Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle

The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected     

Shallow-Water Gasohydrothermal Vents of Ushishir Volcano and the Ecosystem of Kraternaya Bight (The Kurile Islands)

Abstract. A marine ecosystem in the crater of the Ushishir Volcano (Kraternaya Bight, Yankich Island, the Kuriles) showing gasothcrmal activity was studied for hydrographical, hydrochemical, and biological characteristics. Maximal changes in chemical and biological characteristics were observed in the surface water layer of 0–5 m. This layer had higher water temperature, was saturated with volcanogcnic carbon dioxide (up to 2000 10^-6 torr), ovcrsaturatcd with oxygen (up to 200 %), and contained high concentrations of chlorophyll a. Hydrogen sulfide was found in the surface water layer and at a depth of 15 m in the area of maximal effect of volcanic effluents.
The planktonic community is characterized by high rates of production and destruction of organic matter only in the 0–5 m layer. Daily vertical migrations of the ciliatc Mesodinium rubrum were observed, which caused "red tides".
Bacterial, algobacterial, and diatom mats developed on the bottom of the bight in the zone of gasohydrothermal vents and in areas of volcanic water seeping. The rate of organic matter production in algobacterial mats reached 33.4g C-rrr²-d^-l, chcmolithotrophy predominating. Bottom settlements had high population density and great animal biomass, which reached 10 kg m^-2 in gasohydrothermal fields. They obtain sufficient energy from primary production of microphy-tobenthos, algobacterial, and bacterial mats. Bcnthic species dominant in the bight were not found off the Ushishir Islands.
Some species of macrobenthos inhabiting the Kraternaya Bight differ markedly in size and biomass from the same species found beyond the bight.     

An experimental marine ecosystem study of the pelagic biogeochemistry of pentachlorophenol

The marine biogeochemistry of pure pentachlorophenol was studied relative to a control treatment at a scale which provided a good model for the pelagic planktonic environment (70 m³ polyethylene bags). Pentachlorophenol that was dispersed at concentrations of 10 and 100 μg/litre showed identical relative rates of decrease over 25 days to concentrations 32·8% and 31·1%, respectively, of the initial concentrations. No bioaccumulation by phytoplankton or zooplankton was observed and pentachlorophenol removal by adsorption (by particulates, zooplankton or the enclosure walls) was insignificant. The log of the pentachlorophenol concentration was significantly correlated to the hours of bright sunshine up to Day 18, after which the photolysis efficiency decreased as the proportion of pentachlorophenol exposed to sunlight decreased. The results imply a long residence time for pentachlorophenol in deeper waters outside the photolysis zone. A persistent reduction in the primary production and production per unit carbon was observed at 100 μg/litre and, when coupled to the reproducible demise of the centric diatom Skeletonema costatum in culture and the spiked enclosures, suggests that pentachlorophenol inhibits phytoplankton growth.     

A case study of a modified gravity type cage and mooring system using numerical and physical models

A modified gravity-type cage, developed by SADCO Shelf Ltd., was examined using numerical and physical models to determine if the cage and mooring system is suitable for an exposed site south of the Isles of Shoals, NH. The 3000-m/sup 3/ SADCO Shelf Submersible Fish Cage has angled stays between the upper framework and the ballasted bottom rim (in addition to net) to resist the horizontal shear deformation. The mooring system consists of three legs-each made up of a taut vertical chain and an angled rope, both leading to deadweight anchors. Normalized response amplitudes (response amplitude operators) were found for motion response in heave, surge and pitch, and load response in the anchor and bridle lines, in regular (single frequency) waves. In addition, a stochastic approach was taken to determine the motion and load transfer functions in random waves using a spectrum representative of seas at the selected site. In general, the system motion had a highly damped response, with no resonant peaks within the wave excitation range of 0.05 to 0.45 Hz. The anchor line force response was at all frequencies below 5 kN per meter of wave amplitude. The physical model tests showed consistently more conservative (larger) results compared to those for the numerical model.     

Experimental investigation of forces and geometry of a net cage in uniform flow

A scale model of a flexible circular net with different weights attached to the bottom was tested in a flume tank. Global forces and net deformation were measured for different steady current velocities. Three different sizes of bottom weights were used in the tests. The results from these tests are presented and discussed with the emphasis on the dependency between the forces and the geometry. Comparison is also made to empirical based formulas for calculation of drag and lift forces on net structures. Findings show that i) the forces on, and deformation of a flexible net structure are mutually highly dependent on each other; ii) estimates of global forces on a flexible net structure calculated using simple drag formulas derived from stiff net panel experiments give large errors when compared to experimental measurements; iii) numerical models taking into account the dependency between force and deformation should be used to obtain accurate estimates of forces on flexible net structures; and iv) the forces on a flexible net structure are dependent on Reynolds number, and their dependency are similar to that of a regular cylinder.     

Surface circulation of the Levantine Basin: Comparison of model results with observations

The eastern Mediterranean (Levantine Basin) hydrography and circulation are investigated by comparing the results of a high-resolution primitive equation model with observations. After a 10-year integration, the model is able to reproduce the major water masses and the circulation patterns of the eastern Mediterranean. Comparisons with the POEM hydrographical observations show good agreement. The vertical distribution of the water masses matches that of the observations quite well in terms of monthly mean. The model surface circulation is in agreement with circulation schemes derived from recent observations. Some well-known mesoscale features of the upper thermocline circulation are also realistically reproduced. In agreement with satellite observations, the model shows that high-energy mesoscale eddies dominate the upper thermocline circulation in the southern and the central parts of the Levantine Basin. Most of the Atlantic Water follows the north African coast and forms a strong coastal jet near the Libyan coast rather than forming the Mid-Mediterranean Jet described by several authors. The sub-basin circulation shows a strong seasonal signal. A strong and stable current flows along the isobaths in winter, becoming weaker and with more meanders in summer. The mesoscale eddies throughout the whole basin are more energetic in summer than in winter.     

Impact of urban stormwater runoff on estuarine environmental quality

Urban stormwater runoff could contribute to the deterioration of water quality of a receiving water body. In this research, field studies and laboratory experiments were conducted to assess the microbial contamination resulting from urban stormwater runoff into the Lake Pontchartrain estuary. Fecal coliform, Escherichia coli and enterococci were used as indicator organisms. The specific objectives of the research were to examine the distribution of the indicator organisms in different environmental elements (water column, suspended particles and sediment) and to further investigate the mechanisms related to their fate. Results of the research indicated satisfactory water quality at the study sites during dry weather periods. However, a significant increase was observed in the concentrations of the indicator organisms in the water columns and sediment at specific study sites following a given stormwater event. Three to seven days were needed for the elevated indicator organisms to return back to their background levels in the water column and sediment, respectively. The mechanism of sedimentation contributed to a reduction in the microbial concentration in the water column, as the indicator organisms were found to attach to the suspended particles in the stormwater. The percentage of fecal coliform, E. coli and enterococci attached to the suspended particles was found to be within the range of 9.8–27.5%, 21.8–30.4%, and 8.4–11.5% of the total indicator organisms in the stormwater loaded into the estuary, respectively. About 75–80% of the total indicator organisms remained free-floating for some distance in the water column before dying off.