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.     

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.     

An experimental investigation of plunging breaker boundary layers in the transformation zone

Experimental investigation is made on the boundary layers of the transformation zone (i.e. the region between the last symmetrical wave profile depth and the breaking point) of plunging breakers propagating on a smooth beach with 1/12 uniform slope. Using a laser anemometer, the particle velocities are measured at four verticals along the transformation zone for three different steepnesses of waves within the plunging breaker range. The boundary layer flow in the transformation zone is found mostly of turbulent character and vertical distribution of particle velocities does not seem to conform to the classical law of the wall distribution given for steady-flow boundary layers. The results show that free-stream particle velocities, in the boundary layer of the breaker under the crest phase, increase considerably as the wave progresses towards the breaking point. The boundary layer thickness, defined as the velocity-affected region, remains constant throughout the transformation zone but it decreases with increasing deep-water wave steepness for the particular beach slope tested.     

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.     

Oxidative stress responses in two populations of Laeonereis acuta (Polychaeta, Nereididae) after acute and chronic exposure to copper

Acute (4 days) and chronic (14 days) effects of copper were evaluated on the antioxidant defenses of Laeonereis acuta (Polychaeta) collected in unpolluted (UP) and polluted (P) sites. In the acute assay (125 and 250 micro g Cu/l) superoxide dismutase (SOD) and glutathione S-transferase (GST) activities did not change, whereas catalase (CAT) increased in worms from both the sites. Lipid peroxidation was higher in copper exposed worms from the P site. In the chronic assay (62.5 micro g Cu/l) polychaetes from the P site showed enhanced activities of SOD, GST and CAT and higher contents of metallothionein-like proteins and sulfhydrils compared to worms from UP. Differences in responses between polychaetes from UP and P sites suggest that organisms from the polluted site, P, are more susceptible to oxidative stress conditions.     

Oxidative stress in Laeonereis acuta (Polychaeta, Nereididae): environmental and seasonal effects

Laeonereis acuta was seasonally collected in an industrially polluted site (P) and in an unpolluted site (UP) at the Patos Lagoon estuary (southern Brazil). Glutathione S-transferase (GST), superoxide dismutase (SOD) and catalase (CAT) activity (U/mg protein) was determined in five groups of worms from each site. Metallothionein (MT - mol GSH/g ww) and lipid peroxides content (LPO - nmoles of cumene hydroperoxide/g ww) were also measured. Annual mean values for CAT (UP=3.7+/-0.3; P=5.7+/-0.6), GST (UP=0.034+/-0.003; P=0.045+/-0.004) and MT (UP=0.15+/-0.02; P=0.23+/-0.03) were higher (p<0.05) in worms from the P site. In autumn, CAT activity was higher (p<0.05) in worms from the P site (7.6 +/- 1.3) than in those from the UP site (3.6 +/- 0.4). In summer, MT concentration was higher in worms from the P site (0.37 +/- 0.03) than in those from the UP site (0.19 +/- 0.01). No significant difference (p>0.05) in the LPO content was observed in worms from the different sites or collected in different seasons. These results indicate that worms from the polluted site showed higher antioxidant responses than those from the unpolluted site, sufficient to prevent oxidative damage in terms of LPO.