Design and projected performance of a flapping foil AUV

The design and construction of a biomimetic flapping foil autonomous underwater vehicle is detailed. The vehicle was designed as a proof of concept for the use of oscillating foils as the sole source of motive power for a cruising and hovering underwater vehicle. Primary vehicle design requirements included scalability and flexibility in terms of the number and placement of foils, so as to maximize experimental functionality. This goal was met by designing an independent self-contained module to house each foil, requiring only direct current power and a connection to the vehicle's Ethernet local area network for operation. The results of tests on the foil modules in the Massachusetts Institute of Technology (MIT) Marine Hydrodynamics Water Tunnel and the MIT Ship Model Testing Tank are both used to demonstrate fundamental properties of flapping foils and to predict the performance of the specific vehicle design based on the limits of the actuators. The maximum speed of the vehicle is estimated based on the limitations of the specific actuator and is shown to be a strong function of the vehicle drag coefficient. When using four foils, the maximum speed increases from 1 m/s with a vehicle C/sub D/ of 1.4 to 2 m/s when C/sub D/=0.1, where C/sub D/ is based on vehicle frontal area. Finally, issues of vehicle control are considered, including the decoupling of speed and pitch control using pitch-biased maneuvering and the tradeoff between actuator bandwidth and authority during both the cruising and hovering operation.     

Calculation of dynamic motions and tensions in towed underwatercables

A matrix method for mooring system analysis is extended to address the dynamic response of towed underwater systems. Key tools are equivalent linearization and small perturbation theory, and a pitching towfish model. Two examples of application of the technique are provided. The first studies a fundamental limitation to constrained passive heave compensation, while the second concerns the use of floated tethers as a means for dynamic decoupling     

Late Holocene Environmental Reconstructions from Lake Solai,Kenya

Playa lake systems tend to be overlooked archives of paleoenvironmental change due to the likelihood of a short and intermittent record of deposition. Groundwater-fed wetlands associated with these climate-sensitive playas, however, preserve changes in hydrologic budget and are thus valuable archives for semiarid regions. This study examines the paleoecological record of a groundwater-fed wetland from Lake Solai, Kenya. Biological proxies are used to reconstruct paleoenvironmental change and climate impacts over the past millennium. Dry conditions persisted between CE 1115 and 1490, followed by wetter conditions during the Little Ice Age. Near surface sediments indicate increasing anthropogenic impact through pastoralism.     

Docking for an autonomous ocean sampling network

In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of mechanically docking the vehicle. We show that our technique for homing is extremely robust in the face of the two dominant sources of error-namely the presence of currents and the presence of magnetic anomalies. Our strategy for homing is independent of the initial bearing of the dock to the AUV, includes a method for detecting when the vehicle has missed the dock, and automatically ensures that the AUV is in a position to retry homing with a greater chance of success. Our approach is seen to be extremely successful in homing the vehicle to the dock, mechanically attaching itself to the dock, aligning inductive cores for data and power transfer, and undocking at the start of a fresh mission. Once the AUV is on the dock, we present a methodology that allows us to achieve the complex tasks with ensuring that the AUV is securely docked, periodically checking vehicle status, reacting to a vehicle that requires charging, tracking it when it is out on a mission, archiving and transmitting via satellite the data that the AUV collects during its missions, as well as providing a mechanism for researchers removed from the site to learn about vehicle status and command high-level missions. The dock is capable of long-term deployments at a remote site while respecting the constraints - low power, small size, low computational energy, low bandwidth, and little or no user input - imposed by the amalgamation of acoustic, electronic and mechanical components that comprise the entire system     

System identification of open-loop maneuvers leads to improved AUV flight performance

The authors focus on demonstrating a simple design procedure for the Odyssey III autonomous underwater vehicle (AUV) flight control system. This procedure can be carried out quickly and routinely to maximize vehicle effectiveness. A hydrodynamic model of the vehicle was first developed from theory and bench-top laboratory tests. Using this initial model, a controller was developed from basic principles. Then, using this initial controller to reach a desired typical operating condition, a very compact set of open-loop maneuvers was performed in the field. The vehicle model was optimized using the Nelder-Mead simplex method, and a revised controller was then implemented and tested successfully.     

Application of polypyrrole actuators: feasibility of variable camber foils

A decade of research into electroactive polymer actuators is leading to the exploration of applications. These technologies are not ready to compete with the internal combustion engine and electric motors in high power propulsion systems but are suitable for intermittent or aperiodic applications with moderate cycle life requirements, providing an alternative to solenoids and direct drive electric motors. Polypyrrole, an emerging actuator material, is applied to drive hydrodynamic control surfaces and in particular to change the camber of a foil. The foil is intended for use in the propeller blade of an autonomous underwater vehicle. A scaled prototype is constructed which employs polypyrrole actuators imbedded within the blade itself to vary camber. The kinematics required to generate camber change are demonstrated, with >30/spl deg/ deflections of the trailing edge being observed from both bending bilayer and linear actuator designs. Forces developed in still conditions are five times lower than the 3.5 N estimated to be required to implement variable camber. The observed 70 kJ/m/sup 3/ polypyrrole work density however is more than sufficient to produce the desired actuation from within the limited blade volume, enabling an application that is not feasible using direct drive electric motors. A key challenge with the polypyrrole actuators is to increase force without sacrificing speed of actuation.     

The influence of sulfides on soluble organic-Fe(III) in anoxic sediment porewaters

Solid and colloidal iron oxides are commonly involved in early diagenesis. More readily available soluble Fe(III) should accelerate the cycling of iron (Fe) and sulfur (S) in sediments. Experiments with synthetic solutions (Taillefert et al. 2000) showed that soluble Fe(III) (i.e., <50 nm diameter) reacts at a mercury voltammetric electrode at circumneutral pH if it is complexed by an organic ligand. The reactivity of soluble organic-Fe(III) with sulfide is greatly increased compared to its solid equivalent (e.g., amorphous hydrous iron oxides or goethite). We report here data from two different creeks of the Hackensack Meadowlands District (New Jersey) collected with solid state Au/Hg voltammetric microelectrodes and other conventional techniques, which confirm the existence of soluble organic-Fe(III) in sediments and its interaction with sulfide. Chemical profiles in these two anoxic sediments show the interaction between iron and sulfur during early diagenesis. Soluble organic-Fe(III) and Fe(II) are dominant in a creek where sulfide is negligible. This dominance suggests that the reductive dissolution of iron oxides goes through the dissolution of solid Fe(III), then reduction to Fe(II), or that soluble organic-Fe(III) is formed by chemical or microbial oxidation of organic-Fe(II) complexes. In a creek sediment where sulfide occurs in significant concentration, the reductive dissolution of Fe(III) is followed by formation of FeS_(aq), which further precipitates. Dissolved sulfide may influence the fate of soluble organic-Fe(III), but the pH may be the key variable behind this process. The high reactivity of soluble organic-Fe(III) and its mobility may result in the shifting of local reactions, at depths where other electron acceptors are used. These data also suggest that estuarine and coastal sediments may not always be at steady state.     

Sedimentation and recent history of a freshwater wetland in a semi-arid environment: Loboi Swamp, Kenya, East Africa

Loboi Swamp is a 1·5 km² freshwater wetland situated near the equator in the Kenya Rift Valley. The climate is semi‐arid: precipitation is ≈ 700 mm year^?1, and evapotranspiration is ≈ 2500 mm year^?1. Some of the wetland water is currently used for irrigation. An interdisciplinary study was conducted on the geology, hydrology, pedology and biology of the wetland to determine its origin and history and to assess its longevity under present hydrological conditions. Sedimentary records from two piston cores (1·8 and 4 m long) indicate that the present wetland developed during the late Holocene on a low‐relief alluvial plain. Floodplain deposits (sandy silts) are capped with wetland sediments (organic‐rich clay and peat), which began to form at ≈ 700 BP. The swamp is dominated by Typha domingensis Pers. (≈ 80%) and floating Cyperus papyrus L. (20%). It is fed by warm springs (T ≈ 35 °C; pH ≈ 6·4–6·9) emanating from grid faults of the rift floor. Water compositions suggest that sources are dominated by shallow meteoric water, with little contribution from deeper geothermal fluids. Siderite concretions in the floodplain silts reflect the Fe‐reducing conditions that developed as the surface became submerged beneath the water table. The pollen record captured both local and more regional vegetation, showing the prevailing dry rift valley climate despite development of the wetter conditions on the valley floor. The diatom record also suggests a dramatic change in local hydrology. The combined biological records of this semi‐arid wetland indicate an abrupt change to wetter conditions, most probably as a result of a regional change in climate. Rift tectonics provided accommodation space, maintained the wetland at or below the water table and enabled spring recharge. The size of the modern wetland has been reduced by about 60% since 1969, which suggests that the system may now be under hydrological stress due to anthropogenic impacts from land‐use change.     

Review of experimental work in biomimetic foils

Significant progress has been made in understanding some of the basic mechanisms of force production and flow manipulation in oscillating foils for underwater use. Biomimetic observations, however, show that there is a lot more to be learned, since many of the functions and details of fish fins remain unexplored. This review focuses primarily on experimental studies on some of the, at least partially understood, mechanisms, which include 1) the formation of streets of vortices around and behind two- and three-dimensional propulsive oscillating foils; 2) the formation of vortical structures around and behind two- and three-dimensional foils used for maneuvering, hovering, or fast-starting; 3) the formation of leading-edge vortices in flapping foils, under steady flapping or transient conditions; 4) the interaction of foils with oncoming, externally generated vorticity; multiple foils, or foils operating near a body or wall.     

Simulation of stiff massless tethers

A model is developed and an algorithm presented for the time simulation of low-tension tethers with torsional and bending stiffness. Computational performance is extremely good owing to the neglect of all inertial terms, and quaternions enable arbitrary deflections. A first example verifies the accuracy of the program, and a second illustrates tether behavior during a complex maneuver.