model to predict observed onshore sediment transport and sandbar migration given observations of the offshore wave field and initial bathymetry. The Boussinesq-wave model has skill in predicting wave spectra, as well as velocity and acceleration statistics across the surfzone, but it underpredicts acceleration skewness on top of the sandbar. As a result, the coupled wave-sediment transport model underpredicts sediment transport, and thus fails to move the sandbar onshore. Although the coupled wave and sediment model can be tuned to yield skillful predictions of onshore sandbar migration, in general, closer agreement between observed and modeled statistics of the wave field is essential for the successful application of wave models to predict sediment transport. / by Fernanda Gemael Hoefel. / 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), 2007. / Includes bibliographical references (p. 60). / An open source, MATLABTM-based propeller design code MPVL was improved to include rapid prototyping capabilities as well as other upgrades as part of this effort. The resulting code, OpenPVL is described in this thesis. In addition, results from the development code BasicPVL are presented. An intermediate code, BasicPVL, was created by the author while OpenPVL was under development, and it provides guidance for initial propeller designs and propeller efficiency analysis. OpenPVL is part of the open source software suite of propeller design codes, OpenProp. OpenPVL is in the form of a Graphical User Interface (GUI) which features both a parametric design technique and a single propeller geometry generator. This code combines a user-friendly interface with a highly modifiable platform for advanced users. This tool offers graphical propeller design feedback while recording propeller input, output, geometry, and performance. OpenPVL features the ability to translate the propeller design geometry into a file readable by a Computer Aided Design (CAD) program and converted into a 3D-printable file. Efficient propellers reduce the overall power requirements for Autonomous Underwater Vehicles (AUVs), and other propulsion-powered vehicles. The focus of this study is based on the need of propeller users to have an open source computer-based engineering tool for the rapid design of propellers suited to a wide range of underwater vehicles. Propeller vortex lattice lifting line (PVL) code in combination with 2D foil theory optimizes propeller design for AUVs. Several case studies demonstrate the functionality of OpenPVL, and serve as guides for future propeller designs. / (cont.) The first study analyzes propeller thruster performance characteristics for an off-the-shelf propeller, while the second study demonstrates the process for propeller optimization-from the initial design to the final file that can be read by a 3D printer. The third study reviews the complete process of the design and production of an AUV propeller. Thus, OpenPVL performs a variety of operations as a propeller lifting line code in streamlining the propeller optimization and prototyping process. / by Kathryn Port D'Epagnier. / S.M.