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.     

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.     

Modeling bed-load transport of coarse sediments in the Great Bay Estuary, New Hampshire

Current, sea level and bed-load transport are investigated in the Lower Piscataqua River section of the Great Bay Estuary, New Hampshire, USA—a well-mixed and geometrically complex system with low freshwater input, having main channel tidal currents ranging between 0.5 and 2 m s⁻¹. Current and sea level forced by the M₂M₄M₆ tides at the estuarine mouth are simulated by a vertically averaged, non-linear, time-stepping finite element model. The hydrodynamic model uses a fixed boundary computational domain and accounts for flooding–drying of tidal flats by making use of a groundwater component. Inertia terms are neglected in comparison with pressure gradient and bottom friction terms, which is consistent with the observed principal dynamic balance for this section of the system. The accuracy of hydrodynamic predictions in the study area is demonstrated by comparison with four tidal elevation stations and two cross-section averaged current measurements. Simulated current is then used to model bed-load transport in the vicinity of a rapidly growing shoal located in the main channel of the lower system. Consisting of coarse sand and gravel, the shoal must be dredged every five to eight years. Two approaches are taken—an Eulerian parametric method in which nodal bed-load flux vectors are averaged over the tidal cycle and a Lagrangian particle tracking approach in which a finite number of sediment particles are released and tracked. Both methods yield pathways and accumulations in agreement with the observed shoal formation and the long-term rate of sediment accumulation in the shoal area.     

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.