Path-following is a primary task for most marine, air or space crafts, especially during autonomous operations. Research on autonomous underwater vehicles (AUV) has received large interests in the last few decades with research incentives emerging from the safe, cost-effective and practical solutions provided by their applications such as search and rescue, inspection and monitoring of pipe-lines ans sub-sea structures. This thesis presents a novel guidance system based on the popular line-of-sight (LOS) guidance law for path-following (PF) of underwater vehicles (UVs) subject to environmental disturbances. Mathematical modeling and dynamics of (UVs) is presented first. This is followed by a comprehensive literature review on guidance-based path-following control of marine vehicles, which includes revised definitions of the track-errors and more detailed illustrations of the general PF problem. A number of advances on relative equations of motion are made, which include an improved understanding of the fluid FLOW frame and expression of its motion states, an analytic method of modeling the signs of forces and moments and the proofs of passivity and boundedness of relative UV systems in 3-D. The revision in the relative equations of motion include the concept of state relativity, which is an improved understanding of relativity of motion states expressed in reference frames and is also useful in incorporating environmental disturbances. In addition, the concept of drift rate is introduced along with a revision on the angles of motion in 3-D. A switching mechanism was developed to overcome a drawback of a LOS guidance law, and the linear and nonlinear stability results of the LOS guidance laws have been provided, where distinctions are made between straight and curved PF cases. The guidance system employs the unique formulation and solution of the speed allocation problem of allocating a desired speed vector into x and y components, and the course control that employs the slip angle for desired heading for disturbance rejection. The guidance system and particularly the general course control problem has been extended to 3-D with the new definition of vertical-slip angle. The overall guidance system employing the revised relative system model, course control and speed allocation has performed well during path-following under strong ocean current and/or wave disturbances and measurement noises in both 2-D and 3-D scenarios. In 2-D and 3-D 4 degrees-of-freedom models (DOF), the common sway-underactuated and fully actuated cases are considered, and in 3-D 5-DOF model, sway and heave underactuated and fully actuated cases are considered. Stability results of the LOS guidance laws include the semi-global exponential stability (SGES) of the switching LOS guidance and enclosure-based LOS guidance for straight and curved paths, and SGES of the loolahead-based LOS guidance laws for curved paths. Feedback sliding mode and PID controllers are applied during PF providing a comparison between them, and simulations are carried out in MatLab.

A comprehensive study was performed to overcome the design issues related to Ocean Current Turbine (OCT) blades. Statistical ocean current models were developed in terms of the probability density function, the vertical profile of mean velocity, and the power spectral density. The models accounted for randomness in ocean currents, tidal effect, and ocean depth. The proposed models gave a good prediction of the velocity variations at the Florida Straits of the Gulf Stream. A novel procedure was developed to couple Fluid-Structure Interaction (FSI) with blade element momentum theory. The FSI effect was included by considering changes in inflow velocity, lift and drag coefficients of blade elements. Geometric non-linearity was also considered to account for large deflection. The proposed FSI analysis predicted a power loss of 3.1 % due to large deflection of the OCT blade. The method contributed to saving extensive computational cost and time compared to a CFD-based FSI analysis. The random ocean current loadings were calculated by considering the ocean current turbulence, the wake flow behind the support structure, and the velocity shear. The random ocean current loadings had large probability of high stress ratio. Fatigue tests of GFRP coupons and composite sandwich panels under such random loading were performed. Fatigue life increased by a power function for GFRP coupons and by a linearlog function for composite sandwich panels as the mean velocity decreased. To accurately predict the fatigue life, a new fatigue model based on the stiffness degradation was proposed. Fatigue life of GFRP coupons was predicted using the proposed model, and a comparison was made with experimental results. As a summary, a set of new design procedures for OCT blades has been introduced and verified with various case studies of experimental turbines. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2017. / FAU Electronic Theses and Dissertations Collection

Thesis: Ph. D., Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 2019 / Cataloged from PDF version of thesis. "The pagination in this thesis reflects how it was delivered to the Institute Archives and Special Collections. TOC pagination for Bibliography section is off by one page"--Disclaimer Notice page. / Includes bibliographical references (pages 115-123). / Submesoscale currents, with horizontal length scales of 1-20 km, are an important element of upper ocean dynamics. These currents play a crucial role in the horizontal and vertical redistribution of tracers, the cascade of tracer variance to smaller scales, and in linking the mesoscale circulation with the dissipative scales. This thesis investigates submesoscale flows and their properties using Lagrangian trajectories of observed and modeled drifters. We analyze statistics of observed drifter pairs to characterize turbulent dispersion at submeso-scales. Contrary to theoretical expectations, we find that nonlocal velocity gradients associated with mesoscale eddies dominate the separation of drifters even at the kilometer scale. At submeso-scales, we observe energetic motions, such as near-inertial oscillations, that contribute to the energy spectrum but are inefficient at dispersion. / Using trajectories in a model of submesoscale turbulence, we find that, if drifters have a vertical separation, vertical shear dominates the dispersion and conceals horizontal dispersion regimes from drifter observations. Particularly in submesoscale flows, vertical shear is orders of magnitude larger than horizontal gradients in velocity. Since conventional drifters in the ocean are not affected by vertical shear, it is likely that drifter-derived diffusivity underestimates the diffusivity that a tracer would experience. Lastly, we test and apply cluster-based methods, using three or more drifters, to estimate the velocity gradient tensor. Since velocity gradients become large at submesoscales, the divergence, strain, and vorticity control the evolution and deformation of clusters of drifters. Observing the velocity gradients using drifters, enables us to further constrain the governing dynamics and decipher submesoscale motions from inertia-gravity waves. / These insights provide a Lagrangian perspective on submesoscale flows that illuminates scales that are challenging to observe from other platforms. We reveal observational and theoretical challenges that need to be overcome in future investigations. / "Funded by the National Science Foundation (OCE-I434788) and the Office of Naval Research (N00014-13-1-0451, Grant N00014-16-1-2470)"--Page 5 / by Sebastian Essink. / Ph. D. / Ph.D. Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution)

As part of a beach erosion field experiment conducted at Cape Hatteras, NC in February 2010, this study focuses on quantifying longshore currents, which are the basic mechanism that drives longshore sediment transport. Using video imagery, the longshore currents in view of a video camera are estimated with the Optical Current Meter technique and the nearshore morphology is estimated by analyzing breaking wave patterns in standard deviation images. During a Nor‟easter storm event on February 12 and 13, 2010, the video longshore currents are compared to in situ data and it is found that the currents are most affected by the angle of incidence of incoming waves, increasing in magnitude as the angle becomes more oblique due to a larger component of radiation stress forcing in the longshore direction. The magnitude of the radiation stress forcing, which is at least an order of magnitude larger than the surface wind stress, increases as wave height increases or tide level decreases, which causes more wave breaking to occur. The normalized standard deviation images show wave breaking occurring at an inshore and offshore location, corresponding closely to the locations of an inner and outer bar indicated in survey data. Using two profiles from the survey data, one profile that intersects a trough and one that intersects a terrace, the video currents are also compared to currents simulated in one-dimension using the circulation module, SHORECIRC, and the wave module, REF/DIF-S, as part of the NearCoM system. Although the simulated currents greatly underpredict the video currents when the flow is only driven by radiation stresses, a mean water level difference between the two profiles creates a longshore pressure gradient. Superimposing a pressure gradient forcing term into the longshore momentum balance that assumes an equilibrium state of the flow, the magnitude of the simulated currents are much larger than the magnitude of the video estimated currents. Using analytical solutions of simplified forms of the mass and momentum equations to determine the effects of accelerations on the flow, it is seen that the acceleration term greatly affects the flow due to the relatively large mean water level difference that acts over a relatively short distance. Therefore, the pressure gradient forcing term is modified to include the effects of accelerations. By including the two-dimensional effects of the acceleration in the one-dimensional model through the modified pressure gradient, the quasi two-dimensional model simulated currents are very similar to the video estimated currents, indicating that the currents observed in the video may be pressure gradient driven.

No description available.

Currents and sea level fluctuations in the Avalon Channel, driven over a broad range of time scales by buoyancy forces, atmospheric pressure, and wind stress, are described and compared with dynamical theory. / Seasonal fluctuations in adjusted coastal sea level at St. John's are shown to be consistent with steric height and bottom pressure variations 3 km offshore in a depth of 180 m. / Low frequency fluctuations (periods of 7-50 d) in observed Avalon Channel currents and water properties suggest the presence of a baroclinically-unstable, buoyancy-driven coastal current. A kinematic analysis of the current fluctuations reveals an eddy structure resembling that predicted for baroclinically-unstable waves on a longshore current with the density stratification and vertical shear observed in the fall. / Cross-spectral analysis of St. John's sea level and meteorological records, and Avalon Channel steric height estimates, shows that sea level responds isostatically to atmospheric pressure forcing at periods longer than 2 days, and to seasonal changes in steric height. Adjusted sea level responds 180 degrees out-of-phase to forcing by longshore wind stress at periods longer than 2 days. Longshore current responds in-phase to longshore wind stress forcing, with surface intensification of the response close to shore. / Frequency response functions are derived from the shallow water equations of motion for the response of sea level and current to atmospheric pressure and wind stress forcing in homogeneous and two-layer, uniform-depth coastal ocean models, and in a homogeneous, step-shelf model. Linear bottom friction is assumed in the homogeneous ocean models. The phases of the observed sea level and current responses to wind stress suggest that the response is due to the existence of continental shelf waves originating at the northern edge of the Grand Banks, about 150 km away from the study site. The near-shore surface intensification of the current and sea level responses are consistent with the predictions of the two-layer uniform-depth model.

Typescript. Includes vita and abstract. Bibliography: Includes bibliographical references (leaves 57-64). Description: x, 64 leaves : ill. (some col.), maps ; 29 cm.

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)

Thesis (Ph. D.)--Joint Program in Physical Oceanography (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 2010. / "June 2010." Cataloged from PDF version of thesis. / Includes bibliographical references (p. 151-159). / The Labrador Sea, as one of a few places of deep water formation, plays an important role in the Meridional Overturning Circulation. While the interior of the Labrador Sea, where the deepest convection takes place, is known to experience variability on time scales ranging from days to decades, little is known about the variability of the other components of the Labrador Sea circulation - the boundary current system and the eddies that connect it with the interior. Using various types of in situ data combined with the surface flux and satellite altimetry data products, I studied the variability of both the boundary current system and the eddies on different time scales as well as their influence on the post-convective re-stratification of the Labrador Sea interior. The analysis presented in the thesis supports the result of the previous theoretical studies that argue that lateral fluxes, driven by the boundary current/interior gradients, play an important role in the post-convective restratification of the Labrador Sea. I found that both components of the boundary current, the surface West Greenland Current and the subsurface Irminger Current, have a strong seasonal cycle. In the spring both the West Greenland and Irminger Currents are colder and fresher than in the fall. However, the West Greenland Current is faster and thicker in the spring while the Irminger Current is the fastest and thickest in the fall. My analysis suggests that the observed seasonal changes in the velocity are primarily due to the baroclinic component of the current while the barotropic component remains nearly unchanged. The Subpolar Gyre, and the Labrador Sea in particular, have experienced a decline in the circulation accompanied by the warming of the water column over the last decades. I found that a similar trend is seen in the West Greenland Current system which slowed down from 1992 to 2004, primarily due to a decrease in the barotropic flow. At the same time, the subsurface Irminger Current has become warmer, saltier, and lighter, something that is also reflected in the properties of the eddies. Two years exhibited pronounced anomalies: in 1997 and 2003 the velocity, temperature and salinity of the Irminger Current abruptly increase with respect to the overall trend. Finally, I discuss the impacts of the boundary current changes on the lateral fluxes that are responsible for the restratification of the Labrador Sea and the properties of the interior. / by Tatiana Rykova. / Ph.D.

Thesis (Ph. D.)--Joint Program in Physical Oceanography (Massachusetts Institute of Technology, Dept. of Earth, Atmospheric, and Planetary Sciences; and the Woods Hole Oceanographic Institution), 1999. / Includes bibliographical references (leaves 129-139). / Observations of diapycnal mixing rates are examined and related to diapycnal advection for both double-diffusive and turbulent regimes. The role of double-diffusive mixing at the site of the North Atlantic Tracer Release Experiment is considered. The strength of salt-finger mixing is analyzed in terms of the stability parameters for shear and double-diffusive convection, and a nondimensional ratio of the thermal and energy dissipation rates. While the model for turbulence describes most dissipation occurring in high shear, dissipation in low shear is better described by the salt-finger model, and a method for estimating the salt-finger enhancement of the diapycnal haline diffusivity over the thermal diffusivity is proposed. Best agreement between tracer-inferred mixing rates and microstructure based estimates is achieved when the salt-finger enhancement of haline flux is taken into account. The role of turbulence occurring above rough bathymetry in the abyssal Brazil Basin is also considered. The mixing levels along sloping bathymetry exceed the levels observed on ridge crests and canyon floors. Additionally, mixing levels modulate in phase with the spring-neap tidal cycle. A model of the dissipation rate is derived and used to specify the turbulent mixing rate and constrain the diapycnal advection in an inverse model for the steady circulation. The inverse model solution reveals the presence of a secondary circulation with zonal character. These results suggest that mixing in abyssal canyons plays an important role in the mass budget of Antarctic Bottom Water. / by Louis Christopher St. Laurent. / Ph.D.