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.

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), 2011. / 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 (p. 139-148). / This thesis discusses sensor management methods for multiple-vehicle fleets of autonomous underwater vehicles, which will allow for more efficient and capable infrastructure in marine science, industry, and naval applications. Navigation for fleets of vehicles in the ocean presents a large challenge, as GPS is not available underwater and dead-reckoning based on inertial or bottom-lock methods can require expensive sensors and suffers from drift. Due to zero drift, acoustic navigation methods are attractive as replacements or supplements to dead-reckoning, and centralized systems such as an Ultra-Short Baseline Sonar (USBL) allow for small and economical components onboard the individual vehicles. Motivated by subsea equipment delivery, we present model-scale proof-of-concept experimental pool tests of a prototype Vertical Glider Robot (VGR), a vehicle designed for such a system. Due to fundamental physical limitations of the underwater acoustic channel, a sensor such as the USBL is limited in its ability to track multiple targets-at best a small subset of the entire fleet may be observed at once, at a low update rate. Navigation updates are thus a limited resource and must be efficiently allocated amongst the fleet in a manner that balances the exploration versus exploitation tradeoff. The multiple vehicle tracking problem is formulated in the Restless Multi-Armed Bandit structure following the approach of Whittle in [108], and we investigate in detail the Restless Bandit Kalman Filters priority index algorithm given by Le Ny et al. in [71]. We compare round-robin and greedy heuristic approaches with the Restless Bandit approach in computational experiments. For the subsea equipment delivery example of homogeneous vehicles with depth-varying parameters, a suboptimal quasi-static approximation of the index algorithm balances low landing error with safety and robustness. For infinite-horizon tracking of systems with linear time-invariant parameters, the index algorithm is optimal and provides benefits of up to 40% over the greedy heuristic for heterogeneous vehicle fleets. The index algorithm can match the performance of the greedy heuristic for short horizons, and offers the greatest improvement for long missions, when the infinite-horizon assumption is reasonably met. / by Brooks Louis-Kiguchi Reed. / S.M.

The primary objective of this research is the development a wind and solar-powered autonomous surface vehicle (WASP) for oceanographic measurements. This thesis presents the general design scheme, detailed aerodynamic and hydrodynamic aspects, sailing performance theory, and dynamic performance validation measurements obtained from a series of experiments. The WASP consists of a 4.2 meter long sailboat hull, a low-Reynolds number composite wing, a 2000 Watt-hour battery reservoir, a system of control actuators, a control system running on an embedded microprocessor, a suite of oceanographic sensors, and power regeneration from solar energy. The vehicle has a maximum speed of five knots and weighs approximately 350 kilograms. Results from four oceanographic missions that were conducted in the Port Everglades Intracoastal Waterway in Dania Beach [sic] Florida are presented. Water temperature, salinity and oxidation-reduction measurements recorded during these missions are also discussed. The combination of a mono-hull and solid wing in an autonomous system is a viable design for a long-range ocean observation platform. The results of four near-shore ocean observation missions illustrate the initial capabilities of the design. Future work aimed to further reduce both the mass of the wing design and the power requirements of the system will increase performance in all operating conditions and should be considered. Furthermore, the progression of the legal framework related to ocean vehicles must be pursued with respect to unmanned autonomous systems. / by Patrick Forde Rynne. / Thesis (M.S.C.S.)--Florida Atlantic University, 2008. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2008. Mode of access: World Wide Web.

Numerical simulations of waterjet inlets have been conducted in order to understand inlet performance during ship turning maneuvers. During turning maneuvers waterjet systems may experience low efficiency, cavitation, vibration, and noise. This study found that during turns less energy arrived at the waterjet pump relative to operating straight ahead, and that the flow field at the entrance of the waterjet pump exhibited a region of both low pressure and low axial velocity. The primary reason for the change in pump inflow uniformity is due to a streamwise vortex. In oblique inflow the hull boundary layer separates when entering the inlet and wraps up forming the streamwise vortex. These changes in pump inflow during turning maneuvers will result in increased unsteady loading of the pump rotor and early onset of pump rotor cavitation. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2015. / FAU Electronic Theses and Dissertations Collection

Thesis: Ph. D., Joint Program in Physical Oceanography (Massachusetts Institute of Technology, Department of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 2019 / Cataloged from PDF version of thesis. / Includes bibliographical references (pages 137-153). / Each year, surface ocean ecosystems export sinking particles containing gigatons of carbon into the ocean's interior. This particle flux connects the entire ocean microbiome and constitutes a fundamental aspect of marine microbial ecology and biogeochemical cycles. Particle flux is also variable and intricately complex, impeding its mechanistic or quantitative description. In this thesis we pair compilations of available data with novel mathematical models to explore the relationships between particle flux and other key variables - temperature, net primary production, and depth. Particular use is made of (probability) distributional descriptions of quantities that are known to vary appreciably. First, using established thermodynamic dependencies for primary production and respiration, a simple mechanistic model is developed relating export efficiency (i.e. the fraction of primary production that is exported out of the surface ocean via particle flux) to temperature. / The model accounts for the observed variability in export efficiency due to temperature without idealizing out the remaining variability that evinces particle flux's complexity. This model is then used to estimate the metabolically-driven change in average export efficiency over the era of long-term global sea surface temperature records, and it is shown that the underlying mechanism may help explain glacial-interglacial atmospheric carbon dioxide drawdown. The relationship between particle flux and net primary production is then explored. Given that these are inextricable but highly variable and measured on different effective scales, it is hypothesized that a quantitative relationship emerges between collections of the two measurements - i.e. that they can be related not measurement-by-measurement but rather via their probability distributions. / It is shown that on large spatial or temporal scales both are consistent with lognormal distributions, as expected if each is considered as the collective result of many subprocesses. A relationship is then derived between the log-moments of their distributions and agreement is found between independent estimates of this relationship, suggesting that upper ocean particle flux is predictable from net primary production on large spatiotemporal scales. Finally, the attenuation of particle flux with depth is explored. It is shown that while several particle flux-versus-depth models capture observations equivalently, these carry very different implications mechanistically and for magnitudes of export out of the surface ocean. A model is then proposed for this relationship that accounts for measurements of both the flux profile and of the settling velocity distribution of particulate matter, and is thus more consistent with and constrained by empirical knowledge. / Possible future applications of these models are discussed, as well as how they could be tested and/or constrained observationally. / by Brendan Barry. / Ph. D. / Ph.D. Joint Program in Physical Oceanography (Massachusetts Institute of Technology, Department of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution)

A methodology to estimate the state of a moving marine vehicle, defined by its position, velocity and heading, from an unmanned surface vehicle (USV), also in motion, using a stereo vision-based system, is presented in this work, in support of following a target vehicle using an USV. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2015 / FAU Electronic Theses and Dissertations Collection