Pub Date : 2015-10-01DOI: 10.23919/OCEANS.2015.7401938
Kolja Pikora, F. Ehlers
This paper addresses the problem of hydrophone array shape estimation of a towed array system especially during maneuvers of the tow ship. Uncertainty in the position and velocity of each sensor of the array degrades the performance of a beamformer and, hence, leads to a loss of performance for the entire data processing chain, including target tracking and (if applicable) data fusion. A self-tuning approach is developed which uses information generated by automated target tracking during the period prior to the tow ship maneuver. This information is then used to perform a sequential tracking of the antenna system during the maneuver. The antenna tracking includes the estimation of the sensor positions which is implemented as a Gaussian sum filter. This approach allows to keep the handling of multi-target situations also during the turn. First results of validating the new approach in two simulated scenarios are presented, which indicate that the approach is capable of maintaining good tracking performance during the periods of tow ship maneuvers, whilst assuming only rough knowledge about the antenna in the beamforming leads to the expected performance loss. Tracking performance is expressed in terms of probability of detection and mean squared error of the target positions. For validation purposes, the sensitivity analysis of the new approach contains Monte Carlo (MC) selections of parameters describing both the tow ship maneuver and the multi-target setup.
{"title":"Self-tuning active sonar signal processing for a towed hydrophone array during a turn","authors":"Kolja Pikora, F. Ehlers","doi":"10.23919/OCEANS.2015.7401938","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401938","url":null,"abstract":"This paper addresses the problem of hydrophone array shape estimation of a towed array system especially during maneuvers of the tow ship. Uncertainty in the position and velocity of each sensor of the array degrades the performance of a beamformer and, hence, leads to a loss of performance for the entire data processing chain, including target tracking and (if applicable) data fusion. A self-tuning approach is developed which uses information generated by automated target tracking during the period prior to the tow ship maneuver. This information is then used to perform a sequential tracking of the antenna system during the maneuver. The antenna tracking includes the estimation of the sensor positions which is implemented as a Gaussian sum filter. This approach allows to keep the handling of multi-target situations also during the turn. First results of validating the new approach in two simulated scenarios are presented, which indicate that the approach is capable of maintaining good tracking performance during the periods of tow ship maneuvers, whilst assuming only rough knowledge about the antenna in the beamforming leads to the expected performance loss. Tracking performance is expressed in terms of probability of detection and mean squared error of the target positions. For validation purposes, the sensitivity analysis of the new approach contains Monte Carlo (MC) selections of parameters describing both the tow ship maneuver and the multi-target setup.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123883445","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404482
Y. Nakajima, B. Thornton, Takumi Sato
This paper describes experiments carried out to investigate the application of Laser-Induced Breakdown Spectroscopy (LIBS) to measure the metal grade of seafloor massive sulfides in situ as part of a deep-sea mineral processing system. In the experiment, particles of sulfide minerals containing metallic elements such as copper, lead and zinc were used. The measurements were performed in bulk liquids containing ore particles dispersed in slurry and on particles that were fixed on an aluminum plate submerged in water. Well-resolved spectra were obtained from both the dispersed and the fixed particles. However, the ratio of well-resolved spectra was significantly higher for the fixed particles than those dispersed in slurry. The results are promising for in-situ assessment of metal grade during seafloor mineral processing, but suggest that it is necessary to manipulate the particles so that they are concentrated near the focal point of the laser and do not obstruct the laser path.
{"title":"Application of Laser-Induced Breakdown Spectroscopy for in-situ measurement of metal grade for seafloor mineral processing","authors":"Y. Nakajima, B. Thornton, Takumi Sato","doi":"10.23919/OCEANS.2015.7404482","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404482","url":null,"abstract":"This paper describes experiments carried out to investigate the application of Laser-Induced Breakdown Spectroscopy (LIBS) to measure the metal grade of seafloor massive sulfides in situ as part of a deep-sea mineral processing system. In the experiment, particles of sulfide minerals containing metallic elements such as copper, lead and zinc were used. The measurements were performed in bulk liquids containing ore particles dispersed in slurry and on particles that were fixed on an aluminum plate submerged in water. Well-resolved spectra were obtained from both the dispersed and the fixed particles. However, the ratio of well-resolved spectra was significantly higher for the fixed particles than those dispersed in slurry. The results are promising for in-situ assessment of metal grade during seafloor mineral processing, but suggest that it is necessary to manipulate the particles so that they are concentrated near the focal point of the laser and do not obstruct the laser path.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123903122","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404376
C. Haskins, O. Schofield
Slocum Gliders have proven their usefulness in providing large volumes of high definition data but for the first time we were able to couple that with a FIRe system and look at the efficiency rates of phytoplankton in a hard to sample region of the world. The FIRe equipped glider allowed for high spatial and temporal resolution of physiological data vs. discrete samples taken with the traditional Go-Flo/Niskan bottle method and/or continuous flow through surface sampling via ships. We have identified numerous quality control measures that will need to be furthur explored for continued success of the sensor. While the FIRe sensor is an energy intensive system, operating intelligently will maximize data quality and mission endurance. Possible sensor revisons such as the addition of a shroud are being considered to help with NPQ.
{"title":"Glider measurements of phytoplankton physiology in penguin foraging zones along the Western Antarctic Peninsula","authors":"C. Haskins, O. Schofield","doi":"10.23919/OCEANS.2015.7404376","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404376","url":null,"abstract":"Slocum Gliders have proven their usefulness in providing large volumes of high definition data but for the first time we were able to couple that with a FIRe system and look at the efficiency rates of phytoplankton in a hard to sample region of the world. The FIRe equipped glider allowed for high spatial and temporal resolution of physiological data vs. discrete samples taken with the traditional Go-Flo/Niskan bottle method and/or continuous flow through surface sampling via ships. We have identified numerous quality control measures that will need to be furthur explored for continued success of the sensor. While the FIRe sensor is an energy intensive system, operating intelligently will maximize data quality and mission endurance. Possible sensor revisons such as the addition of a shroud are being considered to help with NPQ.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114525629","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401885
A. Spears, A. Howard, M. West, Thomas Collins
The exploration of under-ice environments has seen increased interest over the past few years due to advances in technological capabilities, such as autonomous underwater vehicles (AUVs), as well as interest in exploration of polar regions and Jupiter's ice-covered moon Europa. Searching for interesting features under the ice, including animals capable of sustaining life in such harsh environments, is of great interest in both polar (Antarctica) and planetary (Europa) domains. Underice environments, such as those encountered beneath the Antarctic ice shelves, are largely devoid of such features and tend to be monochromatic centered on the blues of the ice. Postprocessing of under-ice datasets can be very tedious for human analysts. Presented here are algorithms to aid in the postprocessing of such large and mostly featureless datasets. Two novel algorithms are presented here which use point-feature detections in video frames to estimate texture (number and spread of features) and anomaly locations (dense groupings of features). Two additional algorithms are proposed which use hue-based methods to estimate the percentage of non-ice pixels present in the video frames and to detect anomalous colored pixel groups corresponding to candidate anomalies against the background of the ice. These algorithms are presented herein along with results from testing with both simulated and realworld under-ice video datasets.
{"title":"Automatic texture and anomaly mapping in under-ice video datasets","authors":"A. Spears, A. Howard, M. West, Thomas Collins","doi":"10.23919/OCEANS.2015.7401885","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401885","url":null,"abstract":"The exploration of under-ice environments has seen increased interest over the past few years due to advances in technological capabilities, such as autonomous underwater vehicles (AUVs), as well as interest in exploration of polar regions and Jupiter's ice-covered moon Europa. Searching for interesting features under the ice, including animals capable of sustaining life in such harsh environments, is of great interest in both polar (Antarctica) and planetary (Europa) domains. Underice environments, such as those encountered beneath the Antarctic ice shelves, are largely devoid of such features and tend to be monochromatic centered on the blues of the ice. Postprocessing of under-ice datasets can be very tedious for human analysts. Presented here are algorithms to aid in the postprocessing of such large and mostly featureless datasets. Two novel algorithms are presented here which use point-feature detections in video frames to estimate texture (number and spread of features) and anomaly locations (dense groupings of features). Two additional algorithms are proposed which use hue-based methods to estimate the percentage of non-ice pixels present in the video frames and to detect anomalous colored pixel groups corresponding to candidate anomalies against the background of the ice. These algorithms are presented herein along with results from testing with both simulated and realworld under-ice video datasets.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121569679","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404529
C. A. Adenya, H. Ren, Chuan-Dong Qing
The need to benefit from economy of scale has driven the design of larger and larger ships with increasing tonnage. The hull structures of large ships are more flexible and the natural frequencies of the hull girder can even fall within the range of wave encounter frequencies resulting in the resonance phenomenon termed springing. A numerical linear hydroelastic investigation of the wave induced motion and load responses of a 400,000 dead weight tonnage (DWT) ore carrier is carried out in this work using an in-house program: Linear Elastic Compass Wave Loads Calculation System (WALCS-LE). The full load condition at different ship speeds, wave lengths and incident wave headings in regular waves is investigated. Long term predictions are also made. It is imperative to account for springing loads and the probable extreme motions and loads at the design stage of large ships to ensure their endurance and safety at sea.
{"title":"Numerical analysis of the motion and load responses of a 400,000 DWT ore carrier in waves","authors":"C. A. Adenya, H. Ren, Chuan-Dong Qing","doi":"10.23919/OCEANS.2015.7404529","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404529","url":null,"abstract":"The need to benefit from economy of scale has driven the design of larger and larger ships with increasing tonnage. The hull structures of large ships are more flexible and the natural frequencies of the hull girder can even fall within the range of wave encounter frequencies resulting in the resonance phenomenon termed springing. A numerical linear hydroelastic investigation of the wave induced motion and load responses of a 400,000 dead weight tonnage (DWT) ore carrier is carried out in this work using an in-house program: Linear Elastic Compass Wave Loads Calculation System (WALCS-LE). The full load condition at different ship speeds, wave lengths and incident wave headings in regular waves is investigated. Long term predictions are also made. It is imperative to account for springing loads and the probable extreme motions and loads at the design stage of large ships to ensure their endurance and safety at sea.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114709718","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404460
S. Nishida, N. Matsubara, T. Fujii, T. Fukuba, M. Kyo
We developed a novel underwater atomic force microscopy (UAFM) system that is mountable on underwater vehicles or submersible seafloor platforms. This system is intended for in situ observation of microorganisms and microparticulates suspended and dispersed in deepwater near hydrothermally active features, with nanometer-scale spatial resolution. The system is composed of several technological elements: the main unit of the UAFM system, fluidic devices for sample collection from deepwater (e.g., pumps and a filtration unit equipped with membrane filters), and robust mounting mechanisms for the underwater vehicles or submersible seafloor platforms. We also use a commercially available self-sensitive cantilever as the AFM probe to detect cantilever deflection. To insulate the integrated piezoresistive gauges on the cantilever surface from the seawater under high pressure in deep sea, we applied thin coatings of poly(p-xylylene) polymer (Parylene) onto the cantilever surface. We successfully balanced the imaging quality and insulation performance by optimizing the conditions of the layer formation, i.e., the Parylene dimer type, temperature, and final layer thickness. Moreover, we invented a novel UAFM sample stage equipped with a sample filtration system based on membrane filters. To demonstrate the effectiveness of the sample stage with membrane filters in deep sea exploration, microorganisms suspended and dispersed in deepwater were successfully collected and fixed on the membrane filter. The developed UAFM system would be a useful tool for in situ observation of living microorganisms and microparticulates at nanoscale spatial resolution, possibly leading to new findings in deep sea.
{"title":"Underwater atomic force microscope","authors":"S. Nishida, N. Matsubara, T. Fujii, T. Fukuba, M. Kyo","doi":"10.23919/OCEANS.2015.7404460","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404460","url":null,"abstract":"We developed a novel underwater atomic force microscopy (UAFM) system that is mountable on underwater vehicles or submersible seafloor platforms. This system is intended for in situ observation of microorganisms and microparticulates suspended and dispersed in deepwater near hydrothermally active features, with nanometer-scale spatial resolution. The system is composed of several technological elements: the main unit of the UAFM system, fluidic devices for sample collection from deepwater (e.g., pumps and a filtration unit equipped with membrane filters), and robust mounting mechanisms for the underwater vehicles or submersible seafloor platforms. We also use a commercially available self-sensitive cantilever as the AFM probe to detect cantilever deflection. To insulate the integrated piezoresistive gauges on the cantilever surface from the seawater under high pressure in deep sea, we applied thin coatings of poly(p-xylylene) polymer (Parylene) onto the cantilever surface. We successfully balanced the imaging quality and insulation performance by optimizing the conditions of the layer formation, i.e., the Parylene dimer type, temperature, and final layer thickness. Moreover, we invented a novel UAFM sample stage equipped with a sample filtration system based on membrane filters. To demonstrate the effectiveness of the sample stage with membrane filters in deep sea exploration, microorganisms suspended and dispersed in deepwater were successfully collected and fixed on the membrane filter. The developed UAFM system would be a useful tool for in situ observation of living microorganisms and microparticulates at nanoscale spatial resolution, possibly leading to new findings in deep sea.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124476746","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404371
D. Aragon, S. Glenn, T. Miles, R. Curry
Operating remote platforms such as gliders in extreme events will continue to provide insightful measurements and observations. In parallel advancement, sensor development and integration will bring new sensors to AUV's that will help scientists answer questions they didn't have the means to observe prior. New sensors often have increasing complexity as well since often scaling down is the largest technical challenge. Early gliders flew just a CTD sensor and that yielded some victories. However, multiple ADCP units by Nortek and Teledyne, as well as water quality sensors such as nitrate, and phytoplankton productivity (FIRE) sensors from Satlantic are all ready for glider use. Turbulence probes such as the Rockland Scientific Microrider can be mounted on top of gliders. Using these complex sensors in extreme events could have unintended effects and should be accounted for in operation. For example large roll and pitch movements could yield errors in ADCP measurements from gliders, especially in vertical water velocities [5]. Proper operation of the vehicle could alleviate some of the effects seen, especially in pitch fluctuations or at least allow predictive behavior. Onboard accelerometers may assist in understanding these effects and provide new insight. Additional understanding as to the response time and accuracy of the onboard attitude sensor will continue to be paramount. Open ocean current profiling gliders could perhaps benefit from upward looking instruments which would sense turbulent water while swimming in still water. This would only have benefits in situations where bottom track would always be impossible.
{"title":"Glider performance during Hurricane Gonzalo","authors":"D. Aragon, S. Glenn, T. Miles, R. Curry","doi":"10.23919/OCEANS.2015.7404371","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404371","url":null,"abstract":"Operating remote platforms such as gliders in extreme events will continue to provide insightful measurements and observations. In parallel advancement, sensor development and integration will bring new sensors to AUV's that will help scientists answer questions they didn't have the means to observe prior. New sensors often have increasing complexity as well since often scaling down is the largest technical challenge. Early gliders flew just a CTD sensor and that yielded some victories. However, multiple ADCP units by Nortek and Teledyne, as well as water quality sensors such as nitrate, and phytoplankton productivity (FIRE) sensors from Satlantic are all ready for glider use. Turbulence probes such as the Rockland Scientific Microrider can be mounted on top of gliders. Using these complex sensors in extreme events could have unintended effects and should be accounted for in operation. For example large roll and pitch movements could yield errors in ADCP measurements from gliders, especially in vertical water velocities [5]. Proper operation of the vehicle could alleviate some of the effects seen, especially in pitch fluctuations or at least allow predictive behavior. Onboard accelerometers may assist in understanding these effects and provide new insight. Additional understanding as to the response time and accuracy of the onboard attitude sensor will continue to be paramount. Open ocean current profiling gliders could perhaps benefit from upward looking instruments which would sense turbulent water while swimming in still water. This would only have benefits in situations where bottom track would always be impossible.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126543768","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404512
J. Kurt, J. A. Runfola, A. G. Richardson
The object of this paper is to provide guidance in getting the cable you want that provides the performance you need. Getting the cable you need requires a disciplined Project Quality approach through the whole project from conceptual design to final test. The following sections describe getting the requirements right, passing the requirements to the cable supplier, and managing the cable supplier through manufacture and test.
{"title":"Getting the undersea cable you need","authors":"J. Kurt, J. A. Runfola, A. G. Richardson","doi":"10.23919/OCEANS.2015.7404512","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404512","url":null,"abstract":"The object of this paper is to provide guidance in getting the cable you want that provides the performance you need. Getting the cable you need requires a disciplined Project Quality approach through the whole project from conceptual design to final test. The following sections describe getting the requirements right, passing the requirements to the cable supplier, and managing the cable supplier through manufacture and test.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"2011 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128082707","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404429
J. Burnett, F. Rack, B. Zook, B. Schmidt
Investigation of sub-ice aquatic environments on Earth requires highly specialized methods. While ice offers a convenient stable platform for deployment of remotely operated vehicles, tethered vehicles with traditional cuboid form-factors require large diameter holes through the ice that would necessitate impractical logistics for ice-drilling support. Access beneath the front of an ice shelf edge is possible with traditional ship deployed underwater vehicles, however the operational range is generally limited, and exploring the water column towards the grounding zone of larger ice shelves involves distances of hundreds of kilometers, which is beyond the effective range of current autonomous or tethered systems. Many such sub-ice environments are found on and around the continent of Antarctica but only a handful of underwater vehicles have been successfully used in Antarctica to date, which has limited the extent of scientific investigation in these restricted environments. Borehole vehicles have been successfully demonstrated in the past, and we describe here a significant improvement on their past depth and sensorial capability.
{"title":"Development of a borehole deployable remotely operated vehicle for investigation of sub-ice aquatic environments","authors":"J. Burnett, F. Rack, B. Zook, B. Schmidt","doi":"10.23919/OCEANS.2015.7404429","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404429","url":null,"abstract":"Investigation of sub-ice aquatic environments on Earth requires highly specialized methods. While ice offers a convenient stable platform for deployment of remotely operated vehicles, tethered vehicles with traditional cuboid form-factors require large diameter holes through the ice that would necessitate impractical logistics for ice-drilling support. Access beneath the front of an ice shelf edge is possible with traditional ship deployed underwater vehicles, however the operational range is generally limited, and exploring the water column towards the grounding zone of larger ice shelves involves distances of hundreds of kilometers, which is beyond the effective range of current autonomous or tethered systems. Many such sub-ice environments are found on and around the continent of Antarctica but only a handful of underwater vehicles have been successfully used in Antarctica to date, which has limited the extent of scientific investigation in these restricted environments. Borehole vehicles have been successfully demonstrated in the past, and we describe here a significant improvement on their past depth and sensorial capability.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125585488","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404412
H. Tonchia
This document presents a new method to automatically control the autopilot of a survey vessel so that the towed equipment follows some predetermined tracks even in case of sea currents.
本文提出了一种自动控制测量船自动驾驶仪的新方法，使被拖设备在海流条件下也能沿着预定的航迹行驶。
{"title":"Method for steering a vessel with towed equipment","authors":"H. Tonchia","doi":"10.23919/OCEANS.2015.7404412","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404412","url":null,"abstract":"This document presents a new method to automatically control the autopilot of a survey vessel so that the towed equipment follows some predetermined tracks even in case of sea currents.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125986381","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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