Thesis (Ph. D.)--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. 313-325). / This thesis presents a stochastic mapping framework for autonomous robotic chemical plume source localization in environments with multiple sources. Potential applications for robotic chemical plume source localization include pollution and environmental monitoring, chemical plant safety, search and rescue, anti-terrorism, narcotics control, explosive ordinance removal, and hydrothermal vent prospecting. Turbulent flows make the spatial relationship between the detectable manifestation of a chemical plume source, the plume itself, and the location of its source inherently uncertain. Search domains with multiple sources compound this uncertainty because the number of sources as well as their locations is unknown a priori. Our framework for stochastic mapping is an adaptation of occupancy grid mapping where the binary state of map nodes is redefined to denote either the presence (occupancy) or absence of an active plume source. A key characteristic of the chemical plume source localization problem is that only a few sources are expected in the search domain. The occupancy grid framework allows for both plume detections and non-detections to inform the estimated state of grid nodes in the map, thereby explicitly representing explored but empty portions of the domain as well as probable source locations. / (cont.) However, sparsity in the expected number of occupied grid nodes strongly violates a critical conditional independence assumption required by the standard Bayesian recursive map update rule. While that assumption makes for a computationally attractive algorithm, in our application it results in occupancy grid maps that are grossly inconsistent with the assumption of a small number of occupied cells. To overcome this limitation, several alternative occupancy grid update algorithms are presented, including an exact solution that is computationally tractable for small numbers of detections and an approximate recursive algorithm with improved performance relative to the standard algorithm but equivalent computational cost. Application to hydrothermal plume data collected by the autonomous underwater vehicle ABE during vent prospecting operations in both the Pacific and Atlantic oceans verifies the utility of the approach. The resulting maps enable nested surveys for homing-in on seafloor vent sites to be carried out autonomously. This eliminates inter-dive processing, recharging of batteries, and time spent deploying and recovering the vehicle that would otherwise be necessary with survey design directed by human operators. / by Michael V. Jakuba. / 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), 2006. / Includes bibliographical references. / South American climate has undergone dramatic changes since the last glacial period, as evidenced from Cariaco Basin (Venezuelan coast) and Peru Margin marine sediment biomarker records. Compounds derived from vascular plant leaf waxes and delivered to the marine sedimentary environment, including long-chain (C24-C32) n-alkanoic acids, were used as proxies for terrestrial vegetation type, aridity, and atmospheric circulation. Marine biomarkers, such as sterols and phytol, were used to reconstruct productivity in the Peru Margin upwelling zone, where sedimentary conditions are not conducive to the preservation of foraminifera. Through the use of organic molecular isotopic techniques and multi-molecular stratigraphy, a great deal can be learned about communities of marine organisms and terrestrial plants that existed in the past and the environments in which they lived. Vascular plant leaf wax carbon and hydrogen isotopic records were generated from n-alkanoic acids preserved in Cariaco Basin marine sediments. These records were compared to previously established pollen and climate records and were found to parallel local millennial-scale climate changes between the late Glacial and Preboreal periods, which were characterized by migrations of the inter-tropical convergence zone. / (cont.) Differences in 6D between C,6-C18 and C24-C30 n-alkanoic acids suggest a marine source for the shorter chain lengths and a terrestrial source for the longer chains. Stacked 6D and 613C records both exhibited isotopic enrichment during the late Glacial and Younger Dryas periods and depletion during the B011ing-Aller0d and Preboreal periods. If interpreted as an aridity proxy, the 6D record is in agreement with Cariaco Basin sediment grey scale records, suggesting that the late Glacial and Younger Dryas were more arid than the B011ing-Aller0d and Preboreal periods. n-Alkanoic acid 613C, which is a proxy for C3 versus C4 plant type, indicates that C3 plants predominated in this area of the tropics during warm and wet periods, such as the Bolling-Aller0d and the Holocene, and C4 plants proliferated during cooler and more arid periods, such as the Glacial and Younger Dryas. The biomarker 613C record agrees with pollen data previously developed from Cariaco Basin sediments, confirming that leaf wax compounds preserved in marine sediments can accurately record terrestrial vegetation changes. Analytical methods utilizing stir bar sorptive extraction (SBSE) and thermal desorption were developed and applied to investigate lipid organic matter in a suite of alpine ice cores. / (cont.) These methods permit use of small volume (10-30 ml) samples, as would be required for high-resolution down-core analyses. SBSE involves using a polymer coated stir bar to extract organic matter from aqueous samples, after which it is loaded directly into a thermal desorption unit and the organic matter transferred in its entirety to a gas chromatograph inlet. To test these methods and the organic content of tropical ice, post-industrial samples from two South American, two Asian, and one African ice core were analyzed. Compounds identified in the modem ice core samples included natural and anthropogenic biomarkers such as n-alkanes, n-alkanoic acids, n-alkyl amides and nitriles, polycyclic aromatic hydrocarbons (PAHs), and diterpenoids. Variability in the distributions of these compounds between different cores demonstrated that the lipid organic fraction in each core was representative of mostly local inputs. To further investigate natural inputs, several pre-industrial samples were analyzed from the Sajama ice core in the Andes and The Puruogangri core on the Tibetan Plateau. Inputs of terrestrial vegetation combustion biomarkers such as PAHs, diterpenoids, and alkyl amides were consistent with periods of enhanced aridity in each core. / (cont.) The results of this investigation demonstrate the utility of the methodology, which could now be applied to generate very high-resolution biomarker records from tropical ice cores. Gas chromatography/time-of-flight mass spectrometry (GC/TOF-MS) was used to generate a high-resolution, multi-molecular organic biomarker record from Peru Margin sediments (-110S, 252 m water depth) for the last 15 ka. Because of their position beneath the oxygen minimum zone of a productive upwelling region, these sediments contain a wealth of compounds that can be exploited as paleoclimate indicators. TOF-MS and fast GC techniques allowed me to generate this record in a short amount of time and without employing the traditional suite of purification techniques. Before about 9 ka, organic carbon and biomarker concentration records exhibited similar variability, implying a forcing mechanism that affected input and/or preservation of both marine and terrestrial organic matter, such as large-scale climate change. ... / by Matthew C. Makou. / Ph.D.

Thesis (Ph. D.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references (leaves 264-277). / The lateral line system on fish has been found to aid in schooling behavior, courtship communication, active and passive hydrodynamic imaging, and prey detection. The most widely used artificial prey stimulus has been the vibrating sphere, which some fish are able to detect even when the signal velocities to its lateral line are orders of magnitude smaller than background current velocities. It is not clear how the fish are able to extract this signal. This thesis uses a series of computational fluid dynamic (CFD) simulations, matched with recent experiments, to quantify the effects of 3D fish body parts on the received dipole signals, and to determine signal detection abilities of the lateral line system in background flow conditions. An approximation is developed for the dipole induced, oscillatory, boundary layer velocity profile over the surface of a fish. An analytic solution is developed for the case when the surface is a wall, and is accurate at points of maximal surface tangential velocity. Results indicate that the flow outside a thin viscous layer remains potential in nature, and that body parts, such as fins, do not significantly affect the received dipole signal in still water conditions. In addition, the canal lateral line system of the sculpin is shown to be over 100 times more sensitive than the superficial lateral line system to high frequency dipole stimuli. Analytical models were developed for the Mottled Sculpin canal and superficial neuromast motions, in response to hydrodynamic signals. When the background flow was laminar, the neuromast motions induced by the stimulus signal at threshold had a spectral peak larger than spectral peaks resulting from the background flow induced motions. / (cont.) When the turbulence level increased, the resulting induced neuromast motions had dominant low frequency oscillations. For fish using the signal encoding mechanisms of phase-locking or spike rate increasing, signal masking should occur. / by Mark Andrew Rapo. / Ph.D.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science; and the Woods Hole Oceanographic Institution), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 85-87). / Mode filtering is most commonly implemented using the sampled mode shape or pseudoinverse algorithms. Buck et al [1] placed these techniques in the context of a broader maximum a posteriori (MAP) framework. However, the MAP algorithm requires that the signal and noise statistics be known a priori. Adaptive array processing algorithms are candidates for improving performance without the need for a priori signal and noise statistics. A variant of the physically constrained, maximum likelihood (PCML) algorithm [2] is developed for mode filtering that achieves the same performance as the MAP mode filter yet does not need a priori knowledge of the signal and noise statistics. The central innovation of this adaptive mode filter is that the received signal's sample covariance matrix, as estimated by the algorithm, is constrained to be that which can be physically realized given a modal propagation model and an appropriate noise model. The first simulation presented in this thesis models the acoustic pressure field as a complex Gaussian random vector and compares the performance of the pseudoinverse, reduced rank pseudoinverse, sampled mode shape, PCML minimum power distortionless response (MPDR), PCML-MAP, and MAP mode filters. The PCML-MAP filter performs as well as the MAP filter without the need for a priori data statistics. The PCML-MPDR filter performs nearly as well as the MAP filter as well, and avoids a sawtooth pattern that occurs with the reduced rank pseudoinverse filter. The second simulation presented models the underwater environment and broadband communication setup of the Shallow Water 2006 (SW06) experiment. / (cont.) Data processing results are presented from the Shallow Water 2006 experiment, showing the reduced sensitivity of the PCML-MPDR filter to white noise compared with the reduced rank pseudoinverse filter. Lastly, a linear, decision-directed, RLS equalizer is used to combine the response of several modes and its performance is compared with an equalizer applied directly to the data received on each hydrophone. / by Joseph C. Papp. / S.M.

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), 2008. / Includes bibliographical references (p. 145-149). / Benthic shells can contribute greatly to the scattering variability of the ocean bottom, particularly at low grazing angles. Among the effects of shell aggregates are increased scattering strength and potential subcritical angle penetration of the seafloor. Sand dollars (Dendraster excentricus) occur commonly in the ocean and have been shown to be significant scatters of sound. In order to understand more fully the scattering mechanisms of these organisms, the scattering from individual sand dollars was studied using several methods. Using an approximation to the Helmholtz-Kirchhoff integral, the Kirchhoff method gives an analytic integral expression to the backscattering from an object. This integral was first solved analytically for a disk and a spherical cap, two high aspect ratio oblate shapes which simplify the shape of an individual sand dollar. A method for solving the Kirchhoff integral numerically was then developed. An exact three dimensional model of a sand dollar test was created from computed tomography scans. The Kirchhoff integral was then solved numerically for this model of the sand dollar. The finite element method, a numerical technique for approximating the solutions to partial differential equations and integral equations, was used to model the scattering from an individual sand dollar as well. COMSOL Multiphysics was used for the implementation of the finite element method. Modeling results were compared with published laboratory experimental data from the free field scattering of both an aluminum disk and a sand dollar. Insight on the scattering mechanisms of individual sand dollar, including elastic behavior and diffraction effects, was gained from these comparisons. / by Gregory C. Dietzen. / 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), 2007. / Includes bibliographical references (p. 153-166). / The role of ocean dynamics in driving air-sea interaction is examined at two contrasting sites on 125°W in the eastern tropical Pacific Ocean using data from the Pan American Climate Study (PACS) field program. Analysis based on the PACS data set and satellite observations of sea surface temperature (SST) reveals marked differences in the role of ocean dynamics in modulating SST. At a near-equatorial site (3°S), the 1997-1998 El Nifio event dominated the evolution of SST and surface heat fluxes, and it is found that wind-driven southward Ekman transport was important in the local transition from El Nifio to La Nifia conditions. At a 10'N site near the summertime position of the Inter-tropical Convergence Zone, oceanic niesoscale motions played an important role in modulating SST at intraseasonal (50- to 100-day) timescales, and the buoy observations suggest that there are variations in surface solar radiation coupled to these mesoscale SST variations. This suggests that the mesoscale oceanic variability may influence the occurrence of clouds. The intraseasonal variability in currents, sea surface height, and SST at the northern site is examined within the broader spatial and temporal context afforded by satellite data. / (cont.) The oscillations have zonal wavelengths of 550-1650 km and propagate westward in a manner consistent with the dispersion relation for first baroclinic mode, free Rossby waves in the presenice of a, mean westward flow. The hypothesis that the intraseasonal variability and its annual cycle are associated with baroclinic instability of the North Equatorial Current is supported by a spatio-temporal correlation between the amplitude of intraseasonal variability and the occurrence of westward zonal flows meeting an approximate necessary condition for baroclinic instability. Focusing on 100N in the eastern tropical Pacific, the hypothesis that mesoscale oceanic SST variability can systematically influence cloud properties is investigated using several satellite data products. A statistically significant relationship between SST and columnar cloud liquid water (CLW), cloud reflectivity, and surface solar radiation is identified within the wavenumber-frequency band corresponding to oceanic Rossby waves. Analysis of seven years of CLW data and 20 years surface solar radiation data indicates that 10-20% of the variance of these cloud-related properties at intraseasonal periods and wavelengths on the order of 100 longitude can be ascribed to SST signals driven by oceanic Rossby waves. / by J. Thomas Farrar. / 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), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 140-141). / A confluence of several coastal oceanographic features creates an acoustically interesting region with high variability along the New England Shelfbreak. Determining the effect of the variability on acoustic propagation is critical for sonar systems. In the Nantucket Shoals area of the Middle Atlantic Bight, two experiments, the New England Shelfbreak Tests (NEST), were conducted in May and June, 2007 and 2008, to study this variability. A comprehensive climatology of the region along with the experimental data provided detailed information about the variability of the water column, particularly the temperature and sound speed fields. Empirical orthogonal function (EOF) analysis of the ocean sound speed field defined a set of perturbations to the background sound speed field for each of the NEST Scanfish surveys. Attenuation due to bottom sediments is the major contributor of transmission loss in the ocean. In shallow water, available propagation paths most often include bottom interaction. Perturbations in the ocean sound speed field can cause changes in the angle of incidence of sound rays with the bottom, which can result in changes to the amount of sound energy lost to the bottom. In lieu of complex transmission loss models, the loss/bounce model provides a simpler way to predict transmission loss changes due to perturbations in the background sound speed field in the ocean. Using an acoustic wavenumber perturbation method, sound speed perturbations, defined by the ocean EOF modes, are translated into a change in the horizontal wavenumber, which in turn changes the modal angle of incidence. / (cont.) The loss/bounce model calculates the loss of sound energy (dB) per bottom bounce over a given distance based on the change in angle of incidence. Evaluated using experimental data from NEST, the loss/bounce model provided accurate predictions of changes to transmission loss due to perturbations of the background sound speed field. / by Heather René Hornick. / 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), 2008. / Includes bibliographical references (p. 110-119). / This study presents observations of turbulence dynamics made during the low winds portion of the Coupled Boundary Layers and Air-Sea Transfer experiment (CBLAST-Low). Observations were made of turbulent fluxes, turbulent kinetic energy, and the length scales of flux-carrying and energy-containing eddies in the ocean surface boundary layer. A new technique was developed to separate wave and turbulent motions spectrally, using ideas for turbulence spectra that were developed in the study of the bottom boundary layer of the atmosphere. The observations of turbulent fluxes allowed the closing of heat and momentum budgets across the air-sea interface. The observations also show that flux-carrying eddies are similar in size to those expected in rigid-boundary turbulence, but that energy-containing eddies are smaller than those in rigid-boundary turbulence. This suggests that the relationship between turbulent kinetic energy, depth, and turbulent diffusivity are different in the ocean surface boundary layer than in rigid-boundary turbulence. The observations confirm previous speculation that surface wave breaking provides a surface source of turbulent kinetic energy that is transported to depth where it dissipates. A model that includes the effects of shear production, wave breaking and dissipation is able to reproduce the enhancement of turbulent kinetic energy near the wavy ocean surface. However, because of the different length scale relations in the ocean surface boundary layer, the empirical constants in the energy model are different from the values that are used to model rigid-boundary turbulence. The ocean surface boundary layer is observed to have small but finite temperature gradients that are related to the boundary fluxes of heat and momentum, as assumed by closure models. However, the turbulent diffusivity of heat in the surface boundary layer is larger than predicted by rigid-boundary closure models. Including the combined effects of wave breaking, stress, and buoyancy forcing allows a closure model to predict the turbulent diffusivity for heat in the ocean surface boundary layer. / by Gregory Peter Gerbi. / 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), 2009. / Includes bibliographical references (p. 88-91). / The work presented in this thesis addresses the problem of the detection, classification and localization of seabed objects in shallow water environments using a time reversal approach in a bistatic configuration. The waveguide is insonified at low frequency ('kHz) with an omnidirectional source and the resulting scattered field is sampled by a receiving array towed behind an Autonomous Underwater Vehicle (AUV). The recorded signals are then processed to simulate onboard the AUV, the time reversed transmissions which serve to localize the origin of the scattered field on the seabed and estimate the position of the targets present. The clutter rejection based upon the analysis of the singular values of the Time Reversal operator is investigated with simulated data and field measurements collected off the coast of Palmaria (Italy) in January 2008. / by Alexis J. Dumortier. / S.M.

Quando ocorrem solicitações dinâmicas nos solos, torna-se indispensável a determinação do módulo de cisalhamento máximo (Go) para elaboração de projetos de Engenharia Geotécnica. Este parâmetro pode ser determinado a partir da velocidade de propagação das ondas S (Vs). Em campo, os ensaios mais empregadas para determinação de Vs são o cross-hole e o down-hole. O down-hole tem sido bastante empregado com a incorporação de geofones em ponteiras de piezocone. Esse ensaio tem se mostrado uma maneira rápida, econômica e muito confiável para determinação de Go, apresentando resultados consistentes com os obtidos no ensaio cross-hole. O objetivo deste trabalho é o desenvolvimento de um sistema para realização do ensaio sísmico down-hole e sua implantação. Inúmeros ensaios foram realizados no campus da Universidade Estadual Paulista, em Bauru/SP a fim de testar os procedimentos para execução do ensaio, os equipamentos utilizados e as técnicas de interpretação, onde se observou que a manutenção do eixo de vibração dos geofones paralelo a direção de aplicação do golpe foi o fator que mais influenciou na qualidade dos sinais. Para analisar a resposta dos geofones instalados na ponteira desenvolvida, realizaram-se ensaios em laboratório, onde se verificou que os geofones apresentavam resposta idêntica ao dos acelerômetro de referência. Por fim, foram realizados ensaios em três campos experimentais no interior do Estado de São Paulo, onde estão disponíveis resultados de ensaios cross-hole e ensaios down-hole realizados com equipamentos comerciais. Os resultados obtidos com o sistema desenvolvido nestes campos permitiram validar o sistema desenvolvido. / In the design stages of geotechnical engineering of a given project, it is imperative to ascertain the maximum shear modulus (Go) of those soils experiencing dynamic loads. One common method to determine Go is to measure shear wave velocity. Most field experiments are the cross-hole and down-hole tests to determine the velocity of shear waves. The downhole test has been widely used in conjunction with geophones placed behind the tip of piezocones. The down-hole test has proven to be a fast, economic, and very reliable method to determine Go, it has produced data consistent with results obtained in cross-hole tests. The objective of this work is to present a comprehensive system for the down-hole test, which includes its implementation, execution, and the interpretation of data collected. Several tests were performed at the campus of Universidade Estadual Paulista, UNESP, in Bauru, S.P. The objective of those experiments was to test the execution procedures and method of interpretation. It was observed the quality of the results obtained was chiefly dependent on maintaining the axis of vibration of the geophones parallel to the direction of application of the original blow. The analysis of the response by the geophones installed at the tip of the cone included experiments performed at the laboratory, where it was observed that the geophones responded identically to those accelerometers used as reference. Further, downhole experiments using system proposed here were performed in three experimental research sites of the state of São Paulo. The objective was to compare results to the data available in literature, which were obtained using commercial SCPT equipment and cross-hole tests. The down-hole testswere performed within the guidelines of the system proposed here and the results of the experiment served to corroborate the suitability of the developed system.