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), 2018. / Cataloged from PDF version of thesis. / Includes bibliographical references (pages 97-103). / The presence of superimposed bedforms, where smaller bedforms exist on larger bedforms, is ubiquitous to energetic tidal environments. Due to their wide range in scale, it is difficult to simultaneously observe these features over tidal timescales. This thesis examines the morphological response of superimposed bedforms to a tidally reversing flow using novel instrumentation and platform systems. A method is outlined in chapter 2 to expand the functionality of low-mounted sidescan sonars by utilizing sonar shadows to estimate bedform height and asymmetry. Empirical models are generated to account for realistic variability in the seabed and the method is validated with bathymetric observations of wave-orbital ripples and tidally reversing megaripples. Given the high temporal and spatial resolution of seafloor frame mounted rotary sidescan sonars, the dynamics and evolution of the bedforms over an approximately 40 m x 40 m area can be resolved. In chapter 3 the method is applied to data of superimposed bedforms at Wasque Shoals, an ebb delta off the southeast corner of Martha's Vineyard, MA. These data reveal the small, superimposed bedforms reversing their asymmetry with the flow while the larger bedforms on which they reside remain oriented in the direction of the dominant flow. Similar bedform dynamics are observed at Nauset Inlet, a dynamic inlet system, on Cape Cod, MA using an autonomous jet-powered kayak, the Jetyak, equipped with a bathymetric swath sonar. The time needed for bedform asymmetry to reverse in the presence of a tidal flow was estimated with a geometric bedform model that incorporates an empirical sediment transport rate. The morphological lag time from the observations agree well with the geometric model with larger bedforms and slower flows resulting in a longer lag time. Finally, the migration of these superimposed bedforms is considered in chapter 4. Data from the rotary sidescan sonar at Wasque Shoals capture the interaction of smaller bedforms, or megaripples, with a dune. The net convergence of megaripples on the tidally dominate lee face of the dune suggests that the smaller bedforms serve as an intermediate step between grain-scale transport processes and larger scale dune migration. / by Katie Renae Jones. / S.M.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering and the Woods Hole Oceanographic Institution), September 2001. / Includes bibliographical references (leaves 65-67). / As part of Phase III of the U.S. GLOBEC Georges Bank program, drogued drifters and dye tracer were released into the pycnocline on the southern flank of Georges Bank to measure advective and diffusive transport relative to the tidal mixing front in May 1999. Potential density measurements placed the tidal mixing front around the 50-55 m isobath on the southern flank. Drogued drifter movement relative to the front was on the order of the drifter's slip velocity and therefore did not support the existence of a mean, advective flow. No movement relative to the front of the dye patch center of mass also indicated a lack of advective flow. Diffusive transport did occur as the dye patch spread laterally both toward and away from the front much as would be predicted by the diffusion relationship of Okubo (1971), who summarized diffusion experiments in the surface ocean. The dye did not spread symmetrically, but was rather elongated along the isobaths. This can be attributed to vertical shear in the along-isobath current that was measured by the shipboard ADCP. / by Jody M. Katerin. / S.M.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering and the Woods Hole Oceanographic Institution), 2002. / Includes bibliographical references (p. 105). / This thesis examines data collected in the South China Sea (SCS) component of the 2001 Asian Seas International Acoustic Experiment (ASIAEX), where a fixed Horizontal Linear Array (HLA) was deployed to study transverse array coherence in a coastal environment. Arrays obtain their gain and directivity by coherently adding the energy that impinges on them. Therefore, to maximize the efficiency of an array, the size of the aperture over which the signal remains coherent needs to be determined. Scattering of sound by the ocean environment, especially in coastal areas, reduces the coherence of acoustic signals, and thereby limits the useful aperture of an acoustic array. During ASIAEX, a horizontal linear array was deployed on the continental shelf of the South China Sea in order to directly measure the acoustic coherence in a coastal environment. 224 Hz and 400 Hz sources were placed on the continental slope to provide an up slope propagation path and a 400 Hz source was placed on the shelf to provide an along shelf propagation path. This thesis analyzes one day of transmissions from these three sources and gives the first look at coherence lengths of the HLA determined by sensor-to-sensor correlations. To achieve this, the thesis analyzes continuous time series data from the Long Base Line (LBL) navigation system and two days of light bulb drops to provide array sensor localization. Accurate sensor positions are needed to determine the correlation versus sensor separation distance and ultimately the array coherence length. / by Theodore Herbert Schroeder. / 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), February 2001. / Includes bibliographical references (p. 211-219). / This thesis develops methods useful for estimating zooplankton distributions in the field by combining acoustic scattering models and an integrated set of field data. The accuracy of existing scattering models for fluid-like and elastic-shelled animals is determined by analysis of scattering data from individual animals in a laboratory tank. Results indicate that simple two-ray scattering models are accurate and allow predictions of size or orientation of an animal to be made for certain animal orientations. A scattering model for gas-bearing zooplankton is compared with in situ multiple frequency acoustic measurements from siphonophores. Estimates of the numerical density of these animals are made using echo integration data from a scientific echo-sounder. Multiple frequency acoustic scattering data from a survey of an internal wave are analyzed to determine the contributions from biological and physical sources. Net tow data provide information about biological scatterers while temperature and salinity profiles are used with a theoretical scattering model to predict contributions from physical sources. Results indicate that scattering from physical sources is comparable to that from biological sources in certain regions and that scattering spectra may be used to distinguish these sources. Improved estimates of biomass from acoustic scattering data were made by accounting for the scattering contributions from physical sources. This is the first work to quantify the scattering contributions from biological and physical sources of scattering in a field study. / by Joseph David Warren. / Ph.D.

Thesis (M.S.)--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), 1994. / Includes bibliographical references (p. 57-58). / by Denis Peregrym. / M.S.

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), 2007. / Includes bibliographical references (p. 85-89). / Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applications. Designing an autonomous vehicle to work in the harsh environment of the deep ocean comes with its set of challenges. This paper discusses how the current engineering technologies can be adapted to the design of AUVs. Recently, as the AUV technology has matured, we see AUVs being used in a variety of applications ranging from sub-surface sensing to sea-floor mapping. The design of the AUV, with its tight constraints, is very sensitive to the target application. Keeping this in mind, the goal of this thesis is to understand how some of the major issues affect the design of the AUV. This paper also addresses the mechanical and materials issues, power system design, computer architecture, navigation and communication systems, sensor considerations and long term docking aspects that affect AUV design. With time, as the engineering sciences progress, the AUV design will have to change in order to optimize its performance. Thus, the fundamental issues discussed in this paper can assist in meeting the challenge of maintaining AUV design on par with modern technology. / by Vikrant P. Shah. / S.M.

Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution); and, (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2001. / Includes bibliographical references (p. 125-127). / mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge. Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. This thesis describes the derivation of these coefficients in detail. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle. / by Timothy Prestero. / 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), 2011. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 223-232). / The lateral line is a critical component of the fish sensory system, found to affect numerous aspects of behavior including maneuvering in complex fluid environments, schooling, prey tracking, and environment mapping. This sensory organ has no analog in modem ocean vehicles, despite its utility and ubiquity in nature, and could fill the gap left by sonar and vision systems in turbid cluttered environments. Yet, while the biological sensory system suggests the broad possibilities associated with such a sensor array, nearly nothing is known of the input processing and what information is available via the real lateral line. This thesis demonstrates and characterizes the ability of lateral-line-inspired linear pressure sensor arrays to perform two sensory tasks of relevance to biological and man-made underwater navigation systems, namely shape identification and vortex tracking. The ability of pressure sensor arrays to emulate the "touch at a distance" feature of the lateral line, corresponding to the latter's capability of identifying the shape of objects remotely, is examined with respect to moving cylinders of different cross sections. Using the pressure distribution on a small linear array, the position and size of a cylinder is tracked at various distances. The classification of cylinder shape is considered separately, using a large database of trials to identify two classification approaches: One based on differences in the mean flow, and one trained on a subset which utilizes information from the wake. The results indicate that it is in general possible to extract specific shape information from measurements on a linear pressure sensor array, and characterize the classes of shapes which are not distinguishable via this method. Identifying the vortices in a flow makes it possible to predict and optimize the performance of flapping foils, and to identify imminent stall in a control surface. Vortices in wakes also provide information about the object that generated the wake at distances much larger than the near-field pressure perturbations. Experimental studies in tracking a vortex pair and an individual vortex interacting with a flat plate demonstrate the ability to track vortices with a linear pressure sensor array from both small streamlined bodies and large flat bodies. Based on a theoretical analysis, the relationship between the necessary array parameters and the range of vortices of interest is established. / by Vicente I. Fernandez. / 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), 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 49-50). / The focus of this thesis is the design and development of a system for rapid extraction of dissolved inorganic carbon from seawater and groundwater samples for radiocarbon dating. The Rapid Extraction of Dissolved Inorganic Carbon System (REDICS) consists of two subsystems - one for sample introduction, acidification, and carbon dioxide extraction, and one for carbon dioxide quantification and storing. The first subsystem efficiently extracts the dissolved inorganic carbon from the water sample in the form of carbon dioxide by utilizing a gas-permeable polymer membrane contractor. The second subsystem traps, quantifies and stores the extracted gas using cryogenics. The extracted carbon dioxide is further processed for stable and radiocarbon isotope analysis at the National Ocean Sciences Accelerator Mass Spectrometer Facility at the Woods Hole Oceanographic Institution. The REDICS system was tested using seawater standards collected at 470m and 4000m depth in the Atlantic Ocean and analyzing the extracted CO₂. The results were compared to the results for the same standards processed on the current NOSAMS water stripping line. The results demonstrate that the system successfully extracts more than 99% of the dissolved inorganic carbon in less than 20 minutes. Stable isotope and radiocarbon isotope analyses demonstrated system precision of 0.02%c and 3.5% respectively. / by Kalina Doneva Gospodinova. / 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), 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 117-119). / The Acoustic Doppler Current Profiler (ADCP) is a proven technology which is capable of measuring surface wave height and directional information, however it is generally limited to rigid, bottom mounted applications which limit its capabilities for measuring deep water waves. By employing an upward looking ADCP on a moving platform, such as an autonomous underwater vehicle or submerged float, we show that it is possible to remove the wave induced motion of the platform and accurately measure surface ocean wave information. The platform selected for testing was a REMUS-100 vehicle equipped with an upward and downward looking ADCP and high accuracy Kearfott inertial navigation unit. Additionally, a Microstrain 3DM-GX3-25 Attitude Heading Reference System was tested as a low cost alternative to the Kearfott system. An experiment consisting of multiple REMUS deployments was conducted near the Martha's Vineyard Coastal Observatory (MVCO). The wave induced motion was measured by various inertial and acoustic sensors and removed from the ADCP data record. The surface wave height and mean directional estimates were compared against a Datawell MKIII directional Waverider buoy and bottom mounted 1200 kHz upward looking ADCP at the MVCO. Results demonstrate that the non-directional spectrum of wave height and the mean wave direction as a function of frequency can be accurately measured from an underway autonomous underwater vehicle in coastal depth waters using an ADCP. / by Scott Haven. / S.M.