JouThe International, Interdisciplinary Society Devotedr to Ocean andnal Marine Engineering, Science, and Policy Volume 50 Number 1 January/February 2016

General Issue Volume 50, Number 1, January/February 2016 General Issue

In This Issue Cover Images (all images can be found in this issue): 3 48 Front: Lombardi, Figure 1. Back: Zhou et al., Figure 1 (top left); Shortis et al., Figure 3 (top right); Message From the MTS Journal Editor A Study on Wave-Induced Chen et al., Figure 10 (middle); Lombardi, Figure 2 Anni Vuorenkoski Dalgleish Artificial (bottom left); Chen et al., Figure 2 (bottom right). Shan Lin, Jiawang Chen, 4 Naikuang Liang, Ying Chen Progress in the Automated Identification, Measurement and Counting of Fish in 56 Underwater Image Sequences Experimental Study of Dynamic Mark R. Shortis, Mehdi Ravanbakhsh, Drag and Lift Characteristics of Faisal Shafait, Ajmal Mian Dimpled Cylinders Bo Zhou, Yalin Li, Xikun Wang, 17 Wei Guo, Soon-Keat Tan Analysis of Subsea Inductive Power Transfer Performances Using 62 Planar Coils Numerical Analysis of Drag Reduction Doss Prakash Vittal, Performance of Different Shaped Umapathy Arunachalam, Riblet Surfaces Vedachalam Narayanaswamy, Xiuqin Bai, Xuan Zhang, Chengqing Yuan Vadivelan Arumugam, Ramesh Raju, Gidugu Ananda Ramadass, 73 Malayath Aravindakshan Atmanand Methods to Resist Water Disturbances for Underwater 27 Walking Robots A Paradigm Shift for Human Gang Chen, Jiawang Chen, Bo Jin, Text: SPi Cover and Graphics: Exploration of the Sea: Standards Ying Chen Michele A. Danoff, Graphics By Design of Practice, Training, and Program Development for Atmospheric Diving 88 The Marine Technology Society Journal Michael Lombardi Reevaluation of Design Waves Off the (ISSN 0025-3324) is published by the Marine Technology Society, Inc., 1100 H Street NW, Suite LL-100 Western Indian Coast Considering Washington, DC 20005 34 Climate Change Annual Subscription Prices (all prices include shipping): Path-Following Control of an AUV: Pentapati Satyavathi, Makarand C. Deo, Online access to the MTS Journal (including 14 years of Fully Actuated Versus Jyoti Kerkar, Ponnumony Vethamony archives) is FREE for MTS members. Members can purchase the printed Journal for $38 domestic, $55 Canada, and Under-actuated Configuration $125 international. Non-members and library subscriptions Xianbo Xiang, Caoyang Yu, Qin Zhang, are: Online only (including 14 years of archives): $465; Online and print (including 14 years of archives): $499; Guohua Xu Print only: $155 domestic, $175 Canada, and $250 international. Single-issue (hardcopy) price is $18 for members and $20 for nonmembers, plus $7 domestic shipping or $14 international shipping for all single-issue orders. Pay-per-view (worldwide): $28/article. Postage for periodicals is paid at Washington, DC and additional mailing offices. POSTMASTER: Please send address changes to: Marine Technology Society Journal 1100 H Street NW, Suite LL-100 Washington, DC 20005 Tel: (202) 717-8705; Fax: (202) 347-4302 Copyright © 2016 Marine Technology Society, Inc. COMMENTARY A Paradigm Shift for Human Exploration of the Sea: Standards of Practice, Training, and Program Development for Atmospheric Diving

AUTHOR nology has stalled. However, we should Because of the intimate relation- Michael Lombardi never assume that major innovations ship afforded by direct human activity Lombardi Undersea LLC, can no longer be made. within the most biologically rich shal- Middletown, Rhode Island; The most recent “golden age” of low water, there remains a significant MTS Diving Committee Co-Chair technology development took place niche for the human in underwater re- during “ManintheSea” programs search and exploration. The ability to during the 1960s and 1970s. At that use our own eyes and hands to experi- Introduction time, program-related investments ence and interpret this space remains n the last 50 years, the practice of made by sponsoring agencies such as unparalleled and far better satisfies diving has matured into a common- the Office of Naval Research and the our innate human curiosity than I ’ place tool within the diving scientist s National Science Foundation into div- through the use of remote technology. toolkit, where the availability of afford- ing technology and practices, with pro- This very perspective is why we are able equipment is sufficient to allow jects such as Sealab, Hydrolab, Tektite, considering and validating manned routine diving at-will. That is certainly and others, provided a focal point that Mars missions during the 21st century. exciting and engaging for many and fueled multidisciplinary interests. I can verify this perspective through has permitted five decades of marine These programs were model platforms my own discovery of new species, science to be achieved within relatively for science, defense, industry, and, literally within a few short minutes shallow coastal depths. With these indirectly, even space exploration. spent at depth within the Mesophotic activities becoming commonplace, Human physiological limits became zone (Slattery, 2002; Sparks & Gruber however, the art and science of diving a limiting factor that resulted in risk- 2012) while utilizing conventional wet itself has largely been taken for granted, adverse practices and policies favored diving techniques. especially by the new generation of by funding agencies, which were Current diving technology and divers with little exposure to older often the result of legal and liability techniques including open-circuit equipment and practices that provided concerns. Thereafter, further use of and closed-circuit mixed-gas technical the baseline innovations for our cur- this critical platform model was left diving have been used during the most rent technologies and techniques. For to the wayside due to lack of funding recent “honeymoon” Mesophotic dis- instance, two-stage regulators, dive support. Innovation in underwater covery period for the better part of computers, and compensa- intervention continued, but attention two decades (Sharkey & Pyle, 1993). tors are now mainstay and commodity switched to new technologies, such as While promising, these specialized items, but bold bodies of work similar piloted (ROV) and autonomous (AUV) techniques require efforts on training to those which brought us those inno- underwater vehicles with which work and proficiency that are difficult for vations are lacking. This may be due could be carried out. As has happened diving scientists (large, routine end- to this current equipment being very in many fields, direct human activity, user groups) to maintain. The immi- good and that it affords relative safety. particularly within environments be- nent challenge in preserving any future Although incremental improvement of yond reach of the accepted at-will com- innovations for the scientific diving this equipment continues, significant modity approach, is being displaced community is to again embrace the continued innovation in diving tech- by other technologies. art and science of diving itself and

January/February 2016 Volume 50 Number 1 27 catalyze new innovative to Vancouver, British Columbia, Canada. health and safety revealed that ADS the problems faced in extended range The manufacturer’s training regimen stands as an outlying mode for human human intervention. With that changed (Lombardi & Clark, 2013) specifically intervention that requires both manned perspective—of prioritizing the human exposed areas for potential standard- submersible and wet diving consider- as a valuable mode of intervention— ization of training practices across in- ations that have yet to be met from a future program-related investments dustry sectors. We also considered regulatory point of view. can and will be made to advance the improvements for future training ac- Its outlying nature, somewhere be- field, thus taking the science (and peo- tivities in order that the technology tween wet diving and manned submers- ple) more routinely to new depths and may be more broadly introduced and ibles as a mode of intervention, is just environments. accepted following demonstration of one of several factors causing barriers This challenge can be met through its usefulness. to entry for ADS to more routinely a program that satisfies three critical and more broadly reaching market op- points, where (1) the technology must portunities. However, isolated successes adequately protect humans at their Standards of Practice have been demonstrated across both physiological limits, (2) the technol- The first production Exosuit was scientific (Earle, 1983) and commercial ogy must be accessible (affordable and then accepted by J.F. White Contract- sectors (Clark, 2013). Other factors in- available), (3) focused programs and ing Company in September 2013. Op- clude accessible training opportunities, initiatives must be undertaken that en- erational, technical, and health and dexterity and human ergonomics con- gage multidisciplinary interests across safety documentation supporting the siderations, and misperceptions of risk academic, defense, industry, and ex- Exosuit was drafted, compiled, and inhumaninterventionataninstitu- ploration sectors to ensure financial edited, citing and leveraging previous tional or regulatory level. sustainability. manned submersible vehicle standards With very limited existing literature and references (International Marine describing the utility of ADS and fur- Contractors Association [IMCA], 1984; ther no standards of practice, the proto- Recent Efforts Germanischer Lloyd, 2009; American col has been for ADS owners/operators Although the days of wet diving Society of Mechanical Engineers, to draft and adopt internal safe practices may have reached their limits, direct 2007; University-National Oceano- manuals (i.e., J.F. White, 2010). These human intervention underwater can graphic Laboratory System, 2009). usually reflect particular circumstances be pushed beyond wet diving’s physio- While the Exosuit is designed and con- and operations and have been expanded logical limits. When surveying the field structed to meet the Lloyd’sRegister from the manufacturer’srecommenda- for a manned diving platform that (1989), standards of construction for tions to deal only with limited condi- satisfies these requirements to justify classification as a manned submersible, tions. ADS standards of practice or program-related investments, atmo- review of the manufacturer’sproduct protocols are vetted to meet health spheric diving systems (ADS) stand documentation (Nuytco, 2013), and and safety requirements for individual out as a best fit for the diving commu- follow-on discussion with the manufac- private companies and their insurance nity’s needs. ADS have been tradition- turer provided evidence that actual underwriters and thus often deal with ally utilized within the industrial sector ADS operations do not fall within the limited subsets of operational condi- and with only limited exposure and suc- specific scope of any single set of regu- tions rather than diving science appli- cess in underwater science. My belief is lations cited above. Considerable regu- cationsasawhole.Thisspecificity is that this is due to social misperceptions latory overlap exists within and among among the points of failure in provid- of the technology’s capability and value, these standards for manned submers- ing guidance for a broader population as well as its accessibility. ibles; however, because the technology of end-users. A for In July 2013, representatives and was not foreseen by the regulations, ADS diving has yet to be compiled. guests of the J.F. White Contracting they are only selectively applicable for Company participated in the first end- ADS given the unique operational na- user training and familiarization activ- ture of the system. In short, review of Training ities for the long-awaited Exosuit ADS current standards of manufacture, oper- With ambitions to pursue new at Nuytco Research Ltd. in North ations, technical utility, and end-user market opportunities for the Exosuit,

28 Marine Technology Society Journal specifically within scientificdiving,it diving and ADS operation is that con- nical divers, working professional com- is necessary to provide training oppor- trol of life support and atmospheric mercial divers, academic scientific tunities for scientificend-users.Next management is the responsibility divers, to nondivers. A wealth of data to availability of the ADS, training is of the ADS pilot versus the Diving and information was obtained during the critical bottleneck to further pro- Supervisor in a surface supplied oper- these training activities. Perhaps most gram development. Thus, a sequence ation. Manned submersibles, by con- important was the establishment of of documents based on owner/operator trast, often leave autonomous control a distinction between pilot end-user standards for operations (Lombardi, to a uniquely qualified pilot with sci- responsibilities and topside-owner/ 2014a, 2014b) provides a template entists taking a very passive role as operator responsibilities—specifically for owner/operator training activities. passengers. This unique hybridized as they relate to affording broader Following J.F. White’s acceptance of approach to coupling wet diving con- end-user access within the scientific the Exosuit in September 2013, efforts ventions and manned submersibles community (Table 1; Figure 2). needed to be placed on structuring a provided validation for developing Generally, while the consensus of training regime that satisfied a broad ADS end-user training within the those participating in training activities end-user group as well as regulatory standardized framework of a diver was that the Exosuit was simple and in- requirements. training regime. tuitive to operate at the end-user level, IMCA (1984) provides a well- In late 2013 and early 2014, I it is critical for end-users or prospective structured training paradigm for sub- worked with Inter- end-users to understand the full scope mersible pilots and further distinguishes national to develop an Exosuit train- of operational support required and ADS pilots citing that “physical de- ing standard (Lombardi, 2014c) that degrees of operational complexity mands made on the occupant of an reflected IMCA (1984) primarily but that may need to be introduced (or mit- atmospheric require his also drew upon practical experiences igated) to ensure that mission-specific general standard of fitness to be in during the 2013 training regime tasks are completed. some respects the same as that applied (Lombardi & Clark, 2013). This was The training program (Lombardi, to commercial divers.” Lloyd’sRegis- followed by development of an end- 2014d) introduces student trainees to ter (1989) does not specify an ADS user Exosuit training and proficiency the full Exosuit operation, though em- training regimen in detail but does guide (Lombardi, 2014d). Technical phasis is on atmospheric management cite that “Detailed knowledge is re- Diving International approved and theory and repetition of life support quired of the effects of buoyancy, sanctioned this program in early 2014. control operations. Observation of heel and trim, equipment handling… In Spring 2014, this training program student trainees with varying experi- together with the medical effects of gas was implemented at Woods Hole ence levels revealed that basic Exosuit mixtures.” When considering both Oceanographic Institution (WHOI) life support control operations can be the IMCA (1984) and Lloyd’s Register during four successful and incident- learned very quickly. However, stu- (1989) documents, logic suggests that free training and proficiency sessions. dents with more wet diving experience an ADS trainee and prospective pilot WHOI granted approval for this train- demonstrated better aptitude for situa- would be most effective if first trained ing regime under the auspices of their tional and spatial awareness of the as a wet diver, maintained some de- scientific diving program, which estab- diving environment and appeared to gree of diving proficiency, and had an lished the precedent of ADS as a mode respond to atmospheric management understanding of diving physics and of diving (as opposed to manned vehi- requirements more fluidly. physiology. cle) within the institutional and aca- Following training sessions, dis- Exosuit operations are similar to demic setting (Figure 1). cussion with student trainees quickly wet surface supplied diving where Twenty-one end-users were granted revealed renewed appreciation for a has a direct means “try dives,” formally trained as pilots, or operational complexity in deploying for intervention and diver inter- attained additional proficiency using and recovering ADS, as well as main- action via an umbilical to the surface the Exosuit during the Woods Hole taining readiness for emergency inter- but also leaves a degree of autonomy sessions. This activity resulted in 49 h vention. These factors are critical to to . The most significant of cumulative dive time. End-users incorporate into program development distinction between surface supplied ranged from highly experienced tech- discussions so as not to fall severely

January/February 2016 Volume 50 Number 1 29 FIGURE 1 responsibilities to take responsive action when health and safety con- USNA Midshipman Brianna Bilunas, a nondiver, very happily participates in Exosuit training at WHOI. Photo by M. Lombardi. ditions are breached. In general, top- side has the primary responsibility for launch, recovery, and emergency inter- vention, while the pilot has primary responsibility for personal welfare. The pilot’s responsibility requires an aptitude for understanding basic atmo- spheric management principles and the mechanical capacity to actuate life support system controls. While topside can intervene via voice com- munications to guide pilot corrective actions, life support operation is solely the pilot’s responsibility. This element of trust between pilot and topside reflects a partnership that is culturally engrained in commercial div- ing through the use of surface supplied diving techniques. This type of partner- ship is foreign to most scientificdiving programs where the convention is more commodity-type wet diving scuba tech- niques. To implement a successful pro- gram, this trusting partnership between pilot/end-user and owner/operator must be established early. Likewise, to develop a financially sustainable program for ADS use, it is logical to seek program-related invest- ment with the focal point on the tech- nology platform and its operators. short on safe operational requirements ners within both industry and the Subsequent partnerships with various and establishing a productive work private sector. end-user groups may serve to financially environment. subsidize ongoing maintenance, train- Adopting formal standards of prac- ing, and proficiency, leaving the major tice that highlight items required for Recommendations for investment expense to the operation of both training and basic Exosuit opera- Program Development the vehicle itself. It would be illogical tions will provide the critical blueprint While public perception is that the for infrequent end-users of this niche for successful program development. ADS pilot is the party with primary technology to pursue individual owner- The onus for implementation lies operational responsibilities, assess- ship given the major capital expendi- with the owner/operator of the system, ment of health and safety conditions ture and operational costs. However which may or may not be a scientific (Lombardi, 2014a, 2014b) indicates again, with the technology providing end-user group or institution. Under- that topside responsibilities are equal, a centralized platform by which to standing these minimum standards is if not more critical, to ensuring safety form partnerships across industry, aca- required to guide program develop- and productivity. In many cases, both demia, the private sector, and defense ment efforts in cooperation with part- topside and end-user/pilots share community, a modest investment

30 Marine Technology Society Journal TABLE 1

Responsibilities for immediate action to ADS health and safety conditions.

Responsible Party for Immediate Action Health and Safety Conditions Topside/Supervisor End-User/Pilot

Emergency Conditions and Response Protocols Lost Communications Shared Shared Entrapment Shared Shared Structural Damage/Joint Seizure N/A Primary Life Support System Faults N/A Primary Unconscious or Disabled Pilot Primary N/A Electrical Supply Failure Shared Shared Thruster Pack Failure Shared Shared Umbilical Damaged/Severed Shared Shared Water Ingress - N/A Primary Fires and Fire Extinguishing Methods N/A Primary Emergency Recovery Procedures Controlled Primary N/A Back-Up Recovery System Primary N/A Emergency Recovery using the Original Umbilical Primary N/A Emergency Procedures for Attaching the Secondary Lifting Line Primary N/A Open Water Vessel Support Primary N/A Free Ascent or Controlled Free Ascent N/A Primary Handling System Failure Primary N/A Pilot Welfare Medical Well-Being N/A Primary Medical Considerations N/A Primary Medical and Conditions Inadequate Supply - N/A Primary Oxygen Poisoning - N/A Primary Carbon Dioxide Poisoning - Hypercapnea N/A Primary Soda Lime Chemical Burn N/A Primary Cold Exposure - N/A Primary Dehydration N/A Primary

Health and safety conditions were extracted from Lombardi (2014b). could result in sustainability and, per- Conclusion gram, with broader end-user groups. haps more important, continued ADS Establishing Exosuit operations as a Within the United States, most aca- innovation, provided that projects are mode of diving, rather than manned demic institutions and many private successful in achieving the mission submersible operations, could enable companies incorporate diving as a tool objectives and are performed safely. anewtypeofscientificdivingpro- for underwater research and operate

January/February 2016 Volume 50 Number 1 31 FIGURE 2 FIGURE 3

ADS operations require a team effort for safe and efficient operations, with critical responsibilities The author test dives the Exosuit ADS at Nuytco shared by both topside personnel and the pilot. Photo by M. Lombardi. Research Ltd. Photo by J. Clark.

using a scientific exemption to OSHA mitigate liability concerns of the continued cooperation in developing 29 CFR 1910 Subpart T (Commercial home organization and most impor- the Exosuit ADS as a viable scien- Diving), which leverages a community tantly working cooperatively with Exo- tific tool. Lastly, many thanks to the consensus standard for safe practices suit owner/operators in a partnership Woods Hole Oceanographic Insti- defined by the American Academy of capacity to ensure operational consid- tution for hosting the first Exosuit Underwater Sciences (AAUS). These erations are well met in advance of ADS training and proficiency programs operational standards afford for rela- field missions to ensure both safety for science. This work has benefitted tively easy adoption of new technol- and productivity. from input from the multitude of early ogies and techniques for scientific Taking this approach, with the div- Exosuit ADS end-users and trainees programs in the United States, with ing operation being the focal point for through their critique and evaluation the organizational membership of program development, has the poten- of this developing program including AAUS bearing responsibility for intro- tial to shift the social and cultural representatives of the Woods Hole ducing additional new standards of norms in the diving community, and Oceanographic Institution, the John B. practice as technologies and techniques one day, perhaps, humans will reclaim Peirce Laboratory at Yale University, for scientific diving continue to evolve. their niche role in ocean exploration to the American Museum of Natural Outside of U.S. legal domain, the non- forge onward and to the deep. History, the Unites States Naval Acad- binding Code of Practice for Scientific emy, the Hellenic Ministry of Culture, Diving published through UNESCO and the Greek Navy (Figure 3). (Flemming & Max, 1996) may also Acknowledgments provide a basis on which to build. The author acknowledges the For perhaps the first time, ADS is forward-looking investment of the J.F. Author: relatively within reach of diving scien- White Contracting Company into Exo- Michael Lombardi tists as a safe and productive alternative suit ADS and willingness to reach out to Lombardi Undersea LLC to deep wet diving. Critical to success- the scientific community with this en- 307 Oliphant Lane #25 ful program implementation is em- abling technology. The author also Middletown, RI 02842 bracing standards for operation to thanks Nuytco Research Ltd. for their Email: [email protected]

32 Marine Technology Society Journal References Lombardi, M.R. 2014c. Technical Diving American Society of Mechanical Engineers. International (TDI) Exosuit ADS Training 2007. Safety Standard for Vessels for Standard. Edit 2014. Stuart, FL: Technical Human Occupancy. ASME PVHO-1-2007. Diving International. 174 pp. Lombardi, M.R. 2014d. Exosuit ADS fi Clark, J.F. 2013. A New Generation of ADS Training & Pro ciency Guide. JFW internal Capabilities. In Marine Technology Society document, sanctioned by Technical Diving In- Journal Special Issue: Diving Technologies ternational. U.S. Copyright RegistrationTXu- and Techniques for the 21st Century 1-906-153. March 1, 2014. 49 pp. Framingham, (ed. Lombardi, M.). 47(6):73-9. November/ MA: Diving Division. December 2013. http://dx.doi.org/10.4031/ Lombardi, M.R., & Clark, J.F. 2013. mtsj.47.6.1. Training Regimen for Exosuit Atmospheric Earle, S.A. 1983. Application of one man Diving System: Considerations for Next- atmospheric diving systems for research and Generation Scientific and Commercial Appli- exploration. Mar Technol Soc J. 17(3):28-39. cations. Sea Technology Magazine. December 2013. pp. 10-3. Flemming, N.C., & Max, M.D. (eds). 1996. Scientific Diving. A general Code of Practice. Nuytco Research Ltd. 2013. Exosuit ADS Second Edition. Flagstaff, AZ/Paris, France: Operations & Maintenance Manual (draft edit; Best Books/UNESCO Publishing. On behalf internal document). of the Confederation Mondiale des Activities Sharkey, P., & Pyle, R.L. 1993. The Twilight Subaquatiqes (World Underwater Federation), Zone: The potential, problems, and theory Scientific Committee. ISBN 0-941332-51-9. behind using mixed gas, surface based scuba 278 pp. for research diving between 200 and 500 feet. Germanischer Lloyd. 2009. Rules for In: Cahoon, L.B. (Ed.) Diving for Science… Classification and Construction, Ship Tech- 1992. Proceedings of the American Academy nology: Manned Submersibles. 2009 Edition. of Underwater Sciences Twelfth Annual Sci- Hamburg, Germany: Author. 156 pp. entific Diving Symposium, American Academy International Marine Contractors Asso- of Underwater Sciences, Costa Mesa, CA. ciation. 1984. AODC 022 Code of Practice pp. 173-87. for the Operation of Manned Submersible Slattery, M. 2002. Personal communications Craft. London: Association of Offshore Diving via email correspondence. Contractors. 107 pp. Sparks, J.S., & Gruber, D.F. 2012. A new ’ Lloyd s Register of Shipping. 1989. Rules Mesophotic clingfish (Teleostei: Gobiesocidae) & Regulations for the Construction and from the Bahamas. Copeia. (2):251-6. http:// fi Classi cation of Submersibles and Underwater dx.doi.org/10.1643/CI-11-124. Systems, Part 5. December 1989. University-National Oceanographic Labo- Lombardi, M.R. (ed.). 2014a. Exosuit Atmo- ratory System. 2009. Safety Standards for spheric Diving System (ADS) Manual Section 2: Human Occupied Vehicles. Edit March 2009. Standards of Practice for Field Operations. 20 pp. J.F. White Contracting Company internal document. Revision 1.0 April 22, 2014. White, J.F. (Ed). 2010. Newtsuit Operations Framingham, MA: Diving Division. Manual. Nuytco Research Ltd./Hardsuits Inc. product documentation. Edited by J.F. White Lombardi, M.R. (ed.). 2014b. Exosuit Contracting Co. 126 pp. Atmospheric Diving System (ADS) Manual Section 2-1: Health & Safety Supplement. J.F. White Contracting Company internal document. Revision 1.0 April 22, 2014. Framingham, MA: Diving Division.

January/February 2016 Volume 50 Number 1 33 Postage for periodicals is paid at Washington, DC 1100 H Street NW, Suite LL-100 and additional mailing offices. Washington, DC 20005