Monitoring the health status of coral reefs is a crucial activity in protecting the environment. One way is by conducting "Manta tow surveys." For a long time, these surveys were conducted by a diver holding a board being towed by a boat. In this thesis, we propose a new vehicle design that works as a platform to help conduct the "towboard" activities for underwater coral reef surveys. It utilizes paravane or depressor features which is a common tool used by fishermen to catch fish at a specified depth. The vehicle offers a compact size, modular design, and control surfaces to maneuver around and close to reef walls. The thesis describes the architecture of the overall system and its components, the design decisions, the mechanical interfaces, and a brief description of the dynamics. An experiment is conducted to validate the design and verify system performance, measuring pressure, speed, and orientation. The prototype is presented as a proof of concept.

<p>This thesis addresses the problem of source localization and time-varying spatial spectrum estimation with maneuverable arrays. Two applications, each having different environmental assumptions and array geometries, are considered: 1) passive broadband source localization with a rigid 2-sensor array in a shallow water, multipath environment and 2) time-varying spatial spectrum estimation with a large, flexible towed array. Although both applications differ, the processing scheme associated with each is designed to exploit array maneuverability for improved localization and detection performance.</p><p>In the first application considered, passive broadband source localization is accomplished via time delay estimation (TDE). Conventional TDE methods, such as the generalized cross-correlation (GCC) method, make the assumption of a direct-path signal model and thus suffer localization performance loss in shallow water, multipath environments. Correlated multipath returns can result in spurious peaks in GCC outputs resulting in large bearing estimate errors. A new algorithm that exploits array maneuverability is presented here. The multiple orientation geometric averaging (MOGA) technique geometrically averages cross-correlation outputs to obtain a multipath-robust TDE. A broadband multipath simulation is presented and results indicate that the MOGA effectively suppresses correlated multipath returns in the TDE.</p><p>The second application addresses the problem of field directionality mapping (FDM) or spatial spectrum estimation in dynamic environments with a maneuverable towed acoustic array. Array processing algorithms for towed arrays are typically designed assuming the array is straight, and are thus degraded during tow ship maneuvers. In this thesis, maneuvering the array is treated as a feature allowing for left and right disambiguation as well as improved resolution towards endfire. The Cramer Rao lower bound is used to motivate the improvement in source localization which can be theoretically achieved by exploiting array maneuverability. Two methods for estimating time-varying field directionality with a maneuvering array are presented: 1) maximum likelihood estimation solved using the expectation maximization (EM) algorithm and 2) a non-negative least squares (NNLS) approach. The NNLS method is designed to compute the field directionality from beamformed power outputs, while the ML algorithm uses raw sensor data. A multi-source simulation is used to illustrate both the proposed algorithms' ability to suppress ambiguous towed-array backlobes and resolve closely spaced interferers near endfire which pose challenges for conventional beamforming approaches especially during array maneuvers. Receiver operating characteristics (ROCs) are presented to evaluate the algorithms' detection performance versus SNR. Results indicate that both FDM algorithms offer the potential to provide superior detection performance in the presence of noise and interfering backlobes when compared to conventional beamforming with a maneuverable array.</p> / Dissertation

Precise and accurate species abundance and distribution data are important for making effective ecological conservation and management decisions. These data are often challenging to obtain, especially in marine environments where the logistical and technical difficulties of working underwater can limit the precision and accuracy of detection. The chosen survey methodology, along with the study design, will determine the extent to which species’ spatial or temporal variability in abundance and distribution may be investigated. Different observational methods may yield different results. I explore how the methodology used to collect sample measurements of fish abundance and diversity in marine environments can influence your understanding of the focal population and the effectiveness of spatial marine conservation measures. I compare inshore rockfish abundance and fish diversity estimates between paired towed video and baited video surveys and between dive and baited video surveys conducted on temperate rocky-reefs in the nearshore Northeast Pacific on the coast of British Columbia, Canada. I test if the baited video survey data yield equivalent insight to those data derived from the methods commonly used in shallow (dive surveys) and deeper waters (towed video surveys). Paired dive and baited video surveys took place inside and outside of spatial marine conservation areas designated for inshore rockfish called Rockfish Conservation Areas. I test whether the baited video data generate the same conclusions about Rockfish Conservation Area effectiveness as data derived from the dive surveys, and whether the Rockfish Conservation Areas have greater inshore rockfish abundance and fish diversity than paired locations outside the conservation areas. I find similar inshore rockfish abundance estimates between towed and baited video, but baited video surveys detect a greater number of unique species than the towed video surveys. The dive surveys detect greater inshore rockfish abundance and fish diversity than the baited video surveys, but the baited video data yield equivalent insight on Rockfish Conservation Area effectiveness to data derived from the dive surveys. I find little evidence that inshore rockfish recovery is influenced by Rockfish Conservation Area protection. When data were combined across all sites sampled, Rockfish Conservation Areas did not produce more inshore rockfish, bigger rockfish, or greater fish diversity than paired sites outside of Rockfish Conservation Areas, whether measured using a dive survey or a baited video survey. However, I did observe a positive effect of Rockfish Conservation Area protection for some of the individual Rockfish Conservation Areas surveyed that rated as having a high Conservation Score. This suggests certain Rockfish Conservation Areas may be effective conservation areas for inshore rockfish recovery. The differences I observe in inshore rockfish abundance and fish diversity between the paired surveys reveals the methodology used can influence species abundance and diversity estimates. Baited video surveys are a low cost and effort methodology that can be used to examine inshore rockfish abundance and fish diversity over rocky reefs from nearshore waters down to depths greater than 20 m, and to monitor the effectiveness of spatial marine conservation areas. / Graduate

Aerial recovery of autonomous micro air vehicles (MAVs) presents many unique challenges due to the difference in size and speed of the recovery vehicle and MAV. This thesis presents algorithms to enable an autonomous MAV to estimate the orbit of a recovery vehicle and track the orbit until the final docking phase. Methods for estimating ellipses that are rotated out of the x − y plane are developed and demonstrated through simulation. These algorithms are shown to be robust to noise and stable numerically. Parameter update methods that are computationally inexpensive, such as recursive least squares and Kalman filtering, are discussed and simulated. A discussion is given of orbit tracking algorithms for circular orbits, and these methods are expanded to include elliptical orbits. These algorithms enable the MAV to track the recovery vehicle's orbit, based on a vector field approach. The tracking algorithms are divided into lateral and longitudinal controllers that allow for tracking of inclined orbits. Finally, the hardware and software setup for live flight tests is discussed. Flight test results are given that validate the functionality of the orbit estimation and orbit tracking algorithms.

In this dissertation, we focus on the strategy that places and stabilizes the path of an aerial drogue, which is towed by a mothership aircraft using a long flexible cable, onto a horizontally flat orbit by maneuvering the mothership in the presence of wind. To achieve this goal, several studies for towed cable systems are conducted, which include the dynamic modeling for the cable, trajectory generation strategies for the mothership, trajectory-tracking control law design, and simulation and flight test implementations. First, a discretized approximation method based on finite element and lumped mass is employed to establish the mathematical model for the towed cable system in the simulation. Two approaches, Gauss's Principle and Newton's second law, are utilized to derive the equations of motion for inelastic and elastic cables, respectively. The preliminary studies for several key parameters of the system are conducted to learn their sensitivities to the system motion in the steady state. Flight test results are used to validate the mathematical model as well as to determine an appropriate number of cable links. Furthermore, differential flatness and model predictive control based methods are used to produce a mothership trajectory that leads the drogue onto a desired orbit. Different desired drogue orbits are utilized to generate required mothership trajectories in different wind conditions. The trajectory generation for a transitional flight in which the system flies from a straight and level flight into a circular orbit is also presented. The numerical results are presented to illustrate the required mothership orbits and its maneuverability in different wind conditions. A waypoint following based strategy for mothership to track its desired trajectory in flight test is developed. The flight test results are also presented to illustrate the effectiveness of the trajectory generation methods. In addition, a nonlinear time-varying feedback control law is developed to regulate the mothership to follow the desired trajectory in the presence of wind. Cable tensions and wind disturbance are taken into account in the design model and Lyapunov based backstepping technique is employed to develop the controller. The mothership tracking error is proved to be capable of exponentially converging to an ultimate bound, which is a function of the upper limit of the unknown component of the wind. The simulation results are presented to validate the controller. Finally, a trajectory-tracking strategy for unmanned aerial vehicles is developed where the autopilot is involved in the feedback controller design. The trajectory-tracking controller is derived based on a generalized design model using Lyapunov based backstepping. The augmentations of the design model and trajectory-tracking controller are conducted to involve the autopilot in the closed-loop system. Lyapunov stability theory is used to guarantee the augmented controller is capable of driving the vehicle to exponentially converge to and follow the desired trajectory with the other states remaining bounded. Numerical and Software-In-the-Loop simulation results are presented to validate the augmented controller. This method presents a framework of implementing the developed trajectory-tracking controllers for unmanned aerial vehicles without any modification to the autopilot.

The study focuses mainly on two gas hydrate-related targets, located on the Northern Cascadia Margin, offshore Vancouver Island: (1) a recently identified 70-80-m high carbonate mound, Cucumber Ridge, located ~3.5-km west of Ocean Drilling Program (ODP) Site 889 and Integrated Ocean Drilling Program (IODP) Site U1327, and (2) a large cold vent, Bullseye vent, which is up to ~500 m in diameter and was drilled by IODP at Site U1328. The objective of this thesis is to analyze seismic data that provide indicators of locally focused fluid flow and characteristics of the gas hydrate occurrence associated with these two features. A grid of closely-spaced single channel seismic (SCS) data was collected at Cucumber Ridge in July/August 2001, and deep-towed multichannel seismic (MCS) lines were collected using Deep-towed Acoustics and Geophysics System (DTAGS) at the Bullseye vent area and at Cucumber Ridge in October 2002. The high-resolution SCS data, with a frequency bandpass of 40-150 Hz, recorded coherent reflectivity down to about 400 m beneath the seafloor, and provide excellent images of the subseafloor structure of Cucumber Ridge and of the gas hydrate bottom-simulating reflector (BSR) beneath it. Cucumber Ridge is interpreted to have developed as a structural topographic high in the hanging wall of a large reverse fault formed at the base of the current seaward slope. The fault zone provides pathways for fluids including gas to migrate to the seafloor where diagenetic carbonate forms and cements the near-surface sediments. Over the seismic grid, heat flow was derived from the depth of the BSR. A simple 2-D analytical correction for theoretical heat flow variations due to topography is applied to the data. Across the mound, most of the variability in heat flow is explained by topographic effects, including a local 6 mW/m2 negative anomaly over the central mound and a large 20 mW/m2 positive anomaly over the mound steep side slope. However, just south of the mound, there is a 6-7 mW/m2 positive anomaly in a 2-km-long band that has predominantly flat seafloor. Most of this anomaly is probably unrelated to topographic effects, but rather likely due to warm upward fluid flow along faults or fracture zones. Towed ~300 m above seafloor, the high frequency (220-1k Hz) DTAGS signal can provide high vertical resolution images with increased lateral resolution. The major problems of DTAGS are significant nonlinear variations of the source depths and receivers locations. New routines were developed for optimal DTAGS data processing, mainly including (1) cable geometry estimation by node depths, direct arrivals and seasurface reflections using a Genetic Algorithm inversion method, (2) acoustic image stitching based on accurate relative-source positioning by crosscorrelation of redundant data between two adjacent shots, and (3) velocity inversion of wide-angle traveltimes using a nonlinear global grid search method. The final processed DTAGS images resolve multiple seismic blanking zones and fine details of subseafloor features in the slope sediments. At Bullseye vent, where a 35-m-thick near-surface massive hydrate layer was drilled at U1328, the DTAGS data resolved the upper part of layer as a dipping diffraction zone, likely corresponding to a fracture zone. The inverted velocity structure in upper 100 m sediments successfully revealed a 17-m-thick layer of high velocity (~1650 m/s) just below seafloor, probably related to carbonate presence. A local high velocity zone, with a positive velocity anomaly of ~40-80 m/s in the upper 50 m beneath seafloor, was observed over the ~100-m wide region between U1328 and the deepest part of a seafloor depression; the high velocity zone is consistent with the dipping diffraction zone in the DTAGS image and with the massive hydrate drilled at U1328.

In underwater tracking and surveillance, the active towed array sonar presents a way of discovering and tracking adversarial submerged targets that try to stay hidden. The configuration consist of listening and emitting hydrophones towed behind a ship. Moreover, it has inherent limitations, and the characteristics of sound in the ocean are complex. By varying the pulse form emitted and the trajectory of the ship the measurement accuracy may be improved. This type of optimization constitutes a sensor management problem. In this thesis, a model of the tracking scenario has been constructed derived from Cramér-Rao bound analyses. A model predictive control approach together with information measures have been used to optimize a filter's estimated state of the target. For the simulations, the MATLAB environment has been used. Different combinations of decision horizons, information measures and variations of the Kalman filter have been studied. It has been found that the accuracy of the Extended Kalman filter is too low to give consistent results given the studied information measures. However, the Unscented Kalman filter is sufficient for this purpose.