Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1978. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING. / Includes bibliographical references. / by Robert L. Maresca. / B.S.

Synthetic marine habitats such as artificial reefs (ARs) are deployed to offset marine habitat losses and aid conservation of marine communities, including species at risk. Though environmental benefit is often assumed, AR’s ability to support northern temperate marine fish communities has rarely been tested. The structural orientation and location of a reef can strongly influence biodiversity and productivity of faunal communities inhabiting it. For ARs, understanding how reef characteristics affect species and community composition are key in optimizing their use in conservation initiatives. I used ROV and sonar to survey threatened rockfish (Sebastes spp.) and other groundfish species associated with 18 ARs and natural reefs (NRs) along the northeast Pacific coastal shelf, along the coast of BC, Canada. In my second chapter, I investigate how ARs compare to NRs in achieving conservation objectives as measured by fish abundance and species richness. I found that community composition significantly differed between NRs and ARs. ARs had high variability in rockfish abundance, while NRs consistently supported intermediate rockfish abundances. Groundfish diversity was markedly greater on NRs. Depth and relief significantly explained variability in abundance and species richness. Interestingly, rockfish abundance was negatively associated with proximity to nearest rockfish conservation area. In my third chapter, I assess variation between AR fish communities on six reefs to better understand efficacy of meeting conservation objectives. I quantified structural characteristics of each reef using high-definition sonar data to create three-dimensional models and calculate measurements of reef structure. I also examined the effects of surrounding habitat associated with reef locations. I found that depth, conservation status, rugosity, and reef age significantly explained rockfish abundance. Groundfish species richness was significantly associated with conservation status, relief, reef size, and an interaction between depth and reef age. This research is a first step in proposing underlying mechanisms for differences between fish communities on ARs in BC, and which reef attributes facilitate successful contributions to conservation. Though ARs show promise in the conservation of some threatened species, the maintenance of diverse fish communities may depend on protection of heterogeneous natural reef communities. Given that a critical component of AR success is structure, using three-dimensional technologies can be used as a tool to understand species-habitat association on existing reefs and help predict the success of future reefs. / Graduate

<p>Detailed information on past oceanographic and climatic changes is crucial for our understanding of natural climate variability and for the assessment of future climate variations. Sediments strongly influenced by the North Atlantic Current accumulate at high rates in the northeastern Skagerrak, forming a potential highresolution archive for information on past climatic and oceanographic processes and events. Through a highresolution, multi-proxy study of the 32 meter long core MD99-2286 from the north-eastern Skagerrak, and interpretation of chirp sonar profiles from the coring area, this thesis provides new and detailed insights about the paleoceanographic development of the eastern North Sea region since the deglaciation.</p><p>The chronostratigraphic control of core MD99-2286 relies on 27 radiocarbon dates. Ages are presented in calibrated thousand years before present (abbreviated “kyr”). Core MD99-2286 was correlated to chirp sonar profiles using measured physical properties. This correlation demonstrates that a strong regional acoustic reflector, previously assumed to represent the Pleistocene/Holocene boundary, was formed as a result of rapid ice retreat during the latest Pleistocene. Based on the distribution of ice rafted debris in the core, ice berg calving in the Skagerrak ended at 10.7 kyr. Detailed grain-size analyses of the core were interpreted using a novel 3D-visualization technique. Between 11.3 and 10.3 kyr, clay-rich distal glacial marine sediments were deposited in the northeastern Skagerrak, derived from Baltic melt-water outflow across south-central Sweden through the Otteid-Stenselva strait. As a result of differential isostatic uplift, the route of the major outflow and the associated sediment deposition moved southwards along the Swedish west coast. After 10.3 kyr, sediment deposition in the north-eastern Skagerrak gradually adopted to a fully interglacial normal marine sedimentation dominated by Atlantic inflow and the North Jutland Current.</p><p>The establishment of the modern circulation system in the eastern North Sea is marked by abrupt coarsening of the sediments in core MD99-2286 at 8.5 kyr. This was a result of increased Atlantic inflow, opening of the English Channel and the Danish straits, and formation of the South Jutland Current. Mineral magnetic properties of the core show a distinct relationship reflecting general sediment source variability. After 8.5 kyr, sediments in the northeastern Skagerrak were derived predominantly from the Atlantic Ocean and the North Sea, with varying contributions from the South Jutland Current, the Baltic Current, and the currents along the coasts of western Sweden and southern Norway. Between 6.3 and 3.8 kyr, the eastern North Sea was further developed towards the modern situation by an increase of the South Jutland Current flow. The Skagerrak bottom currents were probably forced by strong Atlantic water inflow between 0.9 and 0.5 kyr, and after that by increased wind stress. The influence of regional climate on the eastern North Sea circulation has increased since the middle of the Holocene.</p>

<p>Fledermaus is software where different kind of analysis with spatial data can be done. The main area where to use Fledermaus is related to hydrographical surveys. This study is aimed to test and analyse the way Swedish Maritime Administration (Sjöfartsverket) uses Fledermaus. Through step by step explaining how to do when measuring sea bed conditions from a vessel, this text is possible to use as a manual for the applications that are mentioned in this report.</p><p>Another thing that is treated is the squat effect that belongs to vessel dynamic motions. Test of visualization that concerning squat in Fledermaus is done, but with a negative result when squat in a perspective to show motions in height that can be up to about a metre is very hard in a terrain model of thousands of metres. By further tests by arranging the input data, several interesting diagrams have been created through Microsoft Excel where graphs show that the depths are affecting the squat effect. This is showed in same diagram but with two different scales to show the relationship between how a point at the vessel moves in height compared to the depth under the vessel when the vessel is navigating in the sea.</p> / <p>Fledermaus är en programvara där olika analyser med rumsliga data kan genomföras. Största användningsområdet är att använda Fledermaus till mätningar som är relaterade till sjömätning. Den här studien är inriktad till att testa och analysera applikationer som Sjöfartsverket använder sig av i Fledermaus. Genom att steg för steg förklara hur Fledermaus ska användas när bottenförhållanden ska mätas sett från ett fartyg, så blir texten även möjlig att använda som en manual till de applikationer i Fledermaus som är nämnda i denna rapport.</p><p>Det andra som behandlas är squateffekten som tillhör ett fartygs dynamiska rörelser. Test av visualisering som behandlar squat i Fledermaus är genomförd, dock med negativt resultat då squat i ett perspektiv med att visa rörelser i höjd som kan uppgå till runt en meter är väldigt svårt i en terrängmodell som sträcker sig tusentals meter. Dock genom vidare tester genom behandling av indata, har flertalet intressanta diagram skapats genom Microsoft Excel där kurvor visar att djupet inverkar på squateffekten. Detta visas genom att i samma diagram fast med två olika skalor visa förhållandet mellan hur en punkt på båten rör sig i höjd jämfört med att djupet under fartyget ändras då fartyget gör fart genom vattnet.</p>

This paper describes a method by which range data from a sonar or other type of rangefinder can be used to determine the 2-dimensional position and orientation of a mobile robot inside a room. The plan of the room is modeled as a list of segments indicating the positions of walls. The method works by extracting straight segments from the range data and examining all hypotheses about pairings between the segments and walls in the model of the room. Inconsistent pairings are discarded efficiently by using local constraints based on distances between walls, angles between walls, and ranges between walls along their normal vectors. These constraints are used to obtain a small set of possible positions, which is further pruned using a test for physical consistency. The approach is extremely tolerant of noise and clutter. Transient objects such as furniture and people need not be included in the room model, and very noisy, low-resolution sensors can be used. The algorithm's performance is demonstrated using Polaroid Ultrasonic Rangefinder, which is a low-resolution, high-noise sensor.

Natural hydrocarbon seeps harbor distinctive geological, chemical, and biological features in the marine environment. This thesis verified remote sensing signatures of seeps using in-situ observation and repeated collections of satellite imagery. Bubble streams in the Gulf of Mexico water column from four natural seep sites on the upper continental slope were imaged by a side-scan sonar, which was operated from a submarine near the seafloor, and by acoustic profilers, which were operated from surface ships. These data were correlated with sea surface slicks imaged by Synthetic Aperture Radar (SAR) on the RADARSAT satellite. Comparing non-oily bubble streams from rapidly venting mud volcanoes with oily bubble streams from shallow deposits of gas hydrate showed that they produced notably different signatures. Non-oily bubbles produced high backscatter on the side-scan sonar records, but were difficult to detect with the acoustic profilers. Oily bubbles from hydrate deposits produced acoustic shadows on the side-scan sonar records. The oily bubbles generated clear signatures extending from the seafloor to the near surface on the acoustic profile records. RADARSAT SAR images verified the presence of surface oil slicks over the hydrate deposits, but not over the mud volcanoes. This indicates that SAR imagery will not be able to capture every oil and gas seep in a region because non-oily bubble streams do not create surface oil slicks. A total of 113 natural oily seep sources were identified based on surface slicks in eleven SAR images collected over the northern continental slope. A persistence analysis verified that SAR is a dependable tool for capturing oil slicks because 93.5% of the slick sources identified in the 2001 images were corroborated with slicks in the 2002 images. The sources ranged in depth from 100 to 2000 m and 79% of the sources were in 900 meters or greater of water. Seventy-six percent of the seep sources were associated with salt less than 1500 m below the seafloor and none of the sources were located in the bottom of salt withdrawal basins. Geographical Information Systems (GIS) proved to be a useful tool in these analyses.

Detailed information on past oceanographic and climatic changes is crucial for our understanding of natural climate variability and for the assessment of future climate variations. Sediments strongly influenced by the North Atlantic Current accumulate at high rates in the northeastern Skagerrak, forming a potential highresolution archive for information on past climatic and oceanographic processes and events. Through a highresolution, multi-proxy study of the 32 meter long core MD99-2286 from the north-eastern Skagerrak, and interpretation of chirp sonar profiles from the coring area, this thesis provides new and detailed insights about the paleoceanographic development of the eastern North Sea region since the deglaciation. The chronostratigraphic control of core MD99-2286 relies on 27 radiocarbon dates. Ages are presented in calibrated thousand years before present (abbreviated “kyr”). Core MD99-2286 was correlated to chirp sonar profiles using measured physical properties. This correlation demonstrates that a strong regional acoustic reflector, previously assumed to represent the Pleistocene/Holocene boundary, was formed as a result of rapid ice retreat during the latest Pleistocene. Based on the distribution of ice rafted debris in the core, ice berg calving in the Skagerrak ended at 10.7 kyr. Detailed grain-size analyses of the core were interpreted using a novel 3D-visualization technique. Between 11.3 and 10.3 kyr, clay-rich distal glacial marine sediments were deposited in the northeastern Skagerrak, derived from Baltic melt-water outflow across south-central Sweden through the Otteid-Stenselva strait. As a result of differential isostatic uplift, the route of the major outflow and the associated sediment deposition moved southwards along the Swedish west coast. After 10.3 kyr, sediment deposition in the north-eastern Skagerrak gradually adopted to a fully interglacial normal marine sedimentation dominated by Atlantic inflow and the North Jutland Current. The establishment of the modern circulation system in the eastern North Sea is marked by abrupt coarsening of the sediments in core MD99-2286 at 8.5 kyr. This was a result of increased Atlantic inflow, opening of the English Channel and the Danish straits, and formation of the South Jutland Current. Mineral magnetic properties of the core show a distinct relationship reflecting general sediment source variability. After 8.5 kyr, sediments in the northeastern Skagerrak were derived predominantly from the Atlantic Ocean and the North Sea, with varying contributions from the South Jutland Current, the Baltic Current, and the currents along the coasts of western Sweden and southern Norway. Between 6.3 and 3.8 kyr, the eastern North Sea was further developed towards the modern situation by an increase of the South Jutland Current flow. The Skagerrak bottom currents were probably forced by strong Atlantic water inflow between 0.9 and 0.5 kyr, and after that by increased wind stress. The influence of regional climate on the eastern North Sea circulation has increased since the middle of the Holocene.

During the last decades the problems caused by anthropogenic sound and noise in oceans have been recognized in public, by governments, and military. With the use of active sonar, different choices can be made to minimize the risk of damaging or disturbing marine mammals. For this purpose knowledge of sonar disturbance is crucial. There are methods for time or area planning, i.e. when and where to use active sonars, to avoid marine mammals. The purpose of this work is to find information in literature on marine mammal behaviour reactions to the sound of sonar pings, and to evaluate which of two different behavioural models used in risk assessment programs, the “varying response” model and the “avoidance” model, is more correct to use. Main focus is on sonars and marine mammals residing in Sweden, i.e. the harbour porpoise, grey seal, harbour seal and ringed seal. Behavioral results from other research areas such as bycatch, environmental, and strandings, together with other sound sources than sonars and other species, provide a broader picture of the situation in noisy oceans. For the harbor porpoise the “avoidance” model works well. It is a very shy species, which flees fast and far when it comes in contact with new things. With the seals however the “avoidance” model is probably less good, since their responses to sonar differ rather much. Hence, for these taxa we recommend to use the “various” model that takes into account such varying responses.

The basic principle in SAS is to use an array which is small in length to create a long synthetic array thus the better resolution is achieved through the use of signal processing. Additionally, the resolution that is independent of range and signal frequency, makes SAS a advantageous tool for applications. Although the origin of SAS comes from SAR, SAS still needs to overcome all constraints for real-world application. In a previous study by Sung and prof. Liu, published results of the along track resolution experiments which were well done however there was still much room in range resolution, the purpose of this research is to achieve high range resolution at any ranges. Indeed there are many existing factors affecting the capability of resolution which including characteristic of the target, certain arrangements of targets, bandwidth, waveforms and pulse duration and etc. High range resolution is obtained using pulse compression techniques. The experiments were carried out using the transducers of AST MK VI 192 kHz which were employed to transmit and receive signals, scanned various copper balls at anechoic water tank(4 m ¡Ñ 3.5 m ¡Ñ 2 m) in NSYSU. From the equipment we have now results were evaluated based on both simulated and real data: for the range resolution the pulse length is very important the shortest pulse length on an object would be 2L/c theoretically, the measured range resolution is about 7.5 cm for the 20-kHz bandwidth signals and 5 cm for along track resolution. As all the experiments have been successful in the Water Tank, we intent to launch further investigation of this research to the real world application of SAS i.e. in Sizihwan Bay Marine Test Field.

Abstract The interpretation and identification of information from the side-scan sonar imagery are mainly depended on visual observation and personal experiences. Recent studies tended to increase the identification efficiency by using numerical analysis methods. This can reduce the error that cause by the differences of observer¡¦s experience as well as by extended time observation. The position around the center line of the slant range corrected side-scan sonar imagery might result in the degradation of the ability of numerical methods to successfully detect artificial objects. Theoretically, this problem could be solved by using a specific characteristic function to identify the existence of concrete reefs, and then filtering the noise of the central line area with a threshold value. This study was intended to develop fully automatic sonar imagery processing system for the identification of cubic concrete and cross-type protective artificial reefs in Taiwan offshore area. The procedures of the automatic sonar imagery processing system are as follows: (1) Image Acquisition¡G500kHz with slant range of 75m. (2) Feature Extraction¡Ggrey level co-occurrence matrix (i.e., Entropy, Homogeneity and Mean) (3) Classification¡Gunsupervised Bayesian classifier. (4) Object Identification¡Gby characteristic feature (i.e., Entropy). (5) Object¡¦s Status Analysis¡Gobject¡¦s circumference¡Barea¡Bcenter of mass and quantity. This study used the sonar images collected at Chey-Ding artificial reef site in Kaohsiung City as a case study, aiming to verify the automatic sonar imagery processing system and find out the optimum window size. The image characteristic functions include one set of first order parameter (i.e., mean) and two sets of second order parameter (i.e., entropy and homogeneity). Eight(8) sonar images with 1-8 sets of cubic concrete and cross-type protective artificial reefs where used in this step. The identification efficiency of the system, in terms of the produce¡¦s accuracy, is 79.41%. The results illustrated that there were 16~28 sets of artificial reefs being detected in this case which is comparable with the actual amount of 17 sets. Based on this investigation, the optimum window size was concluded to be 12¡Ñ12 pixels with sliding size of 4 pixel. Imagery collected at Fang-Liau artificial reef site of Pingtung County was tested. For the purpose of applicability, the original imagery (2048¡Ñ2800 pixels) was divided into 8 consecutive smaller sized imagery frames(2048¡Ñ350 pixels). The influence of using a two-fold classification procedure and a central filtering method to reduce the noise that caused by slant range correction were discussed. The results showed that central line filtering method is applicable. The results of object¡¦s status analysis showed that there are 156-236 sets of reefs existed. Automatic determination of the target using the characteristic function of entropy is feasible. If the value is larger than 1.45, it represents positive identification of concrete artificial reefs. It can be classified as muddy sand seabed type if the value is smaller than 1.35. If the value is between 1.35~1.45, it illustrates the existence of a transition zone where objects of smaller in dimensions might exist. To achieve the purpose of automatic operation, firstly, we have to identify the existence of the concrete reefs by using the specific characteristic function. Based on the result of existing concrete reefs, suture line filtering method will hence be used to filter the noise from the image information. For that all of the procedures are automatically operated without human intervention. Key word: side-scan sonar ; characteristic function ; gray level co-occurrence matrix ; Bayesian classification ;entropy ; homogeneity ; mean