Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326239
W. Koterayama, T. Akamatsu
A motion controllable towed vehicle housing an acoustic Doppler current profiler, CO/sub 2/ analyzer and sensors for other physical and chemical measurements in the upper ocean mixed layer is being developed. The length of the towed vehicle is 3.84 m, breadth is 2.26 m, height 1.4 m and weight in air is 1000 kg, and the maximum submersible depth is designed as 200 m which is enough to research the ocean mixed layer. The data obtained are sent through a towing cable and analyzed by computer in real time on the mother ship.<>
{"title":"Development of a towed vehicle for physical and chemical measurement in the ocean upper mixed layer","authors":"W. Koterayama, T. Akamatsu","doi":"10.1109/OCEANS.1993.326239","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326239","url":null,"abstract":"A motion controllable towed vehicle housing an acoustic Doppler current profiler, CO/sub 2/ analyzer and sensors for other physical and chemical measurements in the upper ocean mixed layer is being developed. The length of the towed vehicle is 3.84 m, breadth is 2.26 m, height 1.4 m and weight in air is 1000 kg, and the maximum submersible depth is designed as 200 m which is enough to research the ocean mixed layer. The data obtained are sent through a towing cable and analyzed by computer in real time on the mother ship.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125210263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326114
R. Bostelman, James, Albus
A work platform suspended by six cables and controlled by six winches located on a vessel, can precisely control the position, velocity, and force of tools, grippers, and machinery in all six degrees of freedom (x, y, z, roll, pitch, and yaw) while the vessel is moving due to sea surface conditions. Based on the Robocrane, the platform can be maneuvered via operator controls (e.g. a joystick) for doing work without disturbance of the sea bottom by controlling the cable tensions and buoyancy of the work platform. Large forces and torques can be exerted with the work platform while being controlled from a remote position. Many applications are possible: from underwater laying/repair to construction, in other than mild weather conditions.<>
工作平台由六根缆绳悬挂，并由位于船上的六个绞车控制，可以精确控制工具，抓手和机械的位置，速度和力，在所有六个自由度(x, y, z，滚转，俯仰和偏航)，当船舶由于海面条件而移动时。基于Robocrane，该平台可以通过操作员控制(例如操纵杆)进行操作，通过控制电缆张力和工作平台的浮力，在不干扰海底的情况下进行工作。当从远程位置控制时，工作平台可以施加大的力和扭矩。除了在温和的天气条件下，它还可以应用于从水下铺设/修理到施工等许多领域
{"title":"Stability of an underwater work platform suspended from an unstable reference","authors":"R. Bostelman, James, Albus","doi":"10.1109/OCEANS.1993.326114","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326114","url":null,"abstract":"A work platform suspended by six cables and controlled by six winches located on a vessel, can precisely control the position, velocity, and force of tools, grippers, and machinery in all six degrees of freedom (x, y, z, roll, pitch, and yaw) while the vessel is moving due to sea surface conditions. Based on the Robocrane, the platform can be maneuvered via operator controls (e.g. a joystick) for doing work without disturbance of the sea bottom by controlling the cable tensions and buoyancy of the work platform. Large forces and torques can be exerted with the work platform while being controlled from a remote position. Many applications are possible: from underwater laying/repair to construction, in other than mild weather conditions.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131591609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326238
S. Latchman
This paper presents the results of a simulation study on steady state towing of a towbody at a depth of 200 meters and a speed of 10 knots. BCABLE, a three-dimensional dynamic cable simulation program was used to study the effect on tension and cable length of the cable parameters of specific gravity, diameter, and drag coefficients (Including cable fairings), and towbody parameters such as weight, lift and drag. This study is applicable to route survey operations for mine countermeasures (MCM) and other side scan sonar search and survey operations using the new multi-beam side scan sonars.<>
{"title":"Effect of cable and towbody parameters on tension and cable length when towing at 200 m depths and 10 knots","authors":"S. Latchman","doi":"10.1109/OCEANS.1993.326238","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326238","url":null,"abstract":"This paper presents the results of a simulation study on steady state towing of a towbody at a depth of 200 meters and a speed of 10 knots. BCABLE, a three-dimensional dynamic cable simulation program was used to study the effect on tension and cable length of the cable parameters of specific gravity, diameter, and drag coefficients (Including cable fairings), and towbody parameters such as weight, lift and drag. This study is applicable to route survey operations for mine countermeasures (MCM) and other side scan sonar search and survey operations using the new multi-beam side scan sonars.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132403551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326007
M. Deffenbaugh, H. Schmidt, J. Bellingham
In the Spring of 1994, the dynamical and mechanical behavior of the Artic ice cover was studied from an ice camp deployed in the Beaufort Sea, 2-300 nm north of Prudoe Bay. The periodic measurement of the under-ice topography is a key component of the experiment, and the authors make use of autonomous underwater vehicle (AUV) technology to provide a cost effective alternative to the use of nuclear submarines. As a proof of concept, the AUV Odyssey was used to obtain ice-topographic data from areas located up to 10 km from the base camp. Accurate and reliable navigation is crucial to successful completion of the mission and recovery of the vehicle. The planned mission is described together with the associated requirements for vehicle technology, with particular emphasis on the development of a robust, very long baseline acoustic navigation system.<>
{"title":"Acoustic navigation for Arctic under-ice AUV missions","authors":"M. Deffenbaugh, H. Schmidt, J. Bellingham","doi":"10.1109/OCEANS.1993.326007","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326007","url":null,"abstract":"In the Spring of 1994, the dynamical and mechanical behavior of the Artic ice cover was studied from an ice camp deployed in the Beaufort Sea, 2-300 nm north of Prudoe Bay. The periodic measurement of the under-ice topography is a key component of the experiment, and the authors make use of autonomous underwater vehicle (AUV) technology to provide a cost effective alternative to the use of nuclear submarines. As a proof of concept, the AUV Odyssey was used to obtain ice-topographic data from areas located up to 10 km from the base camp. Accurate and reliable navigation is crucial to successful completion of the mission and recovery of the vehicle. The planned mission is described together with the associated requirements for vehicle technology, with particular emphasis on the development of a robust, very long baseline acoustic navigation system.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132522141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326233
J. Williams, D. Hills, D. Okazaki
The Mosaic Editor described provides a number of features to facilitate the construction, refinement, and viewing of digital, side-scan sonar mosaics. The visually oriented, interactive Mosaic Editor allows geologists and data technicians to interact with the mosaic. Specific features include the ability to concurrently view and edit both bathymetry and intensity image mosaics, rapid visual feedback, automatic storage of the algorithms and parameters used in data processing, and an integrated data analysis workbench. Problems associated with digital mosaic editing are primarily those of performance and result from the immense volumes of data. A prototype solution is described, and a second generation solution is discussed.<>
{"title":"An interactive swath mosaic editor in a visual programming environment","authors":"J. Williams, D. Hills, D. Okazaki","doi":"10.1109/OCEANS.1993.326233","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326233","url":null,"abstract":"The Mosaic Editor described provides a number of features to facilitate the construction, refinement, and viewing of digital, side-scan sonar mosaics. The visually oriented, interactive Mosaic Editor allows geologists and data technicians to interact with the mosaic. Specific features include the ability to concurrently view and edit both bathymetry and intensity image mosaics, rapid visual feedback, automatic storage of the algorithms and parameters used in data processing, and an integrated data analysis workbench. Problems associated with digital mosaic editing are primarily those of performance and result from the immense volumes of data. A prototype solution is described, and a second generation solution is discussed.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133691262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.325986
K. Heidorn, E. B. Bennett, S. Skey
An important tool in the assessment of ocean outfalls is the mathematical dispersion model. PLUMAxys has been designed as a comprehensive outfall dispersion model which may assess dispersion under a variety of environmental conditions and outfall configurations. It is capable of modelling effluents released from either single or multiport diffusers into a water column which may be stratified or unstratified. The column may be stagnant or flowing within a uniform or sheared current field. The density stratification and current speed and direction may also vary in space and time. PLUMAxys calculates the dispersion of the effluent plume from the outfall through the initial mixing region. The initial mixing region ends when vigorous mixing of the plume with ambient waters has subsided. The wastefield is said to be established and dispersion proceeds slowly thereafter. PLUMAxys predicts the degree of effluent dilution, the maximum rise of the effluent plume from the diffuser ports, the zone in which the plume is trapped, and the trajectory of the effluent from release to the establishment of the waste field flow regime.<>
{"title":"PLUMAxys-a comprehensive model for ocean outfall dispersion","authors":"K. Heidorn, E. B. Bennett, S. Skey","doi":"10.1109/OCEANS.1993.325986","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.325986","url":null,"abstract":"An important tool in the assessment of ocean outfalls is the mathematical dispersion model. PLUMAxys has been designed as a comprehensive outfall dispersion model which may assess dispersion under a variety of environmental conditions and outfall configurations. It is capable of modelling effluents released from either single or multiport diffusers into a water column which may be stratified or unstratified. The column may be stagnant or flowing within a uniform or sheared current field. The density stratification and current speed and direction may also vary in space and time. PLUMAxys calculates the dispersion of the effluent plume from the outfall through the initial mixing region. The initial mixing region ends when vigorous mixing of the plume with ambient waters has subsided. The wastefield is said to be established and dispersion proceeds slowly thereafter. PLUMAxys predicts the degree of effluent dilution, the maximum rise of the effluent plume from the diffuser ports, the zone in which the plume is trapped, and the trajectory of the effluent from release to the establishment of the waste field flow regime.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133750338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326198
M. Chaffey, A. Pearce, R. Herlien
MBARI is currently developing an electrically propelled remotely operated vehicle (ROV) designed to carry science payloads to 4000 meters ocean depth. Mission requirements for accurate navigation, precision maneuvering and extensive sensor capabilities place large demands on the data gathering and control system. The ROV must operate reliably in an extremely hostile ocean environment while retaining enough flexibility to support varied scientific missions for a decade or more. An ROV system architecture has been implemented that incorporates Hewlett Packard UNIX workstations, shipboard and vehicle mounted VMEbus and microcontroller based computers all linked to form a distributed data gathering and control network. In-water tests of the ROV have shown that a distributed, multiple processor system shows promise as a practical solution for interfacing the large number of sensors and actuators on a research ROV and provides considerable system adaptability.<>
{"title":"Distributed data and computing system on an ROV designed for ocean science","authors":"M. Chaffey, A. Pearce, R. Herlien","doi":"10.1109/OCEANS.1993.326198","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326198","url":null,"abstract":"MBARI is currently developing an electrically propelled remotely operated vehicle (ROV) designed to carry science payloads to 4000 meters ocean depth. Mission requirements for accurate navigation, precision maneuvering and extensive sensor capabilities place large demands on the data gathering and control system. The ROV must operate reliably in an extremely hostile ocean environment while retaining enough flexibility to support varied scientific missions for a decade or more. An ROV system architecture has been implemented that incorporates Hewlett Packard UNIX workstations, shipboard and vehicle mounted VMEbus and microcontroller based computers all linked to form a distributed data gathering and control network. In-water tests of the ROV have shown that a distributed, multiple processor system shows promise as a practical solution for interfacing the large number of sensors and actuators on a research ROV and provides considerable system adaptability.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117029292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326147
J. Illman, H. Milburn, R. Macdonald
The NOAA Vents program and Canada's Pacific Geoscience Centre and Institute of Ocean Sciences have recently collaborated in an effort to utilize Canada's HYSUB 5000 ROV in the study of hydrothermal venting and seafloor processes along a mid-ocean ridge. A navigation system has been developed to geodetically position the ROV over rough terrain in deep water using a long baseline acoustic net, differential GPS and software tailored to the needs of the operators and scientists. Ship positioning and station-keeping is a vital part of successful ROV operations and special considerations were given for operation from a non-dynamically positioned research vessel. With the growing acceptance of remotely operated vehicles for performing tasks previously allocated to manned submersibles, the demands on the navigation system have increased. To date, the navigation system has produced good geodetic results while the ROV has successfully sampled hot water vents, connected to a deeply moored instrument package for data retreival, collected biological samples and photographed large areas of the seafloor-all tasks previously performed by ALVIN in the VENTS and RIDGE research programs.<>
{"title":"An integrated system for navigation and positioning of an ROV for scientific exploration","authors":"J. Illman, H. Milburn, R. Macdonald","doi":"10.1109/OCEANS.1993.326147","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326147","url":null,"abstract":"The NOAA Vents program and Canada's Pacific Geoscience Centre and Institute of Ocean Sciences have recently collaborated in an effort to utilize Canada's HYSUB 5000 ROV in the study of hydrothermal venting and seafloor processes along a mid-ocean ridge. A navigation system has been developed to geodetically position the ROV over rough terrain in deep water using a long baseline acoustic net, differential GPS and software tailored to the needs of the operators and scientists. Ship positioning and station-keeping is a vital part of successful ROV operations and special considerations were given for operation from a non-dynamically positioned research vessel. With the growing acceptance of remotely operated vehicles for performing tasks previously allocated to manned submersibles, the demands on the navigation system have increased. To date, the navigation system has produced good geodetic results while the ROV has successfully sampled hot water vents, connected to a deeply moored instrument package for data retreival, collected biological samples and photographed large areas of the seafloor-all tasks previously performed by ALVIN in the VENTS and RIDGE research programs.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117023268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.325958
J. Gower
Because of their "all-weather" capability SAR images have the potential to greatly increase the number of days on which features indicating patterns of ocean and coastal circulation and mixing can be mapped from space. Under ESA and NASDA-approved projects, SAR images from ERS-1 and to a lesser extent from JERS-1, together with surface data from buoys, ships and surface stations, are being used to study the varying visibility of surfactant slicks, internal waves and coastal fronts on the continental shelf and in inlets of the west coast of Canada. Results show that SAR adds useful information, limited by the available image coverage, but that features can be successfully imaged only under rather restricted wind speed conditions.<>
{"title":"Surface feature visibility in ERS-1 SAR images of the west coast of Canada","authors":"J. Gower","doi":"10.1109/OCEANS.1993.325958","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.325958","url":null,"abstract":"Because of their \"all-weather\" capability SAR images have the potential to greatly increase the number of days on which features indicating patterns of ocean and coastal circulation and mixing can be mapped from space. Under ESA and NASDA-approved projects, SAR images from ERS-1 and to a lesser extent from JERS-1, together with surface data from buoys, ships and surface stations, are being used to study the varying visibility of surfactant slicks, internal waves and coastal fronts on the continental shelf and in inlets of the west coast of Canada. Results show that SAR adds useful information, limited by the available image coverage, but that features can be successfully imaged only under rather restricted wind speed conditions.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114916758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-10-18DOI: 10.1109/OCEANS.1993.326089
D. Caughey, R. Kirlin
Hydrophonic data was acquired from a submerged sensor array, and then analyzed with Daubechies wavelets to determine the existence and characteristics of an overhead breaking wave.<>
{"title":"Wavelet analysis of breaking wave data","authors":"D. Caughey, R. Kirlin","doi":"10.1109/OCEANS.1993.326089","DOIUrl":"https://doi.org/10.1109/OCEANS.1993.326089","url":null,"abstract":"Hydrophonic data was acquired from a submerged sensor array, and then analyzed with Daubechies wavelets to determine the existence and characteristics of an overhead breaking wave.<<ETX>>","PeriodicalId":130255,"journal":{"name":"Proceedings of OCEANS '93","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124053521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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