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 Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 177-187). / This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads are: i) in situ navigation sensor alignment, ii) dead reckoning through the water column, and iii) model-driven delayed measurement fusion. Contributions to each of these areas have been demonstrated in simulation, with laboratory data, or in the field-some have been demonstrated in all three arenas. The solution to the in situ navigation sensor alignment problem is an asymptotically stable adaptive identifier formulated using rotors in Geometric Algebra. This identifier is applied to precisely estimate the unknown alignment between a gyrocompass and Doppler velocity log, with the goal of improving realtime dead reckoning navigation. Laboratory and field results show the identifier performs comparably to previously reported methods using rotation matrices, providing an alignment estimate that reduces the position residuals between dead reckoning and an external acoustic positioning system. The Geometric Algebra formulation also encourages a straightforward interpretation of the identifier as a proportional feedback regulator on the observable output error. Future applications of the identifier may include alignment between inertial, visual, and acoustic sensors. The ability to link the Global Positioning System at the surface to precision dead reckoning near the seafloor might enable new kinds of missions for autonomous underwater vehicles. This research introduces a method for dead reckoning through the water column using water current profile data collected by an onboard acoustic Doppler current profiler. Overlapping relative current profiles provide information to simultaneously estimate the vehicle velocity and local ocean current-the vehicle velocity is then integrated to estimate position. The method is applied to field data using online bin average, weighted least squares, and recursive least squares implementations. This demonstrates an autonomous navigation link between the surface and the seafloor without any dependence on a ship or external acoustic tracking systems. Finally, in many state estimation applications, delayed measurements present an interesting challenge. Underwater navigation is a particularly compelling case because of the relatively long delays inherent in all available position measurements. This research develops a flexible, model-driven approach to delayed measurement fusion in realtime Kalman filters. Using a priori estimates of delayed measurements as augmented states minimizes the computational cost of the delay treatment. Managing the augmented states with time-varying conditional process and measurement models ensures the approach works within the proven Kalman filter framework-without altering the filter structure or requiring any ad-hoc adjustments. The end result is a mathematically principled treatment of the delay that leads to more consistent estimates with lower error and uncertainty. Field results from dead reckoning aided by acoustic positioning systems demonstrate the applicability of this approach to real-world problems in underwater navigation. / by Michael Jordan Stanway. / Ph.D.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science; and the Woods Hole Oceanographic Institution), 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 118-131). / As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface observers remains a significant challenge - as a result, current telemetry from free-roaming autonomous marine vehicles remains limited to 'heartbeat' status messages, with minimal scientific data available until after recovery. Increasing the challenge, long-distance communication may require relaying data across multiple acoustic hops between vehicles, yet fixed infrastructure is not always appropriate or possible. In this thesis I present an analysis of the unique considerations facing telemetry systems for free-roaming Autonomous Underwater Vehicles (AUVs) used in exploration. These considerations include high-cost vehicle nodes with persistent storage and significant computation capabilities, combined with human surface operators monitoring each node. I then propose mechanisms for interactive, progressive communication of data across multiple acoustic hops. These mechanisms include wavelet-based embedded coding methods, and a novel image compression scheme based on texture classification and synthesis. The specific characteristics of underwater communication channels, including high latency, intermittent communication, the lack of instantaneous end-to-end connectivity, and a broadcast medium, inform these proposals. Human feedback is incorporated by allowing operators to identify segments of data that warrant higher quality refinement, ensuring efficient use of limited throughput. I then analyze the performance of these mechanisms relative to current practices. Finally, I present CAPTURE, a telemetry architecture that builds on this analysis. CAPTURE draws on advances in compression and delay tolerant networking to enable progressive transmission of scientific data, including imagery, across multiple acoustic hops. In concert with a physical layer, CAPTURE provides an end-to- end networking solution for communicating science data from autonomous marine vehicles. Automatically selected imagery, sonar, and time-series sensor data are progressively transmitted across multiple hops to surface operators. Human operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction. The components of this system are then demonstrated through three field trials in diverse environments on SeaBED, OceanServer and Bluefin AUVs, each in different software architectures. / by Christopher Alden Murphy. / Ph.D.

Thesis: S.M., Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2013. / Includes bibliographical references (pages 133-141). / Between 2002 and 2011 a single mooring was maintained in the core of the Pacific Water boundary current in the Alaskan Beaufort Sea near 152° W. Using velocity and hydrographic data from six year-long deployments during this time period, we examine the interannual variability of the current. It is found that the volume, heat, and freshwater transport have all decreased drastically over the decade, by more than 80%. The most striking changes have occurred during the summer months. Using a combination of weather station data, atmospheric reanalysis fields, and concurrent shipboard and mooring data from the Chukchi Sea, we investigate the physical drivers responsible for these changes. It is demonstrated that an increase in summertime easterly winds along the Beaufort slope is the primary reason for the drop in transport. The intensification of the local winds has in turn been driven by a strengthening of the summer Beaufort High in conjunction with a deepening of the summer Aleutian Low. Since the fluxes of mass, heat, and freshwater through Bering Strait have increased over the same time period, this raises the question as to the fate of the Pacific water during recent years and its impacts. We present evidence that more heat has been fluxed directly into the interior basin from Barrow Canyon rather than entering the Beaufort shelfbreak jet, and this is responsible for a significant portion of the increased ice melt in the Pacific sector of the Arctic Ocean. / by Eric T. Brugler. / S.M.

Thesis: Ph. D., Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science; and the Woods Hole Oceanographic Institution), 2014. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Cataloged from student-submitted PDF version of thesis. / Includes bibliographical references (pages 237-243). / This thesis studies the problems associated with adaptive signal processing in the sample deficient regime using random matrix theory. The scenarios in which the sample deficient regime arises include, among others, the cases where the number of observations available in a period over which the channel can be approximated as time-invariant is limited (wireless communications), the number of available observations is limited by the measurement process (medical applications), or the number of unknown coefficients is large compared to the number of observations (modern sonar and radar systems). Random matrix theory, which studies how different encodings of eigenvalues and eigenvectors of a random matrix behave, provides suitable tools for analyzing how the statistics estimated from a limited data set behave with respect to their ensemble counterparts. The applications of adaptive signal processing considered in the thesis are (1) adaptive beamforming for spatial spectrum estimation, (2) tracking of time-varying channels and (3) equalization of time-varying communication channels. The thesis analyzes the performance of the considered adaptive processors when operating in the deficient sample support regime. In addition, it gains insights into behavior of different estimators based on the estimated second order statistics of the data originating from time-varying environment. Finally, it studies how to optimize the adaptive processors and algorithms so as to account for deficient sample support and improve the performance. In particular, random matrix quantities needed for the analysis are characterized in the first part. In the second part, the thesis studies the problem of regularization in the form of diagonal loading for two conventionally used spatial power spectrum estimators based on adaptive beamforming, and shows the asymptotic properties of the estimators, studies how the optimal diagonal loading behaves and compares the estimators on the grounds of performance and sensitivity to optimal diagonal loading. In the third part, the performance of the least squares based channel tracking algorithm is analyzed, and several practical insights are obtained. Finally, the performance of multi-channel decision feedback equalizers in time-varying channels is characterized, and insights concerning the optimal selection of the number of sensors, their separation and constituent filter lengths are presented. / by Milutin Pajovic. / Ph. D.