A review of the ocean science and technology partnership between US and Korea

In 2001, the National Oceanic and Atmospheric Administration (NOAA) and the Ministry of Maritime Affairs and Fisheries Integrated Coastal and Ocean Resources Scientific and Technical Arrangement was signed to pursue scientific and technical cooperation in integrated coastal and ocean resources management in the mutual interest of the participants. Over the last 6 years, the cooperation has been very beneficial, particularly for advancing marine science and management programs in Korea, such as Deep Sea Aquaculture, Sea Grant College Program, Marine Protected Areas, and Ocean Observations. The benefits to NOAA from the cooperation include Deep-ocean Assessment and Reporting of Tsunamis (DART) buoys, ocean and coastal observations, GEOSS program, and Global Program of Action. Also the cooperation has spillover effects on other ocean science and technological arrangement between US and Korea. This article reviews purpose, obstacles, and achievement of the cooperation and suggests recommendations for the future steps.     

Estimation and removal of non-tectonic effects from gravity survey data

When gravity survey accuracies of a few microgals are sought, many correction factors must be accounted for, including meter calibration constants, water-table level fluctations, solid-earth tides, ocean tides and in some cases rapid atmospheric fluctuations. Calculation of most of these correction factors is relatively straightforward. However, the effects of ocean tide loading are not as easily estimated, partly due to the lack of knowledge of the ocean tides themselves. Amplitude and phase factors for the better-known ocean tide components O₁ and M₂ have been theoretically computed for a grid in southern California in order to correct gravity survey data at arbitrary locations for these ocean tidal-loading components. The gravity data from a three-month period were recorded on a tidal gravimeter at the station PAS and then hand-digitized in order to test the ocean tide estimation program. The O₁ and M₂ ocean tidal components were effectively reduced to less than 0.5 μGal. The remaining high-frequency tidal components appear to be K₁ and S₂. If the ocean tides are not taken into account, as much as 16–20 μGal of error can occur solely due to the effect of ocean loading on the gravitational tides when comparing two surveys near Pasadena. The effect increases towards the coastline and decreases inland. Examples of reduced data from the CIT gravity survey network, which has been observed on an approximately monthly basis since 1974, will be shown.     

Preliminary experiments in model-based thruster control forunderwater vehicle positioning

This paper reports comparative experiments with two novel and one conventional thrust control algorithms for the unsteady (transient) control of thrust generated by conventional bladed-propeller marine thrusters. First, comparative experiments with three different thrust control algorithms over a wide range of unsteady operating conditions suggest that model-based control algorithms offer transient thrust-control performance superior to that of their nonmodel-based counterpart. Second, hybrid simulations combining actual real-time experimental thruster responses with simulated one-dimensional real-time vehicle dynamics suggest that model-based thrust control algorithms offer vehicle position control superior to that of its nonmodel-based counterpart     

Far-infrared and submillimeter brightness temperatures of the giant planets

We have measured the brightness temperatures of Jupiter, Saturn, Uranus, and Neptune in the range 35 to 1000 μm. The effective temperatures derived from the measurements, supplemented by shorter wavelength Voyager data for Jupiter and Saturn, are 126.8 ± 4.5, 93.4 ± 3.3, 58.3 ± 2.0, and 60.3 ± 2.0°K, respectively. We discuss the implications of the measurements for bolometric output and for atmospheric structure and composition. The temperature spectrum of Jupiter shows a strong peak at ～350 μm followed by a deep valley at ～450 to 500 μm. Spectra derived from model atmospheres qualitatively reproduce these features but do not fit the data closely.     

Far-infrared and submillimeter observations of the planets

New broadband observations in several passbands between 30 and 500 μm of Mercury, Venus, Mars, Jupiter, Saturn, and Uranus are presented. The best agreement between the data and various thermal models of Mars, Jupiter, and Uranus is obtained with a slightly cooler absolute temperature scale than that previously adopted by Armstrong et al. (1972). The effective temperature of Uranus is 58 ± 2°K, which is in agreement with its solar equilibrium temperature. The existence of an internal energy source of Saturn has been reconfirmed and must lie within the range of 0.9 to 3.2 times the absorbed solar flux. A depression exists in the spectra of Jupiter, Saturn, and Uranus between 80 and 300 μm, which may be a result of NH₃ opacity.     

Observations on temporal red shift of wheat from multi-date spaceborne MOS-B spectrometer data

High spectral resolution spectroscopy enables to have detailed information on chemical and morphological status of crop. An attempt of using space platform for detecting red edge shift during different growth stages of wheat crop is reported. Study was conducted during rabi 1996–97 season using Modular Opto-Electronic Scanner MOS-B Imaging data onboard IRS-P3 satellite. Inverted Gaussian model was fitted for satellite derived reflectances between 650 and 870 nm to derive inflection wavelength and its subsequent change with crop stages i.e. red shift. Red shift of 10 nm observed from crown root initiation stage (703.8 nm) to peak vegetative stage (714.2 nm). A comparative study on temporal behaviour of vegetative indices like NDVI and ARVI with Red edge showed that latter is more atmospherically stable parameter. It is concluded that red edge shift which hitherto has been observed from ground and airborne sensors, can also be detected from space.     

An accurate four-quadrant nonlinear dynamical model for marinethrusters: theory and experimental validation

This paper reports two specific improvements in the finite-dimensional nonlinear dynamical modeling of marine thrusters. Previously reported four-quadrant models have employed thin airfoil theory considering only axial fluid flow and using sinusoidal lift/drag curves. First, we present a thruster model incorporating the effects of rotational fluid velocity and inertia on thruster response. Second, we report a novel method for experimentally determining nonsinusoidal lift/drag curves. The model parameters are identified using experimental thruster data (force, torque, and fluid velocity). The models are evaluated by comparing experimental performance data with numerical model simulations. The data indicates that thruster models incorporating both reported enhancements provide superior accuracy in both transient and steady-state responses     

Model-based dynamic positioning of underwater robotic vehicles: theory and experiment

This paper addresses the trajectory tracking problem for the low-speed maneuvering of fully actuated underwater vehicles. It is organized as follows. First, a brief review of previously reported control studies and plant models is presented. Second, an experimentally validated plant model for The Johns Hopkins University Remotely Operated Underwater Vehicle (JHUROV) is reviewed. Third, the stability of linear proportional-derivative (PD) control and a family of fixed and adaptive model-based controllers is examined analytically and demonstrated with numerical simulations. Finally, we report results from experimental trials comparing the performance of these controllers over a wide range of operating conditions. The experimental results corroborate the analytical predictions that the model-based controllers outperform PD control over a wide range of operating conditions. The exactly linearizing model-based controller is outperformed by its nonexactly linearizing counterpart. The adaptive controllers are shown to provide reasonable online plant parameter estimates, as well as velocity and position tracking consistent with theoretical predictions-providing good velocity tracking and, with the appropriate parameter update law, position tracking. The effects of reference trajectory, "bad" model parameters, feedback gains, adaptation gains, and thruster saturation are experimentally evaluated. To the best of our knowledge, this is the first reported comparative experimental study of this class of model-based controllers for underwater vehicles.     

Accretion and canal impacts in a rapidly subsiding wetland. I.137Cs and210Pb techniques

The influence of canals on vertical marsh accretion, including mineral sediment and organic matter accumulation, was evaluated at three locations along the Louisiana coast representing different geographic regions. The isotopes²¹⁰Pb and¹⁵⁷Cs were used to determine vertical accretion along transects representing a canal and a control site. Rapid rates of vertical accretion were measured at all sites and ranged from 0.47 cm yr^?1 to 0.90 cm yr^?1. Results indicated that there was no measurable effect of canals on marsh accretionary processes. In general, greater variation in vertical accretion, including mineral sediment deposition and organic matter accumulation, was observed between geographical regions than between canal and control sites within a region. Statistical analysis of data suggest that any difference between canal and control site would be less than 0.20 cm yr^?1. Such a change in marsh surface-water level relationships as a result of any canal influence on marsh accretionary processes would be less than reported eustatic sea-level rise for the Gulf of Mexico. Results suggest that any change in the marsh surface-water level relationship could be the influence of canals on local hydrology, resulting in increased water level rather than any appreciable reduction in accretionary processes. Such changes in hydrology under certain conditions could stress vegetation, resulting in marsh deterioration.     

In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment

This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set.