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     

Design of a 3D Chirp Sub-bottom Imaging System

Chirp sub-bottom profilers are marine acoustic devices that use a known and repeatable source signature (1–24 kHz) to produce decimetre vertical resolution cross-sections of the sub-seabed. Here the design and development of the first true 3D Chirp system is described. When developing the design, critical factors that had to be considered included spatial aliasing, and precise positioning of sources and receivers. Full 3D numerical modelling of the combined source and receiver directivity was completed to determine optimal source and receiver geometries. The design incorporates four source transducers (1.5–13 kHz) that can be arranged into different configurations, including Maltese Cross, a square and two separated pairs. The receive array comprises 240 hydrophones in 60 groups whose group-centres are separated by 25 cm in both horizontal directions, with each hydrophone group containing four individual elements and a pre-amplifier. After careful consideration, it was concluded that the only way to determine with sufficient accuracy the source–receiver geometry, was to fix the sources and receivers within a rigid array. Positional information for the array is given by a Real Time Kinematic GPS and attitude system incorporating four antennas to give position, heading, pitch and roll. It is shown that this system offers vertical positioning accuracy with a root-mean-square (rms) error less than 2.6 cm, while the horizontal positioning rms error was less than 2.0 cm. The system is configured so that the Chirp source signature can be chosen by software aboard the acquisition vessel. The complete system is described and initial navigational and seismic data results are presented. These data demonstrate that the approach of using fixed source-receiver geometry combined with RTK navigation can provide complete 3D imaging of the sub-surface.     

Imaging of Buried Archaeological Materials: The Reflection Properties of Archaeological Wood

Effective marine archaeological site management demands detailed information on not only the spatial distribution of artefacts but also the degradation state of the materials present. Although sonar methods have frequently been used in an attempt to detect buried wooden shipwrecks they are currently unable to indicate their degradation state. To assess the sensitivity of acoustic measurements to changes in the degradation state of such material, and hence the potential for sonars to quantify degradation, laboratory measurements of compressional wave velocity, as well as bulk density for oak and pine samples, in varying states of decay, were undertaken. These data enabled the calculation of theoretical reflection coefficients for such materials buried in various marine sediments. As wood degrades, the reflection coefficients become more negative, resulting in the hypothesis that the more degraded wood becomes, the easier it should be to detect. Typical reflection coefficients of the order of −0.43 and −0.52 for the most degraded oak and pine samples in sand are predicted. Conversely, for wood exposed to seawater the predicted reflection coefficients are large and positive for undegraded material (0.35 for oak, 0.18 for pine) and decrease to zero or slightly below for the most degraded samples. This indicates that exposed timbers, when heavily degraded, can be acoustically transparent and so undetectable by acoustic methods. Corroboration of these experimental results was provided through comparison with high resolution seismic reflection data that has been acquired over two shipwrecks.     

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.     

Response-based method for determining the extreme behaviour of floating offshore platforms

The accurate prediction of extreme excursion and mooring force of floating offshore structures due to multi-variete environmental conditions which requires the joint probability analysis of environmental conditions for the worst case situation is still impractical as the processing of large amount of met-ocean data is required. On the other hand, the simplified multiple design criteria (e.g. the N-year wave with associated winds and currents) recommended by API known as traditional method does lead neither to the N-year platform response nor to the N-year mooring force. Therefore, in order to reduce the level of conservatism as well as uncertainties involved in the traditional method the response-based method can be used as a reliable alternative approach. In this paper this method is described. In order to perform the calculations faster using large databases of sea states, Artificial Neural Networks (ANN) is designed and employed. In the paper the response-based method is applied to a 200,000 tdw FPSO and the results are discussed.     

Winter-spring phytoplankton blooms in Dabob Bay, Washington

Scientific investigations in Dabob Bay, Washington State, USA, have been extensive since the early 1960s, but phytoplankton blooms have been studied mostly with regard to chlorophyll concentrations and little is known about the phytoplankton species themselves. Here we provide information on the species present, their abundances during blooms, their contribution to organic carbon concentrations and the ability of some phytoplankton species to produce toxic aldehydes that may impact metazoan grazers.Multiple blooms of phytoplankton, dominated by diatoms, occurred in the late winter-early spring period, with depth-integrated chlorophyll levels ranging from <20 to 230 mg m⁻² and peaks in February and April. The major bloom species included Skeletonema costatum, Thalassiosira spp. and Chaetoceros spp; Phaeocystis cf. pouchetii occurred in 2002 and 2004. Other taxa or groups of organisms that were sometimes abundant included unidentified small flagellates <10 μm in size and unidentified heterotrophic dinoflagellates. Large diatoms usually comprised most of the cell carbon, but a large, heterotrophic dinoflagellate, identified only as Gyrodinium “tear” because of its shape, was a major contributor to the microplankton carbon when present even in small numbers. Five Thalassiosira species and S. costatum were found to produce polyunsaturated aldehydes (PUA) that are known to affect copepod reproduction and hatching success. Our findings are similar to the few previous studies in the last four decades that included phytoplankton species and suggest long-term similarities and relative stability in the phytoplankton species present and their timing in Dabob Bay.     

The alleged kimberlite-carbonatite relationship: evidence from ilmenite and spinel from Premier and Wesselton mines and the Benfontein sill,South Africa

Carbonate-rich, SiO₂-poor residua are developed in some kimberlites solidifying as ocelli, layers, or discrete dikes which satisfy petrographic definitions of carbonatite. Arguments that these rocks have mineralogies, antecedents, and comagmatic rocks differing from those of the carbonatites in alkaline rock complexes, including the specific observation that kimberlites and carbonatites contain ilmenites and spinels of different composition, have been used to refute the alleged kimberlite-carbonatite relationship. New microprobe analyses of ilmenites and spinels from carbonate-rich rocks associated with kimberlites in three South African localities correspond to spinels and ilmenites of carbonatites from alkalic complexes, or have characteristics intermediate between those of carbonatites and kimberlites. The ilmenites are distinguished from kimberlite ilmenites by higher MnO, FeTiO₃, and Nb₂O₅, and by negligible Cr₂O₃. The spinels are distinguished from kimberlite spinels by their Al₂O₃ and Cr₂O₃ contents. There is clearly a genetic relationship between the kimberlites and the carbonate-rich rocks, despite the observation that their ilmenites and spinels are distinctly different, which indicates that the same observation is not a valid argument against a petrogenetic relationship between kimberlites and carbonatites. These rocks are among the diverse products from mantle processes influenced by CO₂, and we believe that the petrogenetic links among them are forged in the upper mantle. We see insufficient justification to deny the name carbonatite to carbonate-rich rocks associated with kimberlites if they satisfy the petrographic definition in terms of major mineralogy.     

Evidence for slope instability and current-induced sediment transport,the RMSTitanic wreck search area,Newfoundland rise

The first map of the sea bed morphology and sedimentary features within the RMSTitanic search area is proposed from the interpretation of SAR side-scan sonar images. Downslope sedimentary features such as erosional furrows and crown scarps constitute a 7 km wide instability corridor. A large field (15 km²) of asymmetrical sediment waves indicating a downslope transport is identified. Current-induced features corresponding to associated sand ribbons and barchan dunes resulting from the Western Boundary Undercurrent action are mapped. The morphology of theTitanic Canyon is also precised from the SAR images. Finally, the origin of the sea bed features is discussed in an attempt to link each bed form to a sedimentary process.     

Proximate Constituents, Biomass, and Energy in Posidonia oceanica (Potamogetonaceae)

Abstract. The proximate composition of the various components of Posidonia oceanica is given in terms of gravimetric and energetic level and amount of plants from 2 depths at Port-Cros (Var. France). The level of proximate constituents differed little between the leaves (regardless of age) and the roots, but the rhizome contained much more soluble carbohydrate and less structural carbohydrate and ash. Because of this, the energy level in the leaves was more in terms of organic material and less in terms of total material than the energy level in the rhizome. The leaves of a P. oceanica shoot at 2 m depth in July contained 1.6 g organic material. 29.0 kJ. The weight and energy of the soluble carbohydrate in the rhizome from the base of the leaves to the 18th sheath scale decreased by ca. 40% from October to March and increased by ca. 100% from March to July.