Deep sea navigation techniques

Accurate navigation forms an essential part of all research at sea and the deep ocean imposes it's own unique problems. This chapter discusses several of the techniques in current use on the research vessels of the Natural Environment Research Council (NERC), concentrating on those systems which provide global navigation facilities, as opposed to the more localised, coastal aids. Whilst most of the systems rely on surface propagation of radio waves, the use of acoustics and sea-bed mapping instruments constitute accurate alternatives for some sub-sea applications.     

Waveform Shaping of Sonar Transducers for Improving the Vertical Resolution in Sub-bottom Sediments Profiling

Vertical resolution is of fundamental importance in sonar exploration and is directly related to the duration of the acoustic pulse generated by the transducer. The shorter the radiated pulse, the higher the vertical resolution. Many sub-bottom profiling sonar systems use piezoelectric transducers because they are reversible and well understood. Piezoelectric projectors are normally resonant transducers, which are intrinsically narrowband. A piezoelectric transducer is usually driven by a tone-burst. However, it is possible to use Fourier techniques to find a pre-compensated electrical driving function so that the transducer radiates a prescribed wider band acoustic waveform. This technique can be applied to synthesize zero-phase cosine-magnitude, Gaussian, and bionic pulses, with a conventional sandwich transducer. Zero-phase cosine-magnitude waveforms provide minimum length pulses (and therefore maximum resolution) within a prescribed frequency band.The aim of this paper is to illustrate the synthesis of wideband acoustic pulses using an underwater piezoelectric projector. The conventional acoustic waveform radiated when a Tonpiltz transducer is transiently excited using a “click” and allows its frequency response function to be measured. This function is used to design the electrical signal which then drives the transducer so that it radiates the shortest pulse compatible with its mechanical response. The significant resolution enhancement of the waveform shaping process is illustrated by its application to a sediment wedge model.     

Using ocean ambient noise for array self-localization and self-synchronization

Estimates of the travel times between the elements of a bottom hydrophone array can be extracted from the time-averaged ambient noise cross-correlation function (NCF). This is confirmed using 11-min-long data blocks of ambient noise recordings that were collected in May 1995 near the southern California coast at an average depth of 21 m in the 150-700 Hz frequency range. Coherent horizontal wavefronts emerging from the time derivative of the NCF are obtained across the array's aperture and are related to the direct arrival time of the time-domain Green's function (TDGF). These coherent wavefronts are used for array element self-localization (AESL) and array element self-synchronization (AESS). The estimated array element locations are used to beamform on a towed source.     

Paleoenvironment and sea-level change in the early Cretaceous Barents Sea—implications from near-shore marine sapropels

The late Volgian (early "Boreal" Berriasian) sapropels of the Hekkingen Formation of the central Barents Sea show total organic carbon (TOC) contents from 3 to 36 wt%. The relationship between TOC content and sedimentation rate (SR), and the high Mo/Al ratios indicate deposition under oxygen-free bottom-water conditions, and suggest that preservation under anoxic conditions has largely contributed to the high accumulation of organic carbon. Hydrogen index values obtained from Rock-Eval pyrolysis are exceptionally high, and the organic matter is characterized by well-preserved type II kerogen. However, the occurrence of spores, freshwater algae, coal fragments, and charred land-plant remains strongly suggests proximity to land. Short-term oscillations, probably reflecting Milankovitch-type cyclicity, are superimposed on the long-term trend of constantly changing depositional conditions during most of the late Volgian. Progressively smaller amounts of terrestrial organic matter and larger amounts of marine organic matter upwards in the core section may have been caused by a continuous sea-level rise.     

Nonlinear response of a moored buoy

The nonlinear dynamic analysis of a multipoint slack moored buoy is performed under the action of first and second order wave forces. The nonlinearity of the system is caused by the geometric nonlinearity of the mooring lines. The resulting nonlinear equation of motion is solved by an incremental time marching scheme. The nonlinear responses of the system are analysed to investigate different kinds of dynamic instability phenomena that may arise due to the nonlinearity of the system. As an illustrative example, a hollow cylindrical buoy anchored to the sea bed by means of six slack mooring lines is considered. The responses of the system are obtained and analysed for three regular waves namely, 5 m/5 s, 12 m/10 s and 18 m/15 s. The results of the study show that different kinds of instability phenomena like nT subharmonic oscillations, symmetry breaking bifurcation and aperiodic responses may occur in slack mooring systems. Further, a second order wave force may considerably influence the dynamic stability of such systems.     

Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Nonlinear coupled dynamic response of offshore Spar platforms under regular sea waves

Many innovative floating offshore structures have been proposed for cost effectiveness of oil and gas exploration and production in water depths exceeding one thousand meters in recent years. One such type of platform is the offshore floating Spar platform. The Spar platform is modelled as a rigid body with six degrees-of-freedom, connected to the sea floor by multi-component catenary mooring lines, which are attached to the Spar platform at the fairleads. The response dependent stiffness matrix consists of two parts (a) the hydrostatics provide restoring force in heave, roll and pitch, (b) the mooring lines provide the restoring force which are represented here by nonlinear horizontal springs. A unidirectional regular wave model is used for computing the incident wave kinematics by Airy’s wave theory and force by Morison’s equation. The response analysis is performed in time domain to solve the dynamic behavior of the moored Spar platform as an integrated system using the iterative incremental Newmark’s Beta approach. Numerical studies are conducted for sea state conditions with and without coupling of degrees-of-freedom.     

Particulate flux in the water column overlying Santa Monica Basin

Fluxes of particulate carbon, nitrogen, phytoplankton pigments, biogenic silica and dry mass were measured using free-floating and moored sediment trap arrays in the Santa Monica Basin during the period from October 1985 to August 1990 as part of the California Basin Study (CaBS) Program. In field testing for potential sources of sediment trap biases, we found little significant or consistent difference in rate estimates between short-term drifting traps and long-term moored traps, between preserved and unpreserved traps in short-term experiments, between different preservatives (mercury or formalin) in long-term experiments, between different designs of small cylindrical traps, and between deep-moored cylindrical traps and large conical traps. We did, however, find that sediment trap samples collected and analyzed on 0.45 μm silver filters gave estimates of carbon and nitrogen fluxes about 25% higher than samples collected on GF/F glass-fiber filters. Concurrent trap deployments at two stations 18km apart revealed low mesoscale variability in flux estimates. Seasonal patterns in carbon and nitrogen flux were not evident in our data, but strong seasonality, with spring maxima and summer minima, were observed for fluxes of phaeopigments and biogenic silica out of the euphotic zone.Time-averaged rates of particulate flux for long-term trap deployments from January to August 1990, were 121, 18.8, 1.5, 67 and 633mg m⁻²d⁻¹ at 110–135m for carbon, nitrogen, phaeopigment, biogenic silica and mass, respectively. Flux estimates to the basin floor (835–860m) were 50, 6.5, 0.64, 41.6 and 575mg m⁻²d⁻¹ for the same parameters. The former estimates are constrained by and in good agreement with independent assessments of new production from nitrate uptake in the euphotic zone. The latter agree with rates previously inferred from the sedimentary record using ²¹⁰Pb as a tracer. In addition, the difference in carbon estimates in the water column between the euphotic zone and the basin floor is consistent with the requirements for bacterial growth and metabolism at intermediate depths as measured by the thymidine method.