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Acknowledgements Acknowl.

A.6 Principles of Marine Corrosion Curtin, Ellen Livingston, and Bob Headrick, Program by Robert Melchers Managers), SWAMSI (Bob Headrick, Program Man- The author acknowledges the continued provided by ager), and PLUSNet Undersea Persistent Surveillance Australian Research Council Professorial Fellowship (Thomas B. Curtin, Program Manager) programs, and scheme (2004–2008, 2009–2013). He also acknowl- most recently the DARPA DSOP Program (Andy Coon, edges with gratitude the support he receives from Program Manager). The specific application of the con- a great team of co-researchers and from many in cept to the adaptive tracking of the thermocline was industry. performed under the ONR Adaptive Sampling and Pre- diction (ASAP) MURI (Thomas B. Curtin, Program B.11 Highly Maneuverable Biorobotic Manager) and supported by the U.S. Department of Underwater Vehicles Defense (DoD), U.S. Air Force Office of Scientific Re- by Promode Bandyopadhyay search, and National Defense Science and Engineering The author’s various works described in this review Graduate (NDSEG) Fellowship 32 CFR 168a. have been sponsored by the Bio-inspired Autonomous The first field demonstration of MOOS and the early Systems Programs of the Office of Naval Research version of the nested autonomy control paradigm were (ONR), Dr. Thomas McKenna (ONR 341), and also performed in the BP02 experiment in La Spezia, Italy, by ONR341 (Dr. Teresa McMullen, Dr. Harold Bright, carried out jointly with the NATO Undersea Research and Dr. Linda Chrisey), and ONR33 (Mr. James Fein, Centre (NURC), who supplied engineering and oper- and Dr. Kam Ng). The author’s exposure to olivo- ational support. The GLINT’08-’10 experiments were cerebellar dynamics owes a great deal to the fruitful also carried out in collaboration with NURC, and the interactions with neuroscientists Dr. Thomas McKenna authors appreciate the assistance from NURC for their of ONR, Professor Rodolfo Llinas of the Department exceptional engineering and operational support, and of Neuroscience of the New York University Medi- the use of their OEX AUV for the thermocline mapping cal School, and Professor James Simmons of the Bat and multistatic acoustic experiments described here. Laboratory of the Brown University Neuroscience De- The collaboration with Naval Undersea Warfare Center partment. The author thanks his many co-workers who (Michael Incze, Scott Sideleau, and Dr. Don Eickstedt) made the demonstrations described in the article possi- Code 25 & the ONR Lightweight NSW UUV pro- ble over the last two decades. gram in the Lake Champlain’09 experiment is highly appreciated. B.20 Nested Autonomy for Distributed Ocean Sensing B.21 Science of Autonomy: Time-Optimal by Henrik Schmidt, Michael Benjamin, Path Planning and Adaptive Sampling Stephanie Petillo, Toby Schneider, for Swarms of Ocean Vehicles Raymond Lum by Pierre Lermusiaux, Tapovan Lolla, The development of the fundamentals of the nested Patrick Haley Jr., Konuralp Yigit, autonomy concept, and the MOOS autonomy system Mattheus Ueckermann, Thomas Sondergaard, were performed at MIT with support from the Office Wayne Leslie of Naval Research Code 32 under the GOATS program PFJL dedicates the results presented to Dr. Tom Curtin. (Thomas B. Curtin, Jeffrey Simmen, Randy Jacobson Tom Curtin’s vision and questions in the early 2000s on and Tom Swean, Program Managers) and the IvP exten- how to utilize the ocean currents as dynamic highways sion was performed at MIT and NUWC under support for autonomous vehicles were early seeds for our theo- from Dr. Don Wagner and Dr. Behzad Kamgar-Parsi retical and applied research in marine autonomy. We are from ONR Code 31. The operational paradigm and the also very thankful to all members of the MSEAS group, associated MOOS-IvP configuration have subsequently past and present, for the many useful discussions. PFJL been further developed and applied in several major also thanks Drs. Tim Duda and Kevin Heaney, as field experiments under the ONR GOATS (Thomas B. well as Drs. Jim Bellingham, Russ Davis, Constanti- fice of Naval Re- IIP-1026367), the Of by Michael Bernitsas by Flow Included Motions The author would like to express his sincere thanks ergy with subcontract to the University of Michigan ergy with subcontract to the University of Michigan. Besides DOE, present supporters include the Uni- search (N00014-03-1-0983, N00014-08-1-0601),US the Navy (N62583-09-C-0091),University MUCI Commercialization – Initiative,Deventer, The Michigan TAUW Netherlands, BV DTECounty Foundation, Detroit Wayne PortDavid Haynes Authority. of The theof Economic support St. Development Clair Alliance of County has beening Mr. most with helpful the in local collaborat- authorities for field deployments. to the Editors ofand this Handbook, Nikolas Drs. Xiros Manharmanuscript. Dhanak for Since 2005, their morebeen thorough than 100 review educated students of and have ing the UROP, trained BSE, infellows, MSE, and the Ph.D. international students, MRELabinnovative visitors. postdoctoral thinking includ- Their has beenchallenge engineering in a pioneering continuous aand source developing multifaceted of a research unique effort order, technology. In the chronological followingcited collaborators, in this whose chapter, have papers beenresearch major are contributors and in the developmentKamal of Raghavan the Ph.D., VIVACE YaronElisha Ben converter: M.H. Simon Garcia P.E., Ph.D., Prof. Prof.Gustavo R. Simiao, Ajith Rebecca Kumar Ph.D., Macklem-Alter,las Prof. Xiros Niko- Ph.D., Jonghun LeePh.D., Ph.D., Wei Che Wu Chun Ph.D., Chang Kim Hongrae Ph.D., Austin Park Kana, Prof. Ph.D., HaiPh.D., Eun Sun Jianhui Ph.D., Soo Liu Lin Ding Ph.D., Prof.Undergraduate O. Research Kemal Opportunity (UROP) Kinaci students Ph.D. George M. Hadjicharalambouscontributed to and the clarity Ryan of theing, Ouderkirk document respectively. and referenc- The effort for the basic researchVIVACE converter and started development in of 2005 the andState, several Federal, and private sponsors supportedsupport it. is The gratefully following acknowledged: 1. DOE contract DE-EE0003644 to Vortex Hydro En- 2. DOE contract DE-EE0006780 to Vortex Hydro En- versity of Michigan, the Statedro of Energy, Michigan, SPARK of Vortex Ann Hy- Arbor, and privateto investors VHE. Previous supporters (2005–2014) include DOE (DE-SC-0010091), the National(IIP-0810426, Science Foundation E.47 Harvesting Energy and Risk in Coastal Areas by Howard Hanson,Gabriel James Alsenas VanZwieten, by Michael Triantafyllou, RémiJason Bourguet, Dahl, Yahya Modarres-Sadeghi by Donald Resio, Mark Tumeo, Jennifer Irish by Jennifer Irish, Robert Weiss, Donald Resio

The SoutheastCenter National at Marine Florida Atlanticthe Renewable State University is of Energy Florida supportedergy. and The by by views the expressed US inthe Department authors this and of chapter are are En- notthese those meant public to of entities. represent the views of The authors wishmonitored to by acknowledge supportMajor Dr. by Projects Thomas Programme ONR, monitoredTognarelli Swean, by and Jr., Dr. Mr. Michael Pierre byUniversity Beynet, the and PartnershipMr. BP by Yiannis Constantinides Chevron’s and Dr. Program, Owen Oakley. monitoredE.46 Ocean Current by Energy Conversion This effort was supportedFlorida by and Virginia the Tech. University of North D.36 Vortex-Induced Vibrations This effort was supported by Virginia Tech andversity the of Uni- North Florida. TheCelso authors Ferreira wish and to Mr. Antonne thank Taylor for Dr. providingerature lit- review materials on environmentalstorm impacts waves, respectively. and C.26 Statistical Characterization of Hazards nos Evangelinos, Dave Fratantoni, Glen Gawarkiewicz, Naomi Leonard,Nick John Patrikalakis, Leonard, Stevefor Sharan Ramp, their Majumdar, and collaborations Henrikful on to Schmidt autonomy. the We Officegrants of are N00014-09-1-0676 Naval grate- (Science Research of forMISSION) support Autonomy, and under A- N00014-12-1-0944Massachusetts (ONR6.2) Institute to of the Technologypecially (MIT). thank We Dr. es- MarcPaluszkiewicz and Steinberg, S. as Harper, well forteractions. their as KY support Drs. is and T. in- for very support. thankful to MPUences the and and Turkish Engineering PFJL Research Navy thankCanada Council for (NSERC) the the of Natural postgraduateporting scholarship Sci- partially the sup- graduate studiesMIT. and research of MPU at C.25 Physical Characteristics of Coastal Hazards Acknowl. 1288 Acknowledgements 1289

About the Authors

Raju Abraham Chapter E.48

Naval Research Board Raju Abraham has worked at the National Institute of Ocean Technology, Authors Pallickaranai Campus Chennai, on design, development, and operation of OTEC systems, Chennai, India desalination systems, and deep sea mining systems for 17 years. He [email protected] worked on the installation of one MW OTEC plant in India, which was tested on a floating barge (1998–2003) and on a low temperature thermal desalination plant utilizing ocean temperature difference (2004–2007).

Gabriel M. Alsenas Chapter E.46

Florida Atlantic University A founding member of FAU’s SNMREC, Gabriel Alsenas’ previous Southeast National Marine Renewable work focused on US Navy future projects and sensor systems. He earned Energy Center BSc and MSc degrees in Ocean Engineering at FAU. He is Convenor Boca Raton, USA of IEC/ISO’s TC-114 AHG04 (tidal performance assessment), Chief [email protected] US delegate for IECRE’s certification and conformity ME-OMC, Treasurer for the USNC/IECRE, and a Judge at FIRST Robotics FRC competitions.

Pak-Cheung Edgar An Chapter A.10

Florida Atlantic University Dr Edgar An received his BS degree from the University of Mississippi in 1985, and Dep. Ocean and Mechanical Engineering his MS and PhD degrees from the University of New Hampshire in 1988 and 1991. Boca Raton, USA He joined the Department of Ocean Engineering at Florida Atlantic University in [email protected] 1995. His areas of interest are autonomous underwater vehicles, navigation, control, robotics, modeling and simulation, and neuro-fuzzy systems.

Palaniswamy Ananthakrishnan Chapter A.4

Florida Atlantic University Dr P. Ananthakrishnan received his PhD in Naval Architecture and Offshore Engi- Dep. Ocean and Mechanical Engineering neering from the University of California at Berkeley. He joined Florida Atlantic Boca Raton, USA University where he taught fluid mechanics, water wave mechanics, ship hydrodynam- [email protected] ics, physical oceanography and computational methods. He has served as a visiting faculty member at the Indian Institute of Technology Madras, India and at Ecole Centrale de Nantes, France.

Alexia Aubault Chapter D.34

Principle Power Inc. Alexia Aubault attended Ecole Nationale Supérieure de Techniques Berkeley, USA Avancées, a Technology Institute of ParisTech, France. She earned a [email protected] Master’s degree in Ocean Engineering at the University of California, Berkeley. She is a Lead Engineer at Principle Power Inc., a renewable energy firm dedicated to offshore wind technology. A naval architect, Alexia has focused on global design of floating structures, complex hydrodynamic modeling, and hull loading.

Alexander Bahr Chapter B.14

Ecole Polytechnique Fédérale de Alexander Bahr is a Postdoctoral Associate at Ecole Polytechnique Lausanne Federale de Lausanne. He holds the degrees of Diploma in Electrical ENAC IIE DISAL Engineering from the Technical University Aachen and a PhD from Lausanne, Switzerland the MIT/Woods Hole Joint Program in Applied Ocean Science and [email protected] Engineering. His research interests include navigation, communications, and cooperation for autonomous underwater vehicles, and wireless sensor networks. ities also 1988. He is a 2011. His research interests ecent research have been neuroscience-based eceived his PhD in Physics from MIT in Dr Bellingham r leader in the field ofnumber marine of autonomous robotic robotics, systems and havingas pioneered created the their a use Chief large at Technologist sea.Director at After of MBARI, 7 the he years Center joined for WHOI Marine as Robotics. the founding Chapter B.16 Rémi Bourguet received hisUniversité PhD de degree Toulouse in in Fluidresearcher. He 2008. Dynamics has from He been the workedMécanique a at des CNRS MIT Fluides Research de as Associateinclude Toulouse at a since fluid–structure the postdoctoral interactions, Institut de turbulentand numerical flows, simulation. and their modeling Pierre-Philippe J. Beaujean is anof Associate Ocean Professor and in Mechanical thespecializes Engineering, Department Florida in Atlantic underwater University. He acoustics,telemetry with and a networking, acoustic particular imagery,and interest sediment classification in acoustics, of detection acoustic subsea objects,is and an machine reliability. active Dr member Beaujean ofTechnology the Society Acoustical member. Society of America and a Marine Chapter D.36 Chapter B.15 Michael M. Bernitsas, received hisMortimer PhD E. in Cooley Collegiate Ocean Professor Engineeringand of from the Engineering MIT. He at Director, the is ofASME University the of the and Michigan SNAME Marine 1998. Renewablecompany commercializing He Energy the is VIVACE Converter. Laboratory. the He founder is and a CTO fellow of of Vortex Hydro Energy, a Michael Benjamin is aEngineering Research and Scientist the at Computer MIT Sciencefocus in and is the Artificial on Department Intelligence autonomy of Lab. algorithmsBS Mechanical His for and research unmanned MS marine degrees vehicles. inMS Dr Computer Benjamin and Science received PhD and Cognitive degrees Science in from Computer Rensselaer and Science from Brown University. Promode Bandyopadhyay’s currentbiorobotic research technologies. focuses Areas on of developing r autonomous Dr Basco is ProfessorCentre of at Old Civil Dominion Engineering University, Norfolk, and VA, USA. Director of the Coastal Engineering control of unmanned underwatertechnology, vehicles, and microbial analytical fuel cells, theoriesinclude flapping of the fin wall-turbulence propulsion mentoring and control. ofinternational His new performers. activ and prospective hires and teaming with national and Chapter C.30 Chapter E.47 Chapter B.20 Chapter B.11 James G. Bellingham Woods Hole Oceanographic Institution Woods Hole, USA [email protected] Massachusetts Inst. of Technology Laboratory for Autonomous Marine Sensing Systems Cambridge, USA [email protected] Naval Undersea Warfare Center Undersea Warfare Weapons,Defensive Vehicles, Systems Dep. and Newport, USA [email protected] University of Toulouse, CNRS Inst. Fluid Mechanics Toulouse, France [email protected] Florida Atlantic University Dep. Ocean and Mechanical Engineering Boca Raton, USA [email protected] Rémi Bourguet Michael R. Benjamin Pierre-Philippe J. Beaujean Promode R. Bandyopadhyay

Old Dominion University Dep. Civil and Environmental Engineering Norfolk, USA [email protected] University of Michigan Dep. Naval Architecture &Engineering Marine Ann Arbor, USA [email protected] Michael M. Bernitsas David R. Basco Authors 1290 About the Authors About the Authors 1291

Mario P. Brito Chapter B.24

University of Southampton Dr Mario Paulo Brito is a Lecturer in Risk Analysis and Risk Manage- Centre for Risk Research ment at the University of Southampton. He has worked as a risk and Southampton, UK reliability analyst for several marine autonomous systems deployment [email protected] projects. His main research interest is in the development of novel risk and reliability methods, particularly in exploring extreme environments. Authors Robert A. Brizzolara Chapter B.13

Office of Naval Research Dr Robert A. Brizzolara manages science and technology at the Office of Naval Sea Platforms and Weapons Division Research supporting small combatant craft. The program includes basic and applied Arlington, USA research and technology development. He was previously Group Leader at the [email protected] NSWC-Carderock Division, received his PhD degree in Physics from the University of Delaware, and performed his postdoctoral work at the Naval Research Laboratory.

Stefano Brizzolara Chapter B.13

Massachusetts Institute of Technology Stefano Brizzolara holds an MSc in Naval Architecture and Marine Engineering and a MIT Innovative Ship Design Lab PhD in Numerical Hydrodynamics for Ship Design. He started his academic career in Cambridge, USA the Department of Naval Architecture of the University of Genova. In 2013 he joined [email protected] MIT Sea Grant as Assistant Director for Research and MIT iShip, which researches the functional design of innovative high performance marine vehicles, fast ships, and offshore technologies.

Wendell S. Brown Chapters A.2, A.5

University of Massachusetts – Wendell Brown received his ScM in Engineering from Brown University Dartmouth in 1967 and his PhD in Oceanography from MIT in 1971. After a School for Marine Science and post-doc at Scripps Institution of Oceanography, he became a faculty Technology member at the University of New Hampshire. In 2000, he joined the New Bedford, USA [email protected] newly-established School for Marine Science and Technology at the University of Massachusetts-Dartmouth. His area of expertise is coastal ocean physical oceanography and observing systems.

Andrew Cairns Chapter C.31

AECOM Andrew Cairns is a professional engineer and leads AECOM’s port and New York, USA marine engineering practice in the Northeast United States. He began [email protected] his port and harbor engineering career as an engineer diver, performing underwater investigations around the world. His experience includes planning, inspection, design, and construction supervision of port and marine projects worldwide, including industrial and military marine terminals, bulkheads, marinas, and shore side civil works.

Thomas J. Campbell Chapter C.29

The Shaw Group Thomas J. Campbell is the President of Coastal Planning & Engineering. He has Coastal Planning and Engineering Inc. directed coastal engineering analysis, design, geotechnical and physical surveys, and Boca Raton, USA numerical modeling for 75 beach restoration projects throughout the United States. He [email protected] is a registered professional engineer in seven states, Vice President of the American Shore and Beach Preservation Association (ASBPA), and serves as the Co-Chair of the Science and Technology Committee.

John M. Carel Chapter C.31

Estero, USA John Carel, a professional engineer and Vice President with AECOM ports and marine [email protected] practice, received a Master’s degree from Michigan State and has 40 years of marine and coastal experience, specializing instructural and geotechnical design of maritime structures. He has extensive experience throughout the metropolitan New York area, as well as the US East and Gulf Coasts, the Caribbean, and the Middle East. ace, 2008. He hydrokinetic hydraulics eaching areas include fluid mechanics, lity, and computational onnel conducting salvage and diving operations worldwide. Chapter C.29 For biographical profile, please see the section “About Editors”. the For biographical profile, please see sectionthe “About theEditors”. Part Alana Duerr received herEngineering from BS the Webb in Institutefrom and Naval Florida a Architecture Atlantic PhD and University. in Atfocused Marine Ocean Florida on Engineering Atlantic ocean current University she resourcedevices. assessment She for currently supports marine theWind US research, Department development, and of deployment Energy’s efforts. Offshore Professor Chatjigeorgiou received hisNational diploma Technical University and of PhD AthensHis in from research 1990 the and interests 1997,wave include respectively. resistance, linear violent and slamming,slender nonlinear structures hydroelasticity, hydrodynamics, with and internal dynamicsalso flow been of for involved marine in applications. thetheir He scientific applications computing has of to special boundary functionsHelmholtz, value and and problems Stokes associated domains. with Lapl Chapter E.44 Chapter D.38 Michael Dean is an oceanHe engineer has from participated Florida in Institute and ofrecoveryhnology. led Tec and numerous underwater salvage, deep repairOcean ocean Engineering, operations. search he and As is the theunderwater Navy’s Deputy ship technical repair Director authority for where of hemilitary salvage pers and leads an outstanding team ofilian civ and Bruce Cathers hasof more coastal, than estuarine and 35modeling. In river particular, years he engineering, has of worked and onhydrodynamic ocean experience physical outfalls, modeling, water and in quality and sediment numerical theand transport fields hydraulic simulations, structures. breakwaters, hydraulics, His air t and water qua Chapter C.32 Chapter D.42 Jason Dahl received his PhD degree in Ocean Engineering from MIT in Joseph Curcio received his MEngManagement and MS from in MIT. OceanLaboratory, Engineering While and he Ocean at participated Systems theOdyssey in class MIT the autonomous Autonomous design, underwaterand development, Underwater vehicles development (AUVs) and Vehicles and of deployment ledhovering CETUS, of a and station the team early keeping. in world’s the first design production level AUV capable of worked as a postdoctoralMIT. researcher He has at been both anHis the Assistant SMART research Professor Centre at interests the insystems, include University Singapore and of flow-induced and Rhode experimental vibrations, at Island methods since offshore for 2011. studying renewable fluid energy dynamics. Chapter D.36 Chapter B.23 Chapter A.3 Chapters 1, A.7, E.44, E.45 National Technical University ofSchool Athens of Naval ArchitectureEngineering and Marine Athens, Greece [email protected] Alana E.S. Duerr Ioannis K. Chatjigeorgiou New West Technologies LLC Englewood, USA [email protected] Gray, USA [email protected] University of New SouthWater Wales Research Laboratory Manly Vale, Australia [email protected] Naval Sea Systems Command Washington D.C., USA [email protected] Michael S. Dean Joseph A. Curcio Bruce Cathers

University of Rhode Island 217 Sheets Laboratory Narragansett, USA [email protected] Manhar R. Dhanak Robert G. Dean (deceased) Jason Dahl Cortis K. Cooper Authors 1292 About the Authors About the Authors 1293

Gerald D’Spain Chapter B.12

University of California San Diego Gerald D’Spain is the lead Principal Investigator in the ONR-sponsored Flying Wing Scripps Inst. of Oceanography Autonomous Underwater Glider program, a partnership with the Applied Physics Lab, San Diego, USA the University of Washington (APL/UW), with Peter Brodsky as Principal Investigator. [email protected] The lead engineer is Richard Zimmerman. Other key engineering personnel include Scott Jenkins, Dennis Rimington and Dave Price at Scripps, and Jim Luby and Sean McPeak at APL/UW. Authors

Frank Ehlers Chapter B.22

Bundeswehr Technical Center for Ships Dr Frank Ehlers obtained his Dr rer nat degree in Theoretical Physics (1998) from and Naval Weapons (WTD 71) the University of Kiel, Germany. Working at the Research Department FWG at the Kiel, Germany Bundeswehr Technical Center WTD 71, Germany, and at the NURC/CMRE, Italy [email protected] (2006–2011), he conducts both application-oriented and fundamental research in data fusion, collaborative signal processing, autonomic behaviors, and coordinated distributed sensor systems for maritime surveillance.

Naomi Ehrich Leonard Chapter B.19

Princeton University Naomi Ehrich Leonard is Edwin S. Wilsey Professor of Mechanical and Mechanical and Aerospace Engineering Aerospace Engineering at Princeton University. She received her BSE Princeton, USA in Mechanical Engineering from Princeton and her PhD in Electrical [email protected] Engineering from the University of Maryland. Leonard’s research focuses on control and dynamics in multi-agent systems from cooperative vehicle sensing networks to social groups of animals to human decision-making teams.

Karl Dietrich von Ellenrieder Chapter A.7

Florida Atlantic University Karl von Ellenrieder received MS and PhD degrees in Aeronautics and SeaTech Inst. for Ocean Systems Astronautics from Stanford University, in 1992 and 1998, respectively. Engineering He is currently a Professor in the Department of Ocean and Mechanical Dania Beach, USA Engineering at Florida Atlantic University. His research interests include [email protected] the development of unmanned surface vehicles, marine hydrodynamics, and design and control systems engineering.

R. Cengiz Ertekin Chapters D.34, D.35 For biographical profile, please see the section “About the Part Editors”.

Merv Fingas Chapter D.43

Spill Science Merv Fingas is a scientist working on oil and chemical spills. Dr Fingas has a PhD Edmonton, Canada in Environmental Physics from McGill University. He has published more than 875 [email protected] papers and publications in the field. Merv has prepared eight books on spill topics. His specialities are oil spill behavior and fate, remote sensing, and in-situ countermeasures.

George Z. Forristall Chapter A.3

Forristall Ocean Engineering, Inc. Dr George Z. Forristall formed Forristall Ocean Engineering, Inc. in 2004 to provide Camden, USA metocean services to offshore industries. He previously spent many years in various [email protected] Shell companies specifying oceanographic design conditions for offshore structures worldwide. His work has involved fundamental research into kinematics and statistics of storm waves and the structure of oceanic circulation, as well as site specific investigations. He has a PhD in Mechanical Engineering from Rice University. 1977 1997, ydney, cean currents. In 1984 and a PhD in onomous underwater cean wave-energy for 2007, he has been a Research hnology. His research interests include ecame involved with aut ilton received his PhD in Mechanical Engineering For biographical profile, please see the section “About Partthe Editors”. John Holmes received the PhD degreefrom in West Electrical Virginia University. Engineering Since in then,Surface he Warfare has Center been conducting withelectromagnetic the research field Naval to signatures reduce of the ships underwater and submarines. Gwyn Griffiths is anmid ocean 1970s technologist developing instrumentation whosethe for career late measuring began 1980s o in he the first b vehicles through the UKdevelop Autosub applications and project, research workingunderwater programs. with gliders His scientists and interests to autonomous nowtheir reliability. include surface vehicles, and, above all, Chapter A.8 Chapter B.24 Hanson’s previous role as Chief ScientistSoutheast of National Florida Atlantic Marine University’s Renewabletunities for Energy his Center variety providedBoulder of oppor- and experience at at the the Losand its Alamos University of role National in Laboratory Colorado the inthe at climate future air–sea system of interaction to clean converge energy. on a topic of importance to David Fries is HeadUSF of College the of Integrative Artspatents Creative and issued, Technology CTO licensed Group ofoceanography, 12 at analytical Spyglass technologies, chemistry, Technologies. and medical Hechemistry, over technology, microtechnology, has biotechnology, 60 electronics, 35 publications andappointment robotics. in at He Sandia has National heldBS/MS Laboratories/Lockheed a degrees past in Martin Chemistry. and holds Chapter B.18 Chapter E.46 oceanographic applications. Dr Ham from the University of California,wide Berkeley, and variety has of been oceanographic involved in buoy and the mooring design of systems. a Dong Jeng received his PhDand degree from since the then University has of beenand Western Australia an the in academic University of at Dundee. Griffitha His University, the primary focus University research of on area S is fluid–soil–structureengineering, offshore geotechnics, interactions. groundwater with hydraulics, Further porous research flow, interests and offshore cover wind coastal energy. Andrew Hamilton is an engineerhis at research the Monterey interests Bay include Aquarium Research marine Institute; hydrodynamics and o Patrick Haley received aApplied BS Mathematics in from Physics Northwestern fromworked Siena University in College in ocean modeling in 1991. at FromScientist Harvard 1991 at University. Since the to Massachusetts 2006, Institutemultidisciplinary he of ocean Tec modeling, uncertainty, and path planning. Chapter B.21 Chapter D.39 Chapter D.40 Chapters C.25, C.26 John J. Holmes Gwyn Griffiths Naval Surface Warfare Center Underwater Electromagnetic Signatures and Technology Division West Bethesda, USA [email protected] Autonomous Analytics Southampton, UK [email protected] Massachusetts Institute of Technology Dep. Mechanical Engineering Cambridge, USA [email protected] Griffith University Gold Coast Campus Griffith School Engineering of Griffith, Australia [email protected] University of South Florida Inst. for Research inTampa, Arts USA [email protected] Florida Atlantic University Southeast National Marine Renewable Energy Center Boca Raton, USA [email protected] Dong-Sheng Jeng Howard P. Hanson Patrick J. Haley Jr. David Fries

Monterey Bay Aquarium Research Institute Moss Landing, USA [email protected] Jennifer L. Irish Andrew Hamilton Authors 1294 About the Authors About the Authors 1295

Scott A. Jenkins Chapter B.12

University of California San Diego Scott A. Jenkins received a BS from Yale University in 1972 and a PhD in Oceanog- Scripps Inst. of Oceanography raphy from UCSD in 1980. He is author of 80 scientific papers, including the first San Diego, USA generalized speed-to-fly glide theory in 3-D wind fields. He holds the three Soaring [email protected] Diamonds from Fédération Aéronautique Internationale and was Chair of the ONR Underwater Glider System Study in 2003. Authors

Jason Jonkman Chapter E.49

National Renewable Energy Laboratory Jason Jonkman is a Senior Engineer at National Renewable Energy National Wind Technology Center Laboratory (NREL), which he joined in 2000, and leads the wind turbine Golden, USA multi-physics engineering tools development activities. He works on a [email protected] variety of projects focused on developing, verifying and validating, and applying tools for offshore wind turbines. Jason holds a PhD in Aerospace Engineering Sciences from the University of Colorado.

James M. Kaihatu Chapters A.4, C.27 For biographical profile, please see the section “About the Part Editors”.

Tae Won Kim Chapter B.17

FMC Technologies Schilling Robotics Dr Kim works for FMC Technologies Schilling Robotics where he Davis, USA develops underwater devices and ROV simulators. He has served as a [email protected] Co-PI of the Semi-Autonomous Underwater Vehicle for Intervention Missions project at the University of Hawaii, and a senior research engineer at Samsung Aerospace Ind., Korea.

William Kirkwood Chapter B.18

Monterey Bay Aquarium Research Institute William Kirkwood is Senior Research and Development Engineer for the Monterey Moss Landing, USA Bay Aquarium Research Institute. As lead engineer, he has managed several remotely [email protected] operated vehicles, autonomous underwater vehicles and in situ instruments. He is an Adjunct Professor at Santa Clara University and Treasurer for the IEEE Ocean Engineering Society. He has over 65 publications on vehicles/mechatronics, optics, and instrumentation.

John J. Leonard Chapter B.14

Massachusetts Institute of Technology John J. Leonard is the Collins Professor of Mechanical and Ocean Engineering in the Dep. Mechanical Engineering MIT Department of Mechanical Engineering. His research addresses the problems Cambridge, USA of navigation and mapping for autonomous mobile robots. He holds the degrees of [email protected] BSEE from the University of Pennsylvania and DPhil in Engineering Science from the University of Oxford. He is an IEEE Fellow.

Pierre F.J. Lermusiaux Chapter B.21

Massachusetts Institute of Technology Pierre Lermusiaux has made outstanding contributions in data assimila- Dep. Mechanical Engineering tion, ocean modeling, and uncertainty predictions. His research thrusts Cambridge, USA include understanding and modeling complex ocean dynamics and [email protected] processes. With his group, he creates, develops, and utilizes new math- ematical models and computational methods for ocean predictions and dynamical diagnostics, for optimization and control of autonomous ocean systems, for uncertainty quantification, and for data assimilation. hydrodynamic onors) and MSc degrees hnology (MIT). During his time at MIT, he oducts. hydrodynamics, mooring systems’ analysis and obotics. interactions, and sediment transport.received the Amongst Department other of awards, theService Dr Army for Lynett Commander’s his Award for post-Katrina Public work. Patrick J. Lynett is aSouthern Professor California. of His Civil research Engineering at interests areunderstanding the directed University of of towards coastal a processes, better suchevolution from as generation nearshore to circulations, the wave shoreline, multi-scale Wayne Leslie is aSociety. He Technical has Editor more at thandata 30 the analysis, years American oceanography, of ocean Meteorological world-class modeling,He experience and in is real-time ocean forecasting. an expertmanagement at and observational software program development;ocean management; physical forecasting and data and interdisciplinary analysis, modeling;analysis and and forecast web-based pr dissemination of Chapter B.21 Chapter C.27 Raymond Lum received the BEngfrom (First Class Nanyang H TechnologicalMassachusetts University, Institute of and Tec theworked PhD in degree the Laboratory from is for presently Autonomous a Marine Program Sensinghe Manager leads Systems. with teams He DSO of National engineersRepublic to Laboratories, of develop where sonar Singapore surveillance Navy. systems for the Chapter B.20 Dr Marani serves asaffiliated with lead the research NASA scientist Spaceserved at Servicing as Capabilities the researcher Office. at WV In theMarine the Robotic University Robotics past Technology of Technical decade Center, Committee Hawaii he and atjournal Manoa. a of He Intelligent member Service is of R Chair the of Editorial the Board IEEE of the Spyros Mavrakos is ViceStructures Rector and of Mooring Systems, NTUA, and Directorin Professor Naval of of Architecture Offshore the Structures. and Laboratoryresearch He Marine for has activities Engineering, include degrees Floating and offshore indesign, Offshore hydrodynamics Hydrodynamics. of His waveand energy multi-purpose converters, floating design structures ofexploitation. for floating offshore wind wind turbines, and wave energy sources Tapovan Lolla is a PhDMIT. candidate He in earned the his Departmentdegree of from Bachelor’s MIT Mechanical degree in Engineering at 2012. fromsystems, His IIT uncertainty research quantification, Bombay interests and include in high-dimensional robotic 2010 path inference. and planning, control a Master’s Steven Li is aexperience. professional The engineer solid withSteven theoretical Li’s over foundation engineering 25 career and have yearsexpertise the enabled related of to him wide coastal analysis to range and engineering attainstructures, modeling of a of port experience high coastal design, processes, level in ship design of mooring, of technical and sea maneuvering defense study. Chapter C.31 Chapter B.21 Chapter B.17 Chapter D.38 Patrick J. Lynett Wayne G. Leslie American Meteorological Society Boston, USA [email protected] University of SouthernSonny California Astani Dep. of CivilEnvironmental Engineering and Los Angeles, USA [email protected] Livingston, USA [email protected] West Virginia University WV Robotic Technology Center Fairmont, USA [email protected] DSO National Laboratories Singapore, Singapore [email protected] Giacomo Marani Raymond Lum Xiao Li

Massachusetts Institute of Technology Dep. Mechanical Engineering Cambridge, USA [email protected] National Technical University ofSchool Athens of Naval ArchitectureEngineering and Marine Athens, Greece [email protected] Spyros A. Mavrakos Tapovan Lolla Authors 1296 About the Authors About the Authors 1297

Robert E. Melchers Chapter A.6

The University of Newcastle Rob Melchers is Professor of Civil Engineering and ARC DORA Centre for Infrastructure Performance Research Fellow at the University of Newcastle, Australia. He holds a BE and Reliability and MEngSc from Monash University, and a PhD from the University Callaghan, Australia of Cambridge, UK. He is a Fellow of the Australian Academy of [email protected] Technological Sciences and Engineering. He specializes in corrosion modeling and structural reliability analysis. Authors

Yahya Modarres-Sadeghi Chapter D.36

University of Massachusetts Yahya Modarres-Sadeghi received his PhD degree in Mechanical Engi- Mechanical and Industrial Engineering neering from McGill University in 2006. He worked as a postdoctoral Amherst, USA researcher at MIT for 3 years. He has been an Assistant Professor at the [email protected] University of Massachusetts, Amherst since 2009. His research interests include fluid–structure interactions, nonlinear dynamics, offshore wind energy, and biomimetics.

Stephanie M. Petillo Chapter B.20

Woods Hole Oceanographic Institution Stephanie Petillo is an Oceanographic Engineering PhD candidate in the MIT/WHOI Woods Hole, USA Joint Graduate Program with a BS in Aerospace Engineering from the University [email protected] of Maryland – College Park (2008). Her research focuses on the use of autonomous underwater vehicles for autonomous and environmentally adaptive sampling of the ocean environment, to improve efficiency and synopticity of data collection.

Roshanka Ranasinghe Chapter C.28

UNESCO-IHE Inst. for Water Education Dr Roshanka Ranasinghe is Associate Professor of Coastal Engineering at UNESCO- Delft, The Netherlands IHE and at Delft University of Technology, The Netherlands. He is also Visiting [email protected] Professor at the Australian National University, Canberra, and strategy advisor on morphodynamic modeling at Deltares, The Netherlands. He is regularly invited to provide expert advice on coastal management and climate change impacts by national governments and international agencies.

Muthukamatchi Ravindran Chapter E.48

Naval Research Board Muthukamatchi Ravindran graduated in Mechanical Engineering from Pallickaranai Campus IIT Madras and served at IIT as Head of Ocean Engineering. He was Chennai, India the Founding Director of the National Institute of Ocean Technology, [email protected] and initiated major national programs on ocean energy, the Deep Sea Mining and Data Buoy Programs. He has served on the International Oceanographic Commission, ISBA, and the Naval Research Board.

Dronnadula V. Reddy Chapter D.33

Florida Atlantic University Dronnadula V. Reddy is a Professor of Civil, Environmental, and Dep. Civil, Environmental and Geomatics Geomatics Engineering at Florida Atlantic University. His numerous Engineering publications evidence his wide research interests, which include Boca Raton, USA computational, experimental, and structural geomechanics, offshore and [email protected] coastal structures, concrete technology with the focus on supplementary cementitious materials; and corrosion and fire resistant structural concrete.

Donald T. Resio Chapters C.25, C.26

University of North Florida Dr Donald T. Resio is Professor of Ocean Engineering at the University of North Dep. Civil Engineering Florida and has 40 years of experience in wind, wave and surge prediction, and Jacksonville, USA hazard/risk estimation. He has served as senior scientist for coastal work at the Army [email protected] Engineer Research and Development Center and has led their post-Katrina effort to improve methods for assessing hazards/risks along US coastlines. itially ponse ecent years hnology & Woods Hole Oceanographic medal. Dano Roelvink hasengineering more and than research. 25the He development has years of managed of the andin Delft3D experience contributed many system in EU-sponsored much and coastal research has to He projects been has actively on set involved coastal upinternational morphodynamics. collaborative projects institutes with and the leads USGS,open-source ONR, the model and for development many storm of impacts. XBeach, an Chapter C.28 Dr Seah has been involvedat in the hydrodynamic National research University sinceat of 1998, Berkeley, Singapore in finally and joining thein the University 2007. of Chevron His California Energy pastreduction, and Technology ship roll Company present damping, research sloshing ofin include LNG, waves. vortex and He multi-floater breakdowns, is res drag currentlyFPSOs. leading research into integrity management of Dr Rodenbusch has more thanand 35 management years of of experience deepwater withthe offshore the oil world. engineering and He gasfrom holds developments Rice around a University BS andMassachusetts and Institute a an of PhD Tec MME inInstitution. He in Oceanographic is Mechanical a Engineering Licensed Engineering from Professional Engineer in Texas. Chapter D.41 Chapter D.35 Professor Schmidt has beensensing pioneering concepts the for development ofFellow networks new of of underwater the small acoustic AcousticalPioneer autonomous of Society underwater Underwater of vehicles. Acoustics America, He and is the a 2005 recipient of the ASA Salvatore Scaturro is aof water pipelines, engineer pumpingmarine specializing stations, intake in and distribution the outfall networks, systems.computational analysis He fluid and hydraulic is dynamics design structures, an (CFD)own modeling experienced and models user software for of and a has water range hammer also of programmed and hydraulics his applications. Henrik Schmidt is a Professorfocuses of Mechanical on Ocean underwater Engineering at acoustic MIT. His propagation research and signal processing. In r H.R. Riggs received his PhDStructural degree Engineering from in the 1981. UniversityHawaii of After in California, 6 1987. Berkeley, years Over in in thelarge years industry, floating he he structures. joined has He worked thefluid is and extensively University other on currently of loading. hydroelasticity focusing and on very structural dynamic response to Chapter D.37 Chapter B.20 Chapter C.32 J.A. Dano Roelvink UNESCO-IHE Inst. forDelft, Water The Education Netherlands [email protected] Expert Water Modelling Sydney, Australia [email protected] Chevron Energy Technology Company Facilities Engineering Dep. Houston, USA [email protected] Rodenbusch Consulting Dripping Springs, USA [email protected] Robert Seah Salvatore Scaturro George Rodenbusch

University of Hawaii at Manoa Dep. Civil & Environmental Engineering Honolulu, USA [email protected] Massachusetts Institute of Technology Center for Ocean Engineering Cambridge, USA [email protected] Henrik Schmidt H. Ronald Riggs Authors 1298 About the Authors About the Authors 1299

Thomas Sondergaard Chapter B.21

TrackMan A/S Thomas Sondergaard is currently working as a Research and De- Vedbæk, Denmark velopment Engineer at TrackMan A/S. He has a Master of Science [email protected] degree in Mechanical Engineering from the Massachusetts Institute of Technology, USA. Prior to that, he earned a Master of Engineering degree from Imperial College, London. His research interests lie in the fields of acoustics, computational data analysis, statistics, uncertainty quantification, nonlinear data assimilation, estimation theory, and signal processing. Authors

Matthias Stammler Chapter E.49

Fraunhofer Institute for Wind Energy and Matthias Stammler studied Automotive Engineering in Germany and Mexico. He Energy System Technology IWES started his professional career as a drivetrain test engineer with Porsche. In 2011 Hannover, Germany he joined PowerWind as gearbox engineer for wind turbines. In 2013 he joined the [email protected] Fraunhofer IWES as a Research Fellow. He further specializes in bearing design for wind turbine applications, focusing on pitch systems.

Milica Stojanovic Chapter B.15

Northeastern University Milica Stojanovic graduated from the University of Belgrade, Serbia, in 1988, ECE Department and received the MS (1991) and PhD (1993) degrees from Northeastern University in Boston, USA Boston, MA, where she is currently Professor of Electrical and Computer Engineering. [email protected] She is also a Guest Investigator at the Woods Hole Oceanographic Institution. Milica is an Associate Editor and a Fellow of the IEEE.

Mareike Strach-Sonsalla Chapter E.49

Fraunhofer Institute for Wind Energy Mareike Strach-Sonsalla is Group Manager for Loads Analysis and and Energy System Technology IWES System Dynamics at Fraunhofer IWES. She specializes in offshore wind Bremerhaven, Germany energy turbine dynamics and modeling, particularly floating offshore [email protected] wind turbines. She joined Fraunhofer IWES as a research fellow in 2011, after studying naval architecture and offshore engineering in Berlin and Trondheim.

Arisi S.J. Swamidas Chapter D.33

Memorial University of Newfoundland Arisi S.J. Swamidas is a retired Professor of Civil Engineering at the Faculty of Engineering and Applied Faculty of Engineering and Applied Sciences, Memorial University, St. Science John’s, NL, Canada. Until 2014 he was active in supervising graduate St. John’s, Canada students in computational/experimental analysis and testing of offshore [email protected] and onshore structures/elements subjected to wind, wave, ice, and accidental impact forces. His publications include 2 books and more than 215 articles.

Peter M. Tate Chapter C.32

Sydney Water Corporation Peter Tate has more than 30 years’ experience studying physical processes in Parramatta, Australia the marine environment, specializing in the interaction of wastewater plumes and [email protected] internal waves. He has worked in research, consulting, and government organizations, providing him with a broad perspective on marine outfalls. His interests lie in the design and execution of interdisciplinary monitoring programs to assess the impacts of wastewater discharges on the marine environment.

Krish P. Thiagarajan Chapter D.41

University of Maine Krish Thiagarajan is the Correll Presidential Chair in Energy and Professor of Dep. Mechanical Engineering Mechanical Engineering at the University of Maine. His research spans design Orono, USA and analysis of energy generating systems located offshore in the deep oceans. In [email protected] particular, his area of research is dynamics and global performance of floating offshore systems for oil and gas, as well as renewable energy production. 1979 and hnology in Mechanical and ition at UNESCO-IHE has been related to hnology and has worked as a project engineer, project Dirk-Jan Walstra is a coastalDutch and morphologist international projects and in is the coastalcoastal involved zone. modeling in Due expertise to numerous his he specialist playsmorphological a models key role suchResearch in as the Associate Delft3D development at of and DelftLecturer at Unibest. University Utrecht of He University and Technology is Twente University. and also an a invited Dr Mark A. Tumeo isand Dean Construction, of and the Professorof College of North of Civil Florida. Computing, Engineering He Engineering, has atconsulting over and the 25 University research, years environmental of riskregulation. experience He assessment, in is policy, environmental and activelyand involved in currently several serves professional as aProfessional organizations Corresponding Issues Editor in for Engineering the Education ASCE and Journal Practice. of Chapter C.26 Chapter C.28 Fabian Vorpahl has a degreeInstitute in of Mechanical Engineering Tec from Karlsruhe manager, group manager, andHis Head work of is Department focused atstructural Fraunhofer dynamics, on coupled IWES. research simulation, and modeling,wind and development turbines. loads of of (offshore) global dynamics, Faculty member in thein Ocean the Engineering Department Mechanical since EngineeringWilliam Department I. since Koch 2005 is atthe Professor MIT, Center of currently for Marine OceanhnologyAthens Tec Engineering. (1974) and He and received Director his SMresearch of degree (1997) interests from and include NTU ScD biomimeticand (1979) robots, dynamics degrees flow–structure and from control interaction, of MIT. marine His vehicles. Chapter E.49 Chapter D.36 Since 1996 Mickcapacity van building, der education Wegen’s and pos coastal research zone in management the in an fieldestuarine international of morphodynamics context. coastal Specific on engineering, fieldsdensity decadal and of currents, to interest and millennial include process-based timescales, modeling salt (Delft3D). intrusion and James H. VanZwieten isversity’s an Southeast Assistant National Research Marine Professor Renewableinclude at Energy numerical Florida Center. His simulation, Atlantic research Uni- resourceapplications related areas assessment, to the and extraction controller of energy development from for ocean currents. Dr Ueckermann received hisand Bachelor’s his degree MS from and the PhD University from of Massachusetts Institute Waterloo, of Tec Computational Engineering. For hisfor regional research, ocean he models. Presently developeddevelops he computational mathematical is working schemes models as and an algorithmsand engineer thermodynamic for at machine Creare, applications. where vision, he weather prediction, Chapter C.28 Chapters E.44, E.46 Chapter B.21 Dirk-Jan R. Walstra Mark A. Tumeo University of North Florida College of Computing, Engineering & Construction Jacksonville, USA [email protected] Deltares Unit Hydraulic Engineering Delft, The Netherlands [email protected] UNESCO-IHE Inst. forDelft, Water The Education Netherlands [email protected] Creare Hanover, USA [email protected] Leading Expert Offshore Engineering Tower & Substructure SenvionOsnabrück, GmbH Germany [email protected] Massachusetts Institute of Technology Dep. Mechanical Engineering Cambridge, USA [email protected] Mick van der Wegen Fabian Vorpahl Mattheus P. Ueckermann Michael S. Triantafyllou

Florida Atlantic University Southeast National Marine Renewable Energy Center Boca Raton, USA [email protected] James H. VanZwieten Authors 1300 About the Authors About the Authors 1301

Robert Weiss Chapter C.25

Virginia Tech Dr Robert Weiss is an Assistant Professor of Geosciences at Virginia Tech with more Dep. Geosciences than 12 years of experience and 30 peer-reviewed papers. Dr Weiss is a tsunami expert Blacksburg, USA with expertise in numerical simulations of tsunami evolution and dynamics, sediment [email protected] transport, and field reconnaissance surveys.

Jan Wenske Chapter E.49 Authors

Fraunhofer Institute for Wind Energy Jan Wenske studied engineering at the Technical University of Clausthal. and Energy System Technology IWES He worked as a project manager with STILL GmbH and as Head of Power Bremerhaven, Germany Electronics Development at ESW Jenoptik AG. He joined Fraunhofer- [email protected] IWES in 2011 as the Head of the Wind Turbine and System Technology Department, specializing in power mechatronics, accelerated testing, and advanced drive train control. He has been a Professor at the University of Bremen since 2013.

Nikolaos I. Xiros Chapters 1, A.9, A.10, E.45 For biographical profile, please see the section “About the Editors”.

Konuralp Yigit Chapter B.21

University of Illinois at Urbana Champaign Konuralp Yigit obtained his Bachelor of Science degree from the Dep. Aerospace Engineering Turkish Naval Academy in 2005 and his Master of Science degree from Urbana, USA Massachusetts Institute of Technology (MIT) in 2011. He is currently [email protected] a PhD student at the University of Illinois at Urbana-Champaign. His current research is centered on parallel computing and algorithms.

Solomon Yim Chapter D.37

Oregon State University Solomon Yim received his PhD degree from the University of California, Berkeley. School of Civial and Construction He has been teaching at Oregon State University since 1987 and is the Glenn Willis Engineering Holcomb Professor of Structural Engineering. Dr Yim’s work focuses on analytical, Corvallis, USA numerical, and experimental modeling, and simulation of coupled fluid–structure [email protected] interaction systems, high-performance computing, with applications in civil, naval, offshore, and renewable-energy engineering.

Junku Yuh Chapter B.17

Korea Institute of Science and Technology Dr Yuh, IEEE Fellow, is currently Endowed Chair Researcher at Korea Institute of National Agenda Research Division Science and Technology (KIST). He served as the 5th and 6th President of Korea Seoul, Korea Aerospace University, US National Science Foundation Program Director, Head of [email protected] NSF Tokyo Regional Office, Professor of Mechanical Engineering and Information and Computer Science at the University of Hawaii, and Editor-in-Chief for the International Journal of Intelligent Service Robotics. 1303

Detailed Contents

List of Abbreviations ...... XXIX

1 Introduction Manhar R. Dhanak, Nikolaos I. Xiros ...... 1 1.1 Enabling Maritime Design and Development ...... 1 1.2 History...... 2 1.3 Basics...... 2

1.4 Applications...... 4 Cont. Detailed 1.4.1 Automated Unmanned Systems ...... 4 1.4.2 Coastal Design ...... 5 1.4.3 Offshore Systems...... 6 1.4.4 Ocean Energy...... 6 1.5 Future Trends ...... 7 References ...... 8

Part A Fundamentals

2 Elements of Physical Oceanography Wendell S. Brown...... 15 2.1 Atmospheric Processes ...... 16 2.2 Ocean Structure ...... 17 2.3 Oceanic Processes...... 18 2.4 Surface Gravity Waves ...... 19 2.4.1 Surface Gravity Waves ...... 19 2.4.2 Definitions ...... 20 2.4.3 Wave Generation and Evolution...... 25 2.5 Wind-Forced Ocean Processes ...... 28 2.5.1 Frictional Effects ...... 28 2.5.2 Earth Rotation Effects ...... 29 2.5.3 Hurricane Wind-Forced Ocean Response ...... 29 2.5.4 Wind-Forced Upper Ocean Response with Earth Rotation Effects ...... 33 2.5.5 Wind-Driven Currents: Ocean Basin Scale ...... 34 2.5.6 Gulf Stream Ring Flows...... 37 2.6 Deep Ocean Currents ...... 38 2.7 Coastal Ocean Currents ...... 39 2.8 Ocean Surface Tides ...... 40 2.9 Oceanic Internal Waves and Tides...... 43 References ...... 45

3 Metocean Extreme and Operating Conditions George Z. Forristall, Cortis K. Cooper ...... 47 3.1 Quantifying the Metocean Environment...... 48 3.2 Overview of WWC Processes ...... 49 3.2.1 Winds...... 49 61 61 78 55 55 58 57 56 58 59 62 59 60 80 80 80 81 80 77 78 81 77 81 51 53 63 82 63 64 66 66 67 68 68 69 69 69 72 64 65 65 69 70 71 71 71 72 ...... 3.5.1 Response-Based Analysis 3.5.2 Load Cases 4.2.1 Potential Flow Formulation 3.3.1 Historical Storm Databases 3.3.2 Satellite Databases 3.4.1 Winds 3.3.4 Mobile Measurements 3.3.3 In Situ Measurements 3.4.2 Waves 3.5.3 Environmental Contours 3.4.3 Currents, Surge, and Tides 4.3.24.3.3 Phase Speed 4.3.4 Group Speed 4.3.5 Amplitude Modulation of Water Waves Average Wave Energy Density 4.3.1 Linear Dispersion Relation 4.3.6 Propagation of Wave Energy 4.3.7 Water Particle Trajectory 3.2.2 Waves 3.2.3 Currents 3.5.4 Inverse FORM 3.6.1 Probability Distributions 3.7.1 Risk and Reliability 3.7.23.7.3 The Historical Method Synthetic Storm Modeling 3.7.4 Modeling Versus Measurements 3.7.5 Accounting for Physical Limits 3.7.6 Seasonality 3.7.7 Directionality 3.7.8 Combining Long and Short-Term Distributions 3.6.2 Persistence 3.6.3 Currents 3.7.93.7.10 Rogue Waves Extremely3.7.11 Rare Events Quantifying Uncertainty 3.7.12 Stationarity erences f 3.4 Modeling 3.5 Joint Events 4.2 Wave Theories 4.3 Properties of Small Amplitude Gravity Waves 4.1 Ocean Surface Waves 3.3 Measurements Mechanics of Ocean Waves James M. Kaihatu, Palaniswamy Ananthakrishnan 3.6 Operational Criteria 3.7 Extreme Criteria 3.8Re Conclusions

4

Detailed Cont. 1304 Detailed Contents Detailed Contents 1305

4.3.8 Spatio-Temporal Evolution of Waves...... 82 4.3.9 Shoaling and Refraction of Waves...... 83 4.3.10 Closing Remarks to the Section...... 83 4.4 Weakly Nonlinear Deep Water Wave Theories ...... 83 4.4.1 Properties of Weakly Nonlinear Deep Water Waves ...... 84 4.4.2 Evolution of Weakly Nonlinear Deep Water Waves...... 85 4.5 Shallow Water Wave Theories ...... 87 4.5.1 Properties of Weakly Nonlinear Shallow Water Waves..... 88 4.5.2 Evolution of Weakly Nonlinear Shallow Water Waves ..... 89 4.6 Transformation of Waves Approaching Land ...... 90 4.7 Computational Method for Fully Nonlinear Waves...... 93 4.8 Wave Forces on Fixed and Floating Structures ...... 94 ealdCont. Detailed 4.8.1 Incident Wave Force: Froude–Krylov Force ...... 94 4.8.2 Morison Force on a Stationary Body ...... 95 4.8.3 Wave Diffraction over a Body ...... 96 4.8.4 Wave Radiation Force on an Oscillating Body ...... 96 4.9 Concluding Remarks ...... 97 References ...... 98

5 Physical Properties of Seawater Wendell S. Brown...... 101 5.1 Hydrostatic Pressure...... 101 5.2 Temperature ...... 101 5.3 Salinity ...... 103 5.4 Density ...... 104 5.5 Temperature–Salinity Relationships ...... 105 5.6 Specific Heat ...... 106 5.7 Freezing of Sea Water and Sea Ice ...... 106 5.8 Coefficient of Thermal Expansion ...... 106 5.9 Sound Velocity ...... 107 5.10 Acoustic Ambient Noise ...... 107 5.11 Light Transmission...... 108 References ...... 109

6 Principles of Marine Corrosion Robert E. Melchers...... 111 6.1 Chemical and Physical Composition of Seawater ...... 111 6.2 Materials Used in Marine Environments...... 113 6.3 Marine Corrosion of Steel ...... 113 6.4 Modeling Longer Term Corrosion of Steel...... 116 6.5 Other Influences on Steel Corrosion ...... 118 6.6 Pitting Corrosion of Steel ...... 119 6.7 Some Other Important Materials ...... 121 6.7.1 Stainless Steel...... 121 6.7.2 Aluminum ...... 121 6.7.3 Copper-Nickels...... 121 6.7.4 Reinforced Concrete ...... 121 6.8 Conclusion ...... 123 References ...... 123 188 193 195 180 182 184 186 127 177 201 197 177 198 178 127 127 129 134 197 197 202 201 135 156 203 155 206 206 208 155 143 138 136 211 159 154 146 153 146 153 169 174 ...... Groups ˘ ...... -Transform Z ...... Using a Discrete-Time Signal of Marine Surface Vessels ...... of Fresh Water 9.1.4 The 9.1.3 Analog Signal Reconstruction 7.1.17.1.2 Drag Force on a Sphere Physical Significance of Dimensionless the 7.1.37.1.4 Similitude Skin-Friction Drag 9.1.19.1.2 Discrete-Time Signals and Digital Systems Signal Sampling 9.1.6 Continuous-Time System Mapping 9.1.5 Discrete-Time LTI Systems 7.1.5 Estimating the Drag on a Ship from Model Testing 7.3.3 Flow of an Ideal Fluid 7.3.2 The Navier–Stokes Equations 9.2.1 Important FIR Filter Structures 9.2.2 Important IIR Filter Structures 7.3.1 Flow Kinematics 7.1.8 Air and Wind Resistance 7.1.7 Screw Propellers 7.1.6 Hydrofoil Lift andDrag 7.3.4 Flow of a Viscous Fluid 7.2.2 Static Stability 7.1.9 Hydrodynamic Characterization 7.2.1 Pressure Forces on Surfaces 8.8 Electromagnetic Propagation in the Ocean at Optical Wavelengths References 8.4 Reflection and Transmission of a Plane Wave at Surface the 8.5 Plane Wave Incident on Seawater 8.6 Magnetic and Electric Dipoles in an Unbounded Ocean 8.7 Magnetic and Electric Dipoles in a Bounded Ocean Nikolaos I. Xiros John J. Holmes Digital Signal Processing Ocean Electromagnetics Hydromechanics Karl Dietrich von Ellenrieder, Manhar R. Dhanak 7.1 Dimensional Analysis, Basic Estimation, and Model Testing 8.1 Electromagnetism in an Ocean Environment 9.1 Discrete-Time Systems 8.2 Electromagnetic Field Theory 8.3 Plane Wave Propagation 9.2 Digital Filters 9.3 The Fast Fourier Transform (FFT) 7.3 Hydrodynamics 7.2 Fluid Statics References

9 7 8

Detailed Cont. 1306 Detailed Contents Detailed Contents 1307

9.3.1 Review of Integral Transforms ...... 211 9.3.2 The Discrete Fourier Transform (DFT) ...... 212 9.4 Waveform Analysis ...... 216 9.4.1 Definitions for Waveforms and Random Signals ...... 216 9.4.2 Signal Power and Power Spectral Density ...... 218 9.4.3 Waveform Propagation Through a Linear, Time-Invariant System ...... 219 9.5 Optimal Signal Estimation ...... 220 9.5.1 System Identification...... 220 9.5.2 Discrete-Time Wiener–Hopf Equation over a Finite-Duration Window ...... 221 9.5.3 Signal Estimation and the Wiener Filter ...... 222 ealdCont. Detailed 9.6 Concluding Remarks ...... 225 References ...... 225

10 Control Theory and Applications Nikolaos I. Xiros, Pak-Cheung Edgar An...... 227 10.1 System Theory ...... 227 10.1.1 Definitions and Fundamentals ...... 227 10.1.2 The Laplace Transform...... 229 10.1.3 Linear Time-Invariant Systems ...... 230 10.1.4 Multivariable Systems and State Space ...... 233 10.1.5 Nonlinear Systems and Linearization ...... 235 10.2 Analysis of LTI Systems ...... 237 10.2.1 Block Diagrams ...... 237 10.2.2 Stability ...... 238 10.2.3 Controllability and Observability ...... 240 10.2.4 Sinusoidal Steady-State Response and Bode Plots ...... 241 10.2.5 Analysis of Second-Order Systems ...... 244 10.3 SISO System Controls...... 247 10.3.1 Performance Criteria...... 247 10.3.2 ON/OFF Control ...... 248 10.3.3 PID Control ...... 249 10.3.4 Ziegler–Nichols’ Methods for PID Controller Tuning ...... 254 10.3.5 Digital Controller Implementation ...... 256 10.3.6 The Root Locus Technique ...... 259 10.4 Pole Placement of LTI Systems ...... 261 10.4.1 Input–Output Decoupling ...... 261 10.4.2 Full-State Feedback ...... 264 10.4.3 Pole Placement Design ...... 264 10.5 Course-Keeping Autopilots ...... 267 10.5.1 The Vessel in the Control Loop...... 267 10.5.2 Surface Vessel State-Space Model ...... 269 10.5.3 PID Autopilots...... 271 10.5.4 State Observers and Use in Autopilots ...... 274 References ...... 275 296 296 297 298 298 299 287 286 289 286 297 297 296 284 281 337 339 323 281 324 326 327 330 301 301 305 307 306 327 307 318 319 320 313 307 307 307 310 311 308 308 ...... of Integrated Design ...... and Disturbance Rejection of Bio-Inspired Propulsion 11.5.1 BAUV 11.2.2 Animal-Like Motion Control Laws and the Principles and Control 11.2.1 Hydrodynamics 11.5.3 RAZOR 11.5.2 SPLINE 11.1.1 Flapping Fin Propulsion Technology 13.3.1 Froude Number and Hull Typologies 12.3.2 Depth Limited Roaming 12.3.1 Depth Unlimited Roaming 12.3.3 2-D Station Keeping 12.3.5 Level Flight Hybrids 12.3.4 Payload/Cargo Delivery 12.4.3 Shape Factors 12.4.4 Glide Polar 12.4.2 Size Factors 12.4.1 Net Transport Economy 11.5 Demonstrated Maneuverings of NUWC Bio-Inspired Vehicles 11.7 Concluding Remarks 11.8 Nomenclature References 11.3 Description of Biology-Inspired Vehicles of Emergent Maturity 11.4 Reliability, Low Power Consumption, 11.6 Discussion 11.2 Theoretical Foundation of Animal-Inspired Hydrodynamics References 13.1 Platforms 11.1 Biorobotics 13.2 Autonomous Maneuvering and Navigation 13.3 Naval Architecture of AUSV Design 13.5 Conclusions Autonomous Sea Surface Vehicles Stefano Brizzolara, Robert A. Brizzolara Autonomous Underwater Gliders Scott A. Jenkins, Gerald D’Spain Highly Maneuverable Biorobotic Underwater Vehicles Promode R. Bandyopadhyay 12.1 Concept 12.2 Hydrodynamics of Wings Versus Propellers 12.3 Underwater Glider Attributes and Limitations 13.4 Optimized Class of Autonomous Unmanned Surface Vehicles 12.6 Discussion and Conclusions References 12.5 Thermal Glider 12.4 Optimal Size and Shape for Horizontal Transport Efficiency

12 Part B Autonomous Ocean11 Vehicles, Subsystems and Control 13

Detailed Cont. 1308 Detailed Contents Detailed Contents 1309

14 Autonomous Underwater Vehicle Navigation John J. Leonard, Alexander Bahr...... 341 14.1 Sensors ...... 343 14.1.1 Depth ...... 343 14.1.2 Compass ...... 343 14.1.3 Gyroscopes ...... 343 14.1.4 Attitude Heading Reference Systems ...... 344 14.1.5 Inertial Navigation Systems...... 344 14.1.6 GPS...... 344 14.1.7 Doppler Velocity Log (DVL) ...... 344 14.1.8 Acoustic Ranging Methods ...... 345 14.2 Algorithms ...... 346 14.2.1 Dead-Reckoning and Inertial Navigation...... 346 Cont. Detailed 14.2.2 Acoustic Navigation ...... 347 14.2.3 Geophysical Map-Based Navigation ...... 349 14.2.4 Simultaneous Localization and Mapping ...... 350 14.2.5 Cooperative Navigation of Multiple Vehicles ...... 351 14.3 Summary ...... 352 14.3.1 Glider with Very Low Power Sensor Suite...... 352 14.3.2 Low-Cost AUV Sensor Suite...... 352 14.3.3 Standard AUV Sensor Suite ...... 353 14.3.4 High-End AUV ...... 353 14.3.5 Special-Task AUV Using Visual SLAM ...... 353 14.4 Conclusion ...... 353 References ...... 354

15 Acoustic Communication Milica Stojanovic, Pierre-Philippe J. Beaujean...... 359 15.1 A Brief History ...... 360 15.2 Current and Emerging Modem Applications...... 360 15.3 Existing Technology ...... 361 15.3.1 System Requirements ...... 361 15.3.2 Commercially Available Modems ...... 362 15.3.3 Field Tests ...... 363 15.4 Propagation Channel...... 364 15.4.1 Attenuation and Noise ...... 364 15.4.2 Multipath Propagation ...... 365 15.4.3 Time Variability: Motion-Induced Doppler Distortion ..... 369 15.4.4 Time Variability: Random Effects (Fading) ...... 370 15.4.5 System Constraints...... 372 15.5 Point-to-Point Links: Signal Processing...... 374 15.5.1 Noncoherent Modulation/Detection ...... 374 15.5.2 Coherent Modulation/Detection ...... 375 15.5.3 Data Link Reliability ...... 378 15.5.4 Turbo Equalization ...... 378 15.5.5 Adapting to the Environment ...... 379 15.5.6 Networks ...... 379 15.5.7 Channel Sharing ...... 381 15.5.8 Routing and Cross-Layer Integration...... 382 418 417 417 413 417 417 419 414 419 418 411 398 397 396 395 410 407 409 398 394 393 395 390 390 390 392 399 391 400 383 407 383 387 401 401 388 400 400 399 403 403 404 ...... (Autonomous Manipulation) and Navigate to a Search Area ...... 17.6.6 Phase 6: Return to the Pier 17.6.5 Phase 5: Hook a Recovery Tool to the Target Object 17.6.4 Phase 4: Hover (Station Keeping) 17.6.3 Phase 3: Navigate and Dive Toward the Platform 17.6.2 Phase 2: Search for the Submerged Platform of Underwater Vehicle-Manipulator Systems 17.6.1 Phase 1: Undock from the Pier 16.4.4 Other Docking Mechanisms 16.4.3 Soft Docking Approaches 16.4.2 Omnidirectional Docks: Poles 16.4.1 Directional Docks: Funnels 16.3.4 Constraining Vertical Position 16.3.3 Electromagnetic Homing Systems 16.2.2 Vehicle Size 16.2.1 Vehicle Configuration and Controllability 16.3.2 Optical Homing 16.5.1 Establishing a Communications Link 16.3.1 Acoustic Homing 16.6.1 Navigation, Currents, and Arriving at the Dock 16.6.4 Detecting and Recovering from Failures 16.6.3 Managing State: Coordinating AUV and Dock 16.6.2 Managing State: AUV Control 16.5.2 Power Transfer 17.6 Underwater Autonomous Manipulation References 17.7 Conclusions 17.5 Coordinated Motion Control 17.4 Sensor-Based Manipulator Control 17.2 Dynamics of Underwater Vehicle Manipulators 17.3 Teleoperation of Underwater Vehicle Manipulators 16.5 Coupling Power and Communications 16.4 Capture and Connection Mechanisms 16.3 Sensors For Homing Underwater Vehicle Manipulators Tae Won Kim, Giacomo Marani, Junku Yuh 15.6 Future Trends Autonomous Underwater Vehicle Docking James G. Bellingham References 17.1 Underwater Vehicles for Intervention Missions 16.1 Technical Elements of Docking 16.2 AUV Characteristics 16.6 AUV Control Considerations 16.7 Conclusions and Future Prospects References

16 17

Detailed Cont. 1310 Detailed Contents Detailed Contents 1311

18 Non-Acoustic Sensors David Fries, William Kirkwood ...... 423 18.1 Non-Acoustic Ocean Sensors: Sourcing and Classification ...... 423 18.2 Classical Non-Acoustic Ocean Sensors ...... 424 18.3 Chemical Sensor Systems ...... 426 18.4 Biological Sensor Systems...... 429 18.5 Physical Sensor Systems ...... 432 18.6 AUV-Based Physical Sensors – Horizons ...... 435 18.7 AUV-Chemistry Sensors – Horizons ...... 435 18.8 AUV-Based Biological Sensors – Horizons ...... 436 18.9 Autonomous Sampling Systems – Extending Real-Time AUV Sensors...... 436 18.10 Non-Acoustic Sensor Packaging ...... 436 Cont. Detailed 18.11 The Essential Need for Sensors ...... 437 References ...... 437

19 Cooperative Vehicle Environmental Monitoring Naomi Ehrich Leonard ...... 441 19.1 Motivation ...... 441 19.2 Background and History ...... 443 19.3 Advances in Cooperative Vehicle Ocean Monitoring ...... 445 19.3.1 Cooperative Gliders in AOSN II ...... 445 19.3.2 Cooperative Gliders in ASAP...... 448 19.4 Recent Developments and Future Directions...... 452 References ...... 454

20 Nested Autonomy for Distributed Ocean Sensing Henrik Schmidt, Michael R. Benjamin, Stephanie M. Petillo, Raymond Lum 459 20.1 Nested Autonomy ...... 460 20.2 Concept of Operations (CONOPS) ...... 461 20.2.1 Field Level ...... 461 20.2.2 Cluster Level...... 462 20.2.3 Node Level ...... 462 20.3 Autonomy ...... 463 20.3.1 MOOS-IvP Autonomy Architecture and System ...... 463 20.3.2 The Payload Autonomy Paradigm ...... 463 20.3.3 The MOOS-IvP Autonomy Architecture ...... 464 20.4 Acoustic Communication Infrastructure ...... 466 20.5 On-Board, Real-Time Signal Processing ...... 467 20.6 Application Examples ...... 467 20.6.1 Unified Command, Communication, and Control Infrastructure ...... 467 20.6.2 Adaptive Thermocline and Acousticline Tracking ...... 469 20.6.3 Bistatic Target Tracking (GLINT’10)...... 474 20.7 Conclusion ...... 478 References ...... 479 519 523 524 525 525 526 481 482 517 494 496 518 517 502 499 502 502 489 487 483 483 485 486 485 492 490 501 503 499 489 505 510 511 511 511 512 513 ...... Trading Methodology Understanding Phase ...... Flows with Complex Geometries Multi-Scale Flows for Realistic Applications for Realistic Applications ...... 21.1.1 Canonical Steady Flows 22.1.3 Cellular Automata Approach 22.1.4 Probabilistic Graphical Models Approach 21.1.7 Realistic Ocean Conditions: Swarms in Multi-Scale 21.1.2 Time-Dependent 2-D Flows 21.1.3 Maintain Swarms Formations 21.1.4 Forbidden Regions 21.1.6 Realistic Ocean Conditions: Three-Dimensional 21.1.5 Uncertain Flow Fields 21.2.2 Recent Progress: Towards Rigorous Schemes 22.1.2 Multiagent Approach 22.1.1 Control and Estimation Approach 21.2.1 Early Results: Approximate Schemes 22.5.2 The 22.5.1 The 23.4 Integrating UMVs into Public Water Space 23.5 Developing Standards 23.6 The Road Ahead 23.7 Conclusion References 21.1 Time-Optimal Path Planning for Swarms of Ocean Vehicles 23.2 Sensing the World References 23.3 Proper Behaviors Yield Compliance Rules of the RoadJoseph for A. Unmanned Curcio Marine Vehicles Cooperative Vehicle Target Tracking Frank Ehlers Science of Autonomy:and Adaptive Time-Optimal Sampling Path forPierre Swarms Planning F.J. Lermusiaux, of Tapovan Ocean Lolla, Vehicles PatrickKonuralp J. Yigit, Haley Mattheus P. Jr., Ueckermann, ThomasWayne Sondergaard, G. Leslie 23.1 COLREGS 22.1 General Theoretical Framework 22.2 Distributed Sensing, Control, and Decisions 21.2 Adaptive Sampling for Swarms of Ocean Vehicles 21.3 Conclusions and Outlook 22.3 Multistatic Sonar 22.4 Maritime Surveillance 22.5 Effective CoordinationSchemes 22.6 Conclusions and Recommendations References 22 21 23

1312 Detailed Contents Detailed Cont. Detailed Contents 1313

24 Autonomy: Risk Assessment Mario P. Brito, Gwyn Griffiths ...... 527 24.1 Risk Management Process for Autonomous Ocean Vehicles...... 528 24.2 Risk of Failure...... 529 24.2.1 Reliability Estimation ...... 529 24.2.2 Reliability Modelling ...... 530 24.3 Risk of Collision...... 532 24.3.1 Risks of Collision on or Near the Surface ...... 532 24.3.2 Risks of Collision Underwater...... 533 24.4 Risk of Unavailability...... 534 24.5 Risk of Loss...... 535 24.5.1 Expert Judgment Elicitation Processes ...... 536 24.5.2 Survival Prediction ...... 540 Cont. Detailed 24.6 Legal Risks ...... 541 References ...... 542

Part C Coastal Design

25 Physical Characteristics of Coastal Hazards Jennifer L. Irish, Robert Weiss, Donald T. Resio ...... 549 25.1 Types of Coastal Hazards ...... 549 25.1.1 Coastal Storms ...... 549 25.1.2 Tsunamis ...... 551 25.1.3 Climate Variability, Climate Change, and Sea-Level Rise .. 553 25.1.4 Anthropogenic Activities ...... 554 25.2 Coastal Impacts ...... 555 25.2.1 Winds...... 555 25.2.2 Wind-Generated Waves ...... 556 25.2.3 Flood Levels and Runup ...... 557 25.2.4 Environmental Impacts ...... 560 25.3 Summary ...... 561 25.4 Nomenclature...... 561 References ...... 562

26 Statistical Characterization of Hazards and Risk in Coastal Areas Donald T. Resio, Mark A. Tumeo, Jennifer L. Irish...... 567 26.1 Overview of Risk and Uncertainty ...... 567 26.1.1 Definitions of Basic Terms ...... 568 26.2 Quantifying Coastal Hazards/Risks ...... 570 26.3 Historical Perspective ...... 574 26.3.1 The Development of Deterministic Methods ...... 575 26.3.2 The Development of Probabilistic Methods...... 577 26.3.3 The Development of the Historical Storm Method for Estimating Coastal Extremes ...... 581 26.3.4 The Development of Alternative Methods ...... 583 26.3.5 Probabilistic Analyses of Extratropical Storms...... 586 26.3.6 Future Directions and Final Comments ...... 586 26.4 Summary ...... 587 26.5 Nomenclature...... 587 608 608 608 612 612 611 611 612 613 606 600 598 611 598 604 613 605 602 603 630 587 597 593 630 630 635 630 631 631 614 626 629 613 613 623 629 636 619 629 619 636 617 614 ...... and Phase-Resolving Approaches ...... 28.1.4 Process-Based Models 28.1.1 Physical28.1.2 Scale Models Analytical Models 28.1.3 (Semi-)Empirical Models 28.2.1 What Is a Process-Based Morphodynamic Model? 27.1.3 Depth-Integrated and Boussinesq-Type Approaches 27.1.2 Spectral Modeling: Phase-Averaged 27.1.1 Linear, Analytical and Semi-Empirical Approaches 28.2.2 Mass Balance Equation 27.1.4 Navier–Stokes Equation-Based Approaches 28.4.5 Modeling28.4.6 Stratigraphy Morphological Modeling of Tsunami Deposits 28.4.4 Coral Reefs 28.2.5 Types of Process-Based Models 28.4.2 Biogeomorphology 28.2.3 Bed28.2.4 Celerity Development Toward Equilibrium 28.3.3 Long-Term Modeling of Estuaries 28.4.3 Dune Modeling 28.3.2 Modeling Cross-Shore Breaker Bar Cycles 28.4.1 Ensemble Modeling 28.3.1 Storm Event Modeling 28.2.6 Upscaling Techniques 27.6 Nomenclature References 28.2 Principles of Process-Based Morphodynamic Modeling 27.5 Conclusions 28.1 Types of Coastal Models 27.3 Coupled and Nested Techniques 27.4 Summary of Model Properties 27.2 Modeling Long Waves Beach Nourishment Robert G. Dean, Thomas J. Campbell Modeling of Coastal MorphologicalJ.A. Processes Dano Roelvink, Dirk-Jan R.Roshanka Walstra, Ranasinghe Mick van der Wegen, 26.A Appendix: Glossary of Probability and Risk Terms Modeling of Coastal WavesPatrickJ.Lynett,JamesM.Kaihatu and Hydrodynamics 28.5 Nomenclature References 27.1 Wind Wave Modeling 29.1 Advantages of Beach Nourishment Over Other Approaches References 28.4 Future Directions 29.2 Methods of Delivery of Sand for Beach Nourishment 28.3 Modeling Approaches

28 27 29

Detailed Cont. 1314 Detailed Contents Detailed Contents 1315

29.2.1 Characteristics and Considerations in Design of Beach Nourishment Projects...... 637 29.2.2 Significance of Good Quality Sand ...... 638 29.2.3 Various Settings for Beach Nourishment...... 638 29.3 Role of Structures in Beach Nourishment ...... 639 29.3.1 Terminal Structures ...... 639 29.3.2 Groins ...... 640 29.3.3 Detached Breakwaters ...... 640 29.4 Design and Prediction Approaches and Methods...... 640 29.4.1 Pelnard Considère Methodology...... 641 29.4.2 One-Line Numerical Models ...... 643 29.4.3 N-Line and more Detailed Models ...... 643 ealdCont. Detailed 29.5 Additional Design Considerations ...... 643 29.5.1 Erosional Hot Spots...... 643 29.5.2 Nearshore Placement...... 644 29.5.3 Ad-Hoc Transformation for Modeling ...... 645 29.6 Legacy Beach Nourishment Projects ...... 645 29.6.1 Examples and Discussions of Legacy Projects ...... 645 29.7 Other Beach Nourishment Projects...... 648 29.7.1 Seabright to Manasquan Inlet, NJ...... 648 29.7.2 Captiva Island, FL ...... 648 29.7.3 Treasure Island, FL ...... 649 29.8 Summary and Conclusions...... 649 29.9 Nomenclature...... 650 References ...... 650

30 Storm Hazard Mitigation Structures David R. Basco ...... 653 30.1 Design Criteria, Philosophy, and Constraints ...... 655 30.1.1 Water Levels...... 655 30.1.2 Wave Conditions ...... 656 30.1.3 Surf Conditions on the Structure ...... 656 30.1.4 Probabilistic Design ...... 657 30.1.5 Coastal Risk ...... 657 30.1.6 A Coastal Storm Severity Index ...... 657 30.1.7 Design Constraints ...... 657 30.2 Coastal Armoring Structures ...... 658 30.2.1 Types and Purpose...... 658 30.2.2 Functional Design ...... 658 30.2.3 Structural Design...... 663 30.3 Shoreline Stabilization Structures ...... 674 30.3.1 Types and Purposes...... 674 30.3.2 Functional Design ...... 675 30.3.3 Structural Design...... 681 30.4 Websites and Sea Level Rise Trends ...... 681 30.4.1 Websites...... 681 30.4.2 Sea Level Rise Trends ...... 681 References ...... 681 713 704 703 703 711 712 685 687 685 715 714 713 716 694 698 701 701 703 706 707 693 692 709 692 709 690 689 717 707 707 707 692 691 723 722 721 723 721 718 717 718 733 732 730 729 725 ...... due to Ocean Environmental Conditions ...... 32.2.1 Drivers for a Marine Outfall 31.3.3 Loads on Structures 31.3.1 Vessel31.3.2 Berthing Loads Mooring Loads 31.1.2 Vessel Overview 31.1.1 Types of Marine Terminals 32.2.3 Data Collection for Outfall Design 32.2.2 Wastewater Treatment 32.3.1 Physical Models 31.2.4 Drydock Facilities 31.2.5 Floating Structures 31.2.6 Swinging Moorings 31.2.7 Ice Breakers 31.3.4 Tide and Storm Surge 31.2.3 Solid Structures 31.2.2 Open Pile Platforms 31.2.1 Breakwaters and Wave Attenuation 31.1.4 Harbor Navigation 31.1.3 Harbor Operational Limits 32.3.2 Positively Buoyant Jets and Plumes 31.3.6 Tsunamis 31.3.5 Ice 31.1.5 Sediment Transport Considerations 32.4.2 DiffusersHydraulic – Design 32.3.7 Conceptual Design for Positively Buoyant Discharges 32.4.1 Governing Hydraulics 32.3.6 Data for Running the Models 32.3.4 Model Validation 32.3.3 Negatively Buoyant Jets 32.3.5 Far-Field Numerical Modeling 32.4.6 Sedimentation 32.4.5 Air Entrainment 32.4.4 Hydraulic Integration 32.4.3 Flow Variability Marine Outfalls Peter M. Tate, Salvatore Scaturro, Bruce Cathers Port and Harbor Design Andrew Cairns, John M. Carel, Xiao Li 32.1 Terminology 32.2 Governance 31.1 Port and Harbor Layout and Design 32.3 Predicting Near-Field Dilutions 31.3 Loads on Structures due to Vessel Mooring and Berthing 31.5 Notation References 31.4 Suggested Reading 31.2 Structure Types 32.4 Hydraulic Analysis and Design

31 32

Detailed Cont. 1316 Detailed Contents Detailed Contents 1317

32.5 Outfall Construction ...... 734 32.5.1 Construction Materials ...... 734 32.5.2 Construction Methods ...... 734 32.5.3 Some Considerations ...... 735 32.6 Environmental Monitoring...... 736 32.6.1 Change Versus Impact ...... 736 32.6.2 Pre- and Post-construction Monitoring ...... 736 32.6.3 Long-Term Monitoring ...... 738 32.6.4 Summary ...... 739 References ...... 739

Part D Offshore Technologies Cont. Detailed

33 Offshore Platforms Arisi S.J. Swamidas, Dronnadula V. Reddy ...... 745 33.1 Relevance ...... 745 33.2 Types of Offshore Platforms...... 747 33.2.1 Fixed and Compliant Offshore Platforms ...... 748 33.2.2 Floating Offshore Platforms...... 750 33.2.3 Subsea Systems and Pipelines ...... 750 33.3 Future Trends and Developments in Offshore Platforms ...... 751 References ...... 752

34 Stability of Offshore Systems Alexia Aubault, R. Cengiz Ertekin ...... 755 34.1 Stability Criteria...... 756 34.2 Fundamentals ...... 757 34.2.1 Static Movements and Hull Position Float ...... 757 34.2.2 Dynamic Movements ...... 758 34.2.3 Some Geometric Definitions ...... 758 34.2.4 Center of Buoyancy and Gravity ...... 758 34.2.5 Irregular Shapes and Numerical Integration ...... 759 34.2.6 Unit Systems ...... 761 34.3 Hydrostatic Forces and Moments...... 761 34.3.1 Buoyancy and Displacement ...... 761 34.3.2 Equilibrium of Forces and Moments ...... 762 34.3.3 Shifting of Weight and Volume...... 763 34.4 Stability ...... 763 34.4.1 Righting Arm, Righting Moment, and Metacentric Height for Small Angles ...... 763 34.4.2 Transverse Metacentric Radius...... 764 34.4.3 Trim and Longitudinal Initial Stability ...... 764 34.4.4 Weight Addition, Removal, and Shift ...... 765 34.4.5 Effects of Liquid Free-Surface in Internal Tanks ...... 766 34.4.6 Scribanti’s Formula ...... 767 34.4.7 Stability at Large Angles of Inclination ...... 767 34.4.8 Dynamical Stability: Energy to Incline ...... 768 34.4.9 Hydrostatic Stiffness Coefficients ...... 769 34.4.10 Stability of Submersibles...... 770 787 787 778 778 776 770 776 810 810 787 791 794 791 790 778 773 809 804 808 809 812 803 807 812 802 806 814 798 802 814 816 779 779 805 804 779 784 785 784 784 780 779 780 781 781 782 781 781 ...... 35.1.1 Linear Waves 35.1.2 Nonlinear Waves 34.5.3 Live34.5.4 Loads Operational Loads 34.5.2 Dead Loads 34.4.12 Industry Practice 34.5.1 Environmental Loads 34.4.11 Purpose 35.4.1 Principles and Similarity Laws 35.4.2 Scaling of Loads 35.1.5 Large Bodies 35.1.6 Slender-Member Bodies 35.1.4 Random Waves 35.1.3 Shallow-Water Waves 34.5.5 Accidental Loads 35.2.4 Current-Induced Forces 35.3.3 Steady-State Forces 35.3.4 Unsteady Forces 35.2.3 Wave Current Kinematics 35.3.2 Wind Spectra and Gusts 35.4.3 Elastic Structures 35.2.2 Wave–Current Interaction 35.3.1 Wind-Speed Profile 35.2.1 Nonuniform Currents 34.6.1 Technical and Commercial Significance 35.2.5 Vortex-Induced Vibrations 34.6.2 Regulatory Approach 34.8.1 Static- and Quasi-Static Analysis 34.8.2 Dynamic-Response-Based Analysis 34.6.5 Control 34.6.3 Prediction 34.6.4 Determination 34.7.2 Regulatory34.7.3 Requirements Damaged Stability and Residual Stability 34.7.1 Purpose and Criteria R. Cengiz Ertekin, George Rodenbusch Wave, Current and Wind Loads 35.1 Wave Loads 34.5 Loads 35.4 Model Tests 35.5 CFD Tools 35.6 Extreme Response Estimation 35.2 Current Loads References 34.6 Lightship Parameters 35.3 Wind Loads References 34.8 Analysis 34.7 Subdivision

35

Detailed Cont. 1318 Detailed Contents Detailed Contents 1319

36 Vortex-Induced Vibrations Michael S. Triantafyllou, Rémi Bourguet, Jason Dahl, Yahya Modarres-Sadeghi ...... 819 36.1 VIV Prediction of Wide-Span Rigid Cylinders in Uniform Cross-Flow ...... 820 36.1.1 Flow Instability and the Formation of the Karman Street ...... 820 36.1.2 VIV of Flexibly Mounted Cylinders in Cross-Flow ...... 822 36.1.3 Forced Cylinder Vibrations ...... 823 36.1.4 Lift Coefficient, Velocity and Amplitude ...... 825 36.1.5 Correlation Length ...... 828 36.2 VIV Prediction of Flexible Structures in Nonuniform Flow...... 831 36.2.1 Traveling Structural Waves Cont. Detailed and Multimodal Responses in Sheared Flows...... 831 36.2.2 Lock-In and Fluid-Structure Energy Transfer Within Shear Flow ...... 835 36.2.3 Synchronization of In-Line and Cross-Flow VIV ...... 838 36.3 Experimental Studies and Fatigue Analysis ...... 838 36.3.1 Riser Orbital Motions and Excitation Region ...... 839 36.3.2 Higher Harmonic Strain and Acceleration Components in Flexible Structures ...... 839 36.3.3 Periodic (Type-I) and Chaotic (Type II) Signals ...... 840 36.3.4 Response Reconstruction Using Experimental Data ...... 841 36.3.5 Fatigue Calculations ...... 841 36.3.6 VIV Prediction Tools...... 842 36.4 Effectiveness of Vortex Canceling Devices ...... 843 36.4.1 Helical Strakes ...... 843 36.4.2 Fairings ...... 844 36.4.3 Other VIV Suppression Devices ...... 844 36.5 Multiple Interfering Bluff Bodies...... 845 36.6 Effect of Reynolds Number ...... 845 References ...... 846

37 Structural Dynamics H. Ronald Riggs, Solomon Yim ...... 851 37.1 Single Degree-of-Freedom System ...... 852 37.1.1 Equation of Motion...... 852 37.1.2 Response in the Time Domain – Free Vibration...... 854 37.1.3 Response in the Time Domain – Harmonic Loading...... 854 37.1.4 Response in the Frequency Domain ...... 856 37.1.5 Structural Damping ...... 856 37.1.6 Time Domain Response from Frequency Domain Response ...... 858 37.1.7 Fluid Contribution ...... 858 37.1.8 Nonlinear Systems ...... 860 37.2 Multi-Degree of Freedom Systems ...... 861 37.2.1 Equations of Motion...... 861 37.2.2 Modal Superposition ...... 862 37.2.3 Numerical Time-Domain Solution...... 863 878 877 876 865 864 864 864 878 879 907 907 875 882 885 899 900 896 895 898 903 888 888 894 894 895 867 866 866 867 865 867 915 909 908 880 890 892 869 868 870 869 872 871 873 ...... in Random Seas ...... 38.1.3 Final System 38.1.2 Dynamic Equilibrium 38.1.1 Derivatives in Time and Space 37.3.4 Reduced Basis Solution 37.3.3 Added Mass, Damping, and Exciting Forces 37.3.2 Hydrostatic Stiffness 37.3.1 Finite Element Structural Modeling 38.1.4 Reduced38.1.5 Model Omitting Bending Stiffness Equivalent Linearization 39.1.1 Simplified Models 38.5.7 Results of Second-Order Double-Frequency Effects 38.5.5 Numerical Solution 38.5.4 The Frequency Domain Approach 38.5.6 The Bottom–Structure Interaction Approach 38.4.1 A38.4.2 Single Mooring Cable Effect Attachedof Intermediate Buoys 38.5.1 Background 38.5.2 The Governing 2-D Nonlinear System 38.5.3 Perturbation Series Expansion as Euler–Bernoulli Beams 37.3.6 Linear Response to Regular Waves – RAOs 37.3.7 Time-Domain Response 37.4.2 Specification of Short-Crested, Directional Random Seas 37.3.5 Mapping from Structural Mesh to Fluid Mesh 37.4.1 Specification Long-Crested of Random Seas 39.1.3 Poro-Elastoplastic Models 39.1.2 Biot’s Poroelastic Models 38.4.3 Mooring Line-Induced Damping 37.4.4 Estimation of Extreme and Fatigue Response 37.4.3 Response in Random Seas 37.5.1 Nonlinear Frequency Domain Analysis 37.5.2 Nonlinear Time-Domain Analysis Offshore Geotechnics Dong-Sheng Jeng Cable Dynamics for MarineIoannis Applications K. Chatjigeorgiou, Spyros A. Mavrakos 37.3 Linear Hydroelasticity for Inviscid Fluid Flow 39.1 Basic Models 38.1 Mathematical Formulation 38.3 High Tension Cables; Snap-Slack Conditions 38.4 Dynamics of Catenary Moorings References 37.4 Linear Response to Random Seas 38.2 The Eigenvalue Problem of a Catenary Mooring Cable 38.5 Second-Order Nonlinear Dynamics of Cables Formulated 37.5 Nonlinear Hydroelasticity (Nonlinear FSI) References

39 38

Detailed Cont. 1320 Detailed Contents Detailed Contents 1321

39.2 Mechanisms of Seabed Dynamics ...... 916 39.2.1 Oscillatory Soil Response...... 917 39.2.2 Residual Soil Response...... 918 39.2.3 Integrated Model ...... 919 39.2.4 Wave-Induced Residual Liquefaction...... 921 39.3 Wave(Current)-Induced Soil Response in Marine Sediments ...... 922 39.3.1 Theoretical Formulations ...... 922 39.3.2 Effects of Currents ...... 923 39.3.3 Liquefaction of Seabed Under Combined Nonlinear Wave and Current Loading...... 924 39.4 Seabed Stability Around Caisson Breakwaters ...... 925 39.4.1 Theoretical Models ...... 925 ealdCont. Detailed 39.4.2 Verifications...... 926 39.4.3 Dynamic Response of Seabed Around Caisson Breakwaters...... 928 39.4.4 Wave-Induced Liquefaction Around Breakwaters ...... 929 39.5 Remarks ...... 931 References ...... 932

40 Buoy Technology Andrew Hamilton...... 937 40.1 Buoy and Mooring Types and Design Considerations...... 937 40.1.1 Buoys ...... 938 40.1.2 Moorings ...... 940 40.1.3 Failures and Hazards ...... 942 40.2 Buoy and Mooring System Components ...... 942 40.2.1 Strength Members ...... 942 40.2.2 Terminations and Strain Relief ...... 946 40.2.3 Buoys and Floats ...... 947 40.2.4 Hardware...... 947 40.2.5 Anchors...... 948 40.2.6 Acoustic Releases ...... 949 40.3 Analysis Techniques ...... 949 40.3.1 Environmental Conditions ...... 950 40.3.2 Static Analysis...... 950 40.3.3 Frequency Domain Analysis ...... 952 40.3.4 Nonlinear Analysis...... 954 40.4 Example Designs ...... 956 40.4.1 Chain-Catenary Mooring ...... 959 40.4.2 Auto-Detection Mooring ...... 959 40.4.3 Deep-Water Mooring with Inductively Linked Instrumentation ...... 961 References ...... 961

41 Liquefied Natural Gas Carriers Krish P. Thiagarajan, Robert Seah ...... 963 41.1 Types of LNG Carriers ...... 963 41.1.1 LNG Carrier Containment Systems ...... 964 41.2 Thermodynamics of LNG ...... 968 41.2.1 Properties of LNG ...... 968 971 970 970 985 987 986 978 980 983 978 969 969 971 972 971 987 988 988 977 974 990 990 989 989 990 991 989 992 991 996 997 999 1070 1070 1067 1068 1070 1071 1055 1065 1037 1008 1028 1001 1003 ...... 43.3.1 Oil Composition 41.4.1 Wave-Induced Motions 41.3.2 Boil-Off 41.3.1 Open Ocean Voyages 43.3.2 Properties of Oil 42.1.2 Salvage Personnel 42.1.1 Contract Types 41.5.2 Model Testing 41.5.1 Comparative Analysis 41.2.3 LNG Onshore Storage Considerations 41.4.3 Scaling 41.2.2 LNG Stages 41.4.2 Sloshing Impact and Consequences 42.1.3 The Salvage Engineer’s Role 42.2.1 Offshore and Coastal 41.4.4 Multiple Body Interaction in Shallow Water 42.2.6 Clearance 42.2.3 Cargo and Equipment Recovery 42.2.4 Pollution42.2.5 and Hazmat Wreck Removal 42.3.1 Essential Data and Ship Information 42.2.2 Harbor and Inshore 42.3.2 Salvage Survey 42.4.1 Free Floating 42.4.2 Grounded Ships 42.4.3 Sunken Ships 43.3 Typical Oils and Their Properties 43.1 Frequency of Oil Spills 43.2 Response to Oil Spills 42.1 The Casualty and Response References 41.3 Environmental Challenges 41.4 Fluid Structure Interaction of LNG Systems Oil Spills and Response Merv Fingas Salvage Operations Michael S. Dean 42.2 Introduction to Salvage Engineering 41.5 Design Methodologies of LNG Containment Systems 42.3 Data, Surveys, and Planning References 42.4 Types of Operations 42.E Appendix: Wrecking in Place 42.C Appendix: De-Beaching 42.D Appendix: Refloating 42.A Appendix: Dewatering 42.B Appendix: Common Formulas, Calculations, and References

42 43

Detailed Cont. 1322 Detailed Contents Detailed Contents 1323

43.4 Behavior of Oil in the Environment...... 1071 43.4.1 Evaporation ...... 1072 43.4.2 Water Uptake ...... 1072 43.4.3 Natural Dispersion...... 1073 43.4.4 Dissolution ...... 1073 43.4.5 Photooxidation ...... 1073 43.4.6 Sedimentation and Oil–Mineral Particle Interaction ...... 1074 43.4.7 Biodegradation ...... 1074 43.4.8 Tar Ball Formation ...... 1074 43.4.9 Spreading and Movement ...... 1075 43.4.10 Submergence/Sinking ...... 1075 43.5 Analysis, Detection, and Remote Sensing of Oil Spills...... 1075 ealdCont. Detailed 43.5.1 Laboratory Analysis...... 1075 43.5.2 Detection and Surveillance ...... 1076 43.5.3 Remote Sensing...... 1076 43.6 Containment on Water...... 1078 43.6.1 Containment Booms...... 1078 43.6.2 Boom Failures...... 1079 43.6.3 Sorbent Booms and Barriers ...... 1080 43.7 Oil Recovery on Water...... 1080 43.7.1 Skimmers...... 1080 43.7.2 Skimmer Performance...... 1082 43.7.3 Sorbents ...... 1083 43.8 Separation, Pumping, Decontamination, and Disposal ...... 1084 43.8.1 Temporary Storage...... 1084 43.8.2 Pumps ...... 1084 43.8.3 Separators ...... 1085 43.8.4 Decontamination ...... 1085 43.8.5 Disposal ...... 1085 43.9 Spill-Treating Agents ...... 1086 43.9.1 Dispersants...... 1086 43.9.2 Surface-Washing Agents ...... 1086 43.9.3 Solidifiers ...... 1087 43.9.4 Biodegradation Agents ...... 1087 43.10 In-Situ Burning...... 1087 43.10.1 Advantages...... 1087 43.10.2 Disadvantages ...... 1087 43.10.3 Ignition and What Will Burn...... 1087 43.10.4 Burn Efficiency and Rates...... 1088 43.10.5 Use of Containment ...... 1088 43.10.6 Emissions from Burning Oil ...... 1089 43.11 Shoreline Cleanup and Restoration ...... 1089 43.11.1 Fate and Behavior on Shorelines...... 1089 43.11.2 Types of Shorelines and Their Sensitivity to Oil ...... 1090 43.11.3 Cleanup Methods ...... 1092 43.11.4 Recommended Cleanup Methods ...... 1092 References ...... 1092 1154 1102 1147 1148 1149 1151 1101 1102 1113 1151 1114 1156 1156 1159 1160 1160 1160 1117 1118 1155 1158 1099 1100 1106 1104 1110 1118 1121 1122 1123 1126 1126 1125 1126 1127 1127 1129 1133 1130 1131 1143 1132 ...... 46.3.3 Tidal/Open-Ocean/In-Stream Differences 44.2.3 Power and Power Density of Tidal and Ocean Currents 46.3.2 Cross-Flow Systems 44.2.1 Tidal Currents 44.2.2 Ocean Currents 46.3.1 Axial-Flow Systems 46.4.1 Moorings 46.4.2 Masts, Bases, and Platforms 45.1.1 Point Absorbers 46.4.3 Other Components 44.3.1 Gulf Stream Case Study 45.1.2 Oscillating Water Column 45.1.3 Submerged Pressure Differential Devices 45.1.4 Oscillating Wave Surge Convertors 45.1.5 Attenuator and Terminator 45.1.7 Other Advanced Concepts 45.1.8 Control 45.1.6 Overtopping Devices 45.2.1 Mechanical Transmission PTOs 45.2.2 Pneumatic and Hydro Turbines 45.2.3 Hydraulic Power Takeoff Systems Technologies 45.2.4 Linear Generator 45.2.5 Other Considerations 46.1 Fundamentals 46.2 The Betz Limit 46.3 Conversion Systems References 46.5 Beyond Engineering 46.6 Summary References Ocean Current Energy Conversion Howard P. Hanson, James H. VanZwieten, Gabriel M. Alsenas Ocean Wave Energy Conversion Concepts Nikolaos I. Xiros, Manhar R. Dhanak Marine Hydrokinetic Energy ResourceManhar Assessment R. Dhanak, Alana E.S. Duerr, James H. VanZwieten 45.1 Basic Concepts in Primary Energy Capture 46.4 Supporting Infrastructure 44.1 Wave Energy Resource 44.2 Tidal and Ocean Current Energy Resource 44.3 Assessment of Global Ocean Current Resources 44.4 Other Considerations 45.2 Power Takeoff Systems References 45.A Appendix: Practical Applications of Wave Energy Conversion

45 Part E Ocean Renewable Energy 44 46

Detailed Cont. 1324 Detailed Contents Detailed Contents 1325

47 Harvesting Energy by Flow Included Motions Michael M. Bernitsas ...... 1163 47.1 Hydrokinetic Energy in Horizontal Flow ...... 1166 47.1.1 Marine Hydrokinetic Energy ...... 1167 47.1.2 Potential, Requirements, and Challenges ...... 1168 47.1.3 Steady-Lift Technologies ...... 1170 47.1.4 Alternating-Lift Technologies...... 1172 47.2 Alternating-Lift Technologies: The VIVACE Converter as a Case Study ...... 1178 47.2.1 Concept, Scales, and Principles...... 1178 47.2.2 Scales, Models, Prototypes...... 1183 47.2.3 The Underlying Principles...... 1189 47.3 Methodology and Tools in Support of Development ...... 1202 Cont. Detailed 47.3.1 Experimental Facilities ...... 1203 47.3.2 Damping Model...... 1209 47.3.3 Flow Visualization and Vortex Tracking ...... 1210 47.3.4 Field Tests ...... 1212 47.3.5 Computational Fluid Dynamics ...... 1213 47.3.6 Mathematical Model of Harnessed and Dissipated Power ...... 1225 47.3.7 Variable Added Mass Mathematical Model ...... 1233 47.3.8 Physical Models and Model Equivalence ...... 1234 47.3.9 Benchmarking ...... 1236 47.4 Nomenclature...... 1237 References ...... 1238

48 Ocean Thermal Energy Conversion Muthukamatchi Ravindran, Raju Abraham ...... 1245 48.1 OTEC Principles and Systems ...... 1245 48.1.1 Spin-Off Technologies ...... 1246 48.1.2 Types of OTEC Plants ...... 1247 48.2 History of OTEC Installations Worldwide ...... 1250 48.2.1 Indian Experiences ...... 1253 48.3 Current Status of OTEC Technologies...... 1254 48.3.1 Developing Technologies on OTEC ...... 1254 48.3.2 Research on OTEC in International Scenario ...... 1254 48.3.3 Commercial Designs for OTEC Plants ...... 1254 48.3.4 Industrial Proposals for OTEC Commercialization...... 1254 48.4 Design Considerations for Future OTEC Plants ...... 1257 48.4.1 Choice of Working Fluids ...... 1257 48.4.2 Choice of Materials ...... 1258 48.4.3 Selection of Equipment ...... 1259 48.4.4 Sea Water Intake System and Deployments ...... 1261 48.4.5 Bio-Fouling and Control ...... 1263 48.4.6 Power Transmission from Offshore OTEC Plants...... 1264 48.5 Conclusion ...... 1265 References ...... 1265 1327 1287 1289 1267 1268 1269 1303 1270 1273 1275 1279 1277 1280 1283 1275 1284 1276 ...... for Horizontal-Axis Wind Turbines ...... 49.1.1 Rotor 49.1.2 Nacelle 49.1.3 Support Structure 49.1.4 Control and Protection System 49.1.5 Power Electronics 49.2.3 Aero-Hydro-Servo-Elastic Models 49.2.1 Wind 49.2.2 Waves 49.1.6 Challenges of Current Technology ...... 49.1 Current Offshore Wind Turbine Technology Mareike Strach-Sonsalla, Matthias Stammler, Jan Wenske, Jason Jonkman, Fabian Vorpahl Offshore Wind Energy 49.3 Outlook on Future Technology References 49.2 Fundamentals of Turbine Dynamics and the Offshore Environment 1276

Index Acknowledgements About the Authors Detailed Contents 49

Detailed Cont. 1326 Detailed Contents 1327

Index

2P mode 827 – lift 1021 assimilated data 450 2S mode 827 – products propane precooled mixed Atlantic meridional overturning 2T pattern 828 refrigerant (C3MR) 969 circulation (AMOC) 1147 3-D current 612 airfoils 1270 atmospheric processes 16 4-D ocean monitoring system 337 airy wave theory 78 attenuation 364 1980 equation of state of sea water alternating current 218 attenuator 1125, 1142 104 alternating-lift 1174 attitude-heading reference system –converter 1164 A (AHRS) 344 – technology (ALT) 1163, 1172, auto-correlation function 792 1237 automated ABS strength assessment 978 alternative performance standard absorption 364 – guided vehicle (AGV) 5 776 – perception 474 – capture width 1120 aluminum 1258 – unmanned system 4 Index accelerated low water corrosion – corrosion 121 118 automatic ammonia 1248, 1257 acceleration technique 617 – control system 228 amplitude modulation of water waves accidental load 779 – feedback control 228 81 accounting for physical limits 69 – identification system (AIS) 510, analog modulation (AM) 360 acoustic 524 analog signal reconstruction 201 – communication 359, 466, 478 – repeat request (ARQ) 372 analog-to-digital conversion (ADC) – homing 392 autonomous 198 – imaging 393 – benthic explorer (ABE) 443, 527 anchor 948 – propagation 490 anchoring 1014 – light intervention vehicle (ALIVE) – release 949 414 anemometer 57 acoustic Doppler current profiler angle – manipulation 414 (ADCP) 55, 425, 839, 950, 1151 – microbial genosensor 430 acoustic Doppler velocimeter (ADV) – of attack 315 – of wave incidence 624 – ocean sampling network (AOSN) 433 387, 443 actuator disk model 145 annual – exceedance probability (AEP) – ocean sampling network (AOSN) adaptive paradigm 387 – and collaborative autonomy 460 571, 587 – ocean vehicle (AOV) 527 – autonomy 473 – mean wave power 1100 – sampling system 436 – sampling 444, 467, 481, 489 anomaly 505 – surface craft (ASC) 414 – sampling and prediction (ASAP) anthropogenic activity 549 – systems laboratory (ASL) 415 443 anti-submarine warfare unmanned – thermocline tracking 469 surface vehicle (ACTUV) 324 – underwater glider 443 – tracking 478 apparent optical properties (AOP) – underwater vehicle (AUV) 5, 55, ADCP 57 193 236, 301, 315, 341, 360, 387, 407, added mass 97, 859 aquaculture 1246 423, 441, 460, 481, 493, 527, 1184 added-mass coefficient 796 Archimedes’ principle 153, 761 – wide aperture cluster for added-weight method (AWM) 783 Archimedes wave swing (AWS) surveillance (AWACS) 487 Aeolian transport 630 1122 autonomy 298, 463, 517 aero-hydro-servo-elastic areas of waterplane (Awp) 991 – mode hierarchy 465 – model 1280 armored shoreline 653 autopilots with obstacle avoidance – simulation 1280 array resolution 447 525 after condenser 1250 articulated tug barge (ATB) 689 Auto-Regressive Moving Average air aspect ratio 310 (ARMA) 203 – cushion vehicle (ACV) 151 asphaltenes and resins (A/R) 1072 Autosub 527 475 152 669, 717 128 794 718 616 891 147 722 942 483 665– 395 452 113 928 717, 90 718, 337 654, 833 739 184 929 761 875 698 theorem 821 599 283 937 389 665, 714, 698 714, 694 336, 694 636, ˘ 778 712 723, 1262 692, 712 716, 771 947 1164 304 der spectrum 53 92 663– 317 696 712, 937, 678, – schnei C 672 Networked Sensor (BENS) – positively buffeting bulkhead – anchored – cantilever buoy – surface – system components – technology buoyancy – engine –negative – positive buoyant – negatively breaker index breaking – index – wave condition –waves breakwater braid vortices Bret broadband VIV Brunt–Väisälä frequency brute force simulation Buckingham- cable dynamic cabled observatory caisson – floating gate – gate miter –wall calcium carbonate calm water wave drag camber camouflaging cancelation frequency canonical steady flow canted strut capsizing capture cone capture mechanism captured air bubble (CAB) cargo load Brewster angle brine Broadband Environmental 411 913 900 797, 750 328 1278 909 463 788, 538 474 1087 159 282 613, 312 78 1152, 1150 1071 282 180 884 283 1264 879 738 1205 281, 686 975 1149, 969 282, 1031 899 602 971 1263 88 696 1141 241 378 ondition 172 1104 283 963 464 1105, 925 1281 ocomotion 872, approach 144, (BCH) vehicle (BAUV) xylenes (BTEX) 714 ol Boussinesq – equation – long wave theory – model box fish boundary-layer approximation boundary c boundary-element method boundary element method – electromagnetic bottom–structure interaction Biot’s poroelastic models bioWAVE bistatic target tracking blade element momentum theory blended wing/body block wall blockage effect blow-out-preventer (BOP) Bluefin Bode plot boil-off – condition – gas (BOG) bollard pull Bond number Bose-Chaudhuri-Hocquenghem bio-mimicry biorobotic autonomous underwater behavioral aggregation behavior-based decisions bending stiffness benzene, toluene, ethyl-benzene and berthing basin Bernoulli principle Bernoulli’s equation Betz – limit bilateral force feedback control bi-normal motion – model bio fouling bioaccumulation biofilm thickness bi biochemical oxygen demand (BOD) biodegradation agent 395 81 436 468 650 620 400 537 412 281 878 149 535 635– 435 390 612 390 364 149 401 615, 627 401 620 377 387 625 901 519 613 625 359, 1151 149 639 884 400, 1271 1071 616 623 290 331 611 1158

B 435

back-EMF feedback balance of moments ballast bandwidth bar – amplitude –cycle – response barrier island base basic hull form – displacement – planing – semidisplacement basin demonstration basis pursuit BAUV Bayesian aggregation beach –erosion – erosion model – nourishment AUV – based biological sensor – based physical sensors-horizon – characteristics – chemistry sensor – operations availability analysis avalanching mechanism average wave energy density axial – motion – stretching axial-flow – control – control consideration – docking capture mechanism – hover capable – coordination bearings bed – composition – evolution – slope behavior – algorithm –ofoil beam-time record (BTR) Index 1328 Index Index 1329

carrier sensing multiple access –storm 653, 657, 675 conduction current density 179 (CSMA) 381 – storm impulse (COSI) 657 conductivity, temperature and depth catamaran 150 coastline 612 (CTD) 58, 425, 468, 488, 722 Catenary Anchor Leg Mooring code-division multiple access connection mechanism 395 (CALM) 1262 (CDMA) 381 Conoco ConocooPhilips’ optimized catenary mooring cable 882 cofferdam 694 cascade process (CoPOC) 969 cathodic protection (CP) 696 coherent modulation 375 consolidation 907, 914, 915 Cauchy number 812 cold water pipe (CWP) 1252 constant-buoyancy method (CBM) cavitation number 131 Colebrook–White equation 725 783 celerity 147 collaborative constitutive parameter cellular automata (CA) 501 – autonomy 473, 478 electromagnetic 179 center – robotic sensing 452 container terminal 687 – of buoyancy (COB) 409, 997 – sampling 467 containment – of gravity (COG) 705, 998 – tracking 459 – boom 1078 –ofmass(COM) 415 collective –system 963 CETO 1134 –behavior 444 continuity equation 179 CFD tools 814 – intelligence 441 control 281, 474 chain 942 – motion 441 – cutting 1059 collision avoidance 521, 542 – and estimation (CE) 501 chamber deaeration 723, 732, 733 COLREGS compliance autonomy – architecture for robotic agent Index channel 611, 1165 522 command and sensing (CARACaS) – estimation 379 COLREGS compliant behavior 525 521 – shoal pattern 626 communication 399, 467 – infrastructure 467 chaotic – infrastructure 460 –system 1275 – (type II) signal 840 – link 399 controllability 239, 240 – response 840 –network 453 conversion system 1151 characteristic current profile (CPC) – peer-to-peer 503 cooperation 66 – underwater 503 – bio-inspired 504 charge-coupled device (CCD) 412, compact control language (CCL) – collaborative signal processing 434 383 501 Chiksan loading arm 976 compatibility relation 878 – demand-based data sharing 510 chlorination 1259 competitive levelized cost of energy – handoff mode 500 circular 1164 – self-organization 502 – cylinder 801 complex –swarming 502 – error probability (CEP) 413 – adaptive system 507 – teamwork 499 circulation 317 – conjugate 897 – track and trail 500 closed cycle 1248 – frequency response function 856 cooperative closed-loop – mission 454 – control 441, 453 – stability 252 – mode 831 – exploration 452 –system 238 – nonlinear system 511 – robotics 444 clustering 512 – space 881 – vehicle environmental monitoring cluster-level 462 – velocity potential 159 452 clutter composition of seawater 111 coordinated motion 413, 450, 483 – database 508 compressed natural gas (CNG) 968 – in-situ clutter analysis 508 computational coordinated pattern 451 cnoidal wave 88, 791, 927 –grid 1216 copper-nickel corrosion 121 Coanda – structural mechanics (CSM) 873 coral reef 623 – effect 316 Computational Fluid Dynamics Coriolis –triplane 316 (CFD) 60, 313, 604, 787, 873, –force 53, 284 coastal 971, 1165, 1213 – parameter 50 –design 5 concentration 711, 718–721, 734 – rotation 54 – hazard 549, 551, 561, 567, 568, concept of operations (CONOPS) Cornell 570, 574, 577, 583, 587 461 – breaking wave and structure – ocean 39 concept whisper 302 (COBRAS) 603, 922 211 974 256, 211 427 1248 1275 1194 296 810, 128 377 459 1225 198, 730 1018 272, 129, 868 1264, 1181, 132 728– 257 329 172 1159, 218 789 398 761 418 201 723, 1205 929 381 382 248 69 85, 282 111 662 838 188, 197 388, 197, 716– 387 1272 396 206 186 327 858 653, ignal 211, protocol (DS-SS) 1200 s discharge coefficients discrete Fourier transform (DFT) discrete-time – Fourier transform (DTFT) – –system – system stability dispersion – of surface waves – relation displacement – hull – of caisson – volume dissipated MHK power dissipation rate dissolved – organic compound (DOC) – oxygen distance-aware collision avoidance distributed – command and control – lock-in – roughness – surface roughness disturbance rejection – response divergent waves docking –AUV – mechanism dilution dimensional analysis dimensional homogeneity dipole direct – contact condenser (DCC) – current –drive direct current directional – dock – spreading function direct-sequence spread-spectrum dike digital-to-analog (D/A) – filter – video broadcast (DVB) Digital Signal Processor (DSP) 382 1015 855 256 690 734 733 407, 314 377 314 726, 731– 178 307, 795 502 909 307, 890 718– 724, 1003 1085 1246 697 601, 980 887 655 1142 533 518 713, 1028 711, 614 1003 83 462 599– 960 417 416 653– 503, 38 711– 80 AVE 362 W 1282 undersea surveillance (DEMUS) 475 Markov decision process (DEC-POMDP) 375 (DGPS) tracking (DEPTHX) 360 dewatering – compressed air DEXA delay-tolerant network (DTN) demanded static load (DSL) deployable experimental multistatic depth – limited roaming –ofclosure – unlimited roaming desalination design – criteria –rate deadweight tonnage (DWT) de-beaching decentralized partially observable –fusion decision-feedback equalizer (DFE) decontamination decoupled motion deep – ocean – phreatic thermal explorer – sea cold water deep water – mooring –wave deformation response factor degree of freedom (DOF) dielectric permittivity differential global positioning system diffraction DIDSON diaphragm wall diffuser diffusion equation digital – acoustic telemetry system (DATS) – audio broadcast (DAB) – controller implementation destabilization detecting, classifying, localizing and – sloshing load 603 613, 445 623 724 303 267 976 447, 965 804 1011 892 1154 301, 688 215 470 587 400, 1284 828 782 119 889 796, 997 842, 399 877 621 65, 604 1155 481 570, 555 52 tor dynamics 97, 116 861 802 60, 854 , 112 924 3 178 217, 822 1209 549, 923 49, 826, 777,

D (CDF) 618 800 wave model (COULWAVE) (COMCOT)

Coulomb friction counterflooding coupled oscilla cost-effectiveness corrosion of steel cross-shore process model cruise ship terminal cumulative distribution function cryogenic cargo transfer CS1 membrane system CTD measurement correlation length corrosion – University long and intermediate cross-flow (CF) crest heights critical – damping – nutrient –regime cross-country glider Courant–Friedrichs–Lévy (CFL) course-keeping autopilot coupling power current – density – effect –load – loading current-induced forces curvilinear grid cyclone – model – ratio Darrieus rotor data – address generator Darboux vector Darcy–Weisbach equation – assimilation damaged stability damaged hull strength damping – coefficient – multi-grid coupled tsunami model Index 1330 Index Index 1331

Doppler 362, 369 dynamic model of an underwater empirical – velocity log (DVL) 291, 341, manipulator 409 – orthogonal function (EOF) 66 415, 471 dynamically orthogonal stochastic – simulation technique (EST) 573, doubly-fed generator (DFIG) 1271 PDE 486 655 downflooding angle 772 dynamically tuned gyroscope (DTG) – track method (ETM) 583 draft 758 343 energy – reading 994 dynamics of catenary mooring 888 – density spectrum (EDS) 19 drag 136 – dissipation 852, 892 – air and wind resistance 146 E – transfer 87 – and inertia coefficients 801 entrainment 173, 711, 729 – coefficient 50, 798, 881 Earth Resources Satellite (ERS1) entrapment 731 – coefficientamplification 820 56 environmental –crisis 845 earthquake ground motion 853 – condition 950 –force 95, 409, 805 ebb – contour 63 – frictional resistance coefficient – delta 617 –load 776 136 – shoal 614 – lift hydrofoil 138 – loading 1277 echo-repeater (ER) 475 – residuary resistance coefficient – monitoring 441 economics metric 1109 136 – sampler processor (ESP) 430 – skin friction 135 ecosystem protection 990 equation of motion 796, 852 Index – surface vessel 135 eddy viscosity 172 – frequency domain 856, 861 – three-dimensional (3-D) coefficient edge wave 92 – incremental 860 131 effect of liquid free surface 766 – linear 853 – two-dimensional (2-D) coefficient effective – SDOF system 852 131 – added mass 824 – time domain 861 – wave-making resistance 147 – metacentric heigth 767 equatorial current 37 drift effluent 736 equivalent – angle 757 eigenfrequency 882 – catamaran 336 –load 798 eigenmode 882 – linearization 880 drivetrain 1271 eigenvalue 862 erosional hot spot (EHS) 643 dry bulk terminal 687 – assignment 264 error subspace statistical estimation drydock 688 – problem 882 (ESSE) 490 dual resonance 831 Ekman flow 34 estuarine plan form 626 dual-frequency identification sonar El Nino-Southern Oscillation Euler (DIDSON) 412 (ENSO) 38 – angle 877 dune 611, 620 elastic – number 812, 975 dynamic – eigenfrequency 891 Euler-Bernoulli beam 876, 894 – amplification 855 – hose 945, 959 Euler’s –behavior 613 – structure 812 – equation 159 – calibration 981 elasto-plastic model 921, 922 –integral 79, 788 – compact control language (DCCL) electric EU-MICORE 622 462 –charge 178 – equilibrium 853, 878 eutrophication 715 – conductivity 178 – free surface boundary condition Exner equation 613 79 electrically-excited-synchronous experimental harnessed power – pore pressure 927 generator (EESG) 1271 1227 – positioning (DP) 1262 electrolysis 1256 extended Kalman filter (EKF) 416 – pressure 80, 1150 electromagnetic exteroception 519 – response 923 – field theory 178 extractable power 1106 – response based analysis 784 – homing system 394 extratropical storm 49, 570, 584, – similitude 135 – propagation 193 586 – stability 768 electromotive force (EMF) 411 extreme – stall 1281 elevated nutrient level 112 – criteria 66 –tension 889 ELF band 181 – response 793, 814 717, 381 327, 468 327 675 94 131, 360, 978 913 1258 888 653, 502 858 502 894 717 765 1177 603 949 1177 136, 1263 717 812 136 500 369 368 51 896 856 851, 172 1175– 1176, 630 881 310 1011 93 1222 1222 975 G layer 811, games (POSG) (FUNWAVE) 374 galloping galvanic corrosion game theory – Bayesian game – partially observable stochastic gap flow fundamental wave length –wave fully turbulent unseparated boundary functional design Froude’s – hypothesis – scaling law full dynamic model fully nonlinear – Boussinesq wave model Froude–Krylov force four-cylinder –CFD –FIM Fourier –series – transform – transformation frequency – Brunt–Väisälä – coherence – division multiple access – hopped m-ary frequency-shift-key – selectivity – shift keying (FSK) frequency domain –analysis – approach – response – to time domain friction – velocity Froude number (FR) – model – perpendicular fouling factor Froude scaling – densimetric 823 860, 1096, 822 823 1283 977 872 378 1211 574 411 627 1208 757, 823 559, 1210, 811 858 432 726 155 131 171 745, 821 178 312 1024 , 431 1217 557– 969 6 811 811 577 617 629 866 153 1247 468 1163 550, 306 969 947 1163 1096, rce–torque sensor (FPSO) 963, (FSRU) 971 o forced vibration f – cylinder – in flow transition flow–structure interaction (FSI) fluid – contribution –mesh – static – structure interaction – structure interaction (FSI) – offshore wind turbine –plant – production, storage and offloading float floating – liquefied natural gas (FLNG) flexibly mounted cylinder – regasification and storage unit flood FlowCAM FlowCytobot flow-induced motion (FIM) flooding flow – calculation – kinematics – separation – visualization – instability – model forcing mechanism forecast forward – error coding (FEC) – viscosity fluke flux density flying wing Folaga force – coefficient – gravitational – in phase with acceleration – in phase with velocity – inertial – viscous 178 873 803 864, 211, 1256 203 343 1017 203 852, 206 869 450 451 980 797, 963 412 681 1253 120 886 446 688 201 886 445, 1126 869 281 665, 688 1283 178 221 1216 292 379, 442 531 896 1126 1124 841, 844 657, 370 1282, 858,

F pping-fin 1067 531 923, 375,

a – value estimation fading failure – model end effect analysis (FMEA) fairing fast – Fourier transform (FFT) – value analysis extremely low frequency (ELF) Finnegan FIR filter structure first-order – hold (FOH) finite-duration – impulse response (FIR) – window finite-volume method (FVM) – reliability method (FORM) fishing port fixed tuning flame ionization detection (FID) flammable cargo flapcase fl finite impulse response –system – tuning fatigue fault tree feasibility study feedback feet of seawater (FSW) ferry terminal – control – interconnection fiber – optic gyroscope (FOG) – reinforced plastic (FRP) field – experiment – intensity –ofview(FOV) finite difference finite element –analysis(FEA) – method (FEM) Index 1332 Index Index 1333

gas gravity-based substructure (GBS) heel angle 757 – chromatograph (GC) 1075 1274 height – chromatography with mass Green function method (GFM) 797 – of the longitudinal metacenter spectrometric detection (GC-MS) Greens theorem 93 986, 1040 1067 Greenwich mean time (GMT) 449 – of transverse metacenter above keel gauge pressure 153 grid resolution 617 991 Gaussian Mixture Model (GMM) groin 636, 643, 645, 668, 678–680 helical vortices 305 492 ground hexapod 980 geared drive 1272 – effect vehicle 152 high gearing-sprocket generator – reaction 1008 – density polyethylene (HDPE) powertrain 1128 – tackle 1031 1253 general cargo terminal 688 grounding 779 – frequency (HF) 57, 254, 503 generalized groundwater flow 630 – frequency radar (HFR) 33, 57 – coordinates 862 group – level platform 694 – dynamic wake (GDW) 1281 – speed 80 – lift 291 –extremevalue 577, 667 – velocity 790 – pressure (HP) 1017 – Pareto distribution (GPD) 578, groyne 614 – sea state 297 982 Gulf Stream 54, 489, 1110 generator 1271 –ring 37 – strength low alloy (HSLA) 114 Index genetic algorithm (GA) 492 gulping 732 – tow force (HTF) 325 geographic information system (GIS) Gumbel – water mark (HWM) 585 1070 – distribution 120 higher geometric similitude 134 – extreme distribution 120 – harmonic force 830 GhostSwimmer 292 –plot 120 – order wave load 871 girder design 1048 gust 1279 high-level routing 482 glass-reinforced plastic (GRP) gyroscope 343 highly tensioned cable 885 1003 high-occupancy vehicle (HOV) 525 glide H historical storm database 55 –path 314 homing – polar 314 Hagen–Poiseuille flow 169 – on patterns 394 glider 301, 445, 488 Hankel transform 189 –sensor 391 glider coordinated hard structure 653, 681 Hooke’s law 910 – control system (GCCS) 446 harmonic 894 horizontal – trajectory (GCT) 450 harnessed MHK power 1225 – axis wind turbine (HAWT) 1268, global Harvard Ocean Prediction System 1280 – drifter program (GDP) 58 (HOPS) 450 –electricdipole(HED) 188 – positioning system (GPS) 58, hazardous material 990 –flow 1166 228, 291, 341, 413, 446, 470, 720 hazardous material (HAZMAT) – magnetic dipole (HMD) 188 – tropical and extratropical cyclone 990 – transport efficiency 308, 320 climatic atlas (GTECCA) 56 head hovering 285 global ocean – local 724 hub 1270 – current resources 1106 – piezometric 730–732 – observing system (GOOS) 58 –total 723 hull global warming 1246 headland 653, 674–678 – deflection 995 – potential (GWP) 1257 – embayment 615 – speed 148 GMM-DO Filter 493 headloss 724–726 – strength 1011 Gorlov turbine 1169 – local 724 –stress 995 GPS 344 heat human–machine interface (HMI) gradient 446, 613 – exchanger 1259 198, 1136 – climbing 442 – transfer coefficient 1257 human–robot team 454 – estimate 448 heave 335, 758 hump 614 graving dock 698 – response 1119 – speed 334 gravity platform 749 heaving cylinder 1120 HURDAT best-track data 56 88 804 368 78, 736 463, 414 799, 52 540 735, 864 655 756 147 181 590 172 722, 870 337 967 732 103 103 583, 965 787 490 91, 799 1249 719, 63 79 621 463 919 95, 283 717– 820 468 758 471 171, J K industries (IHI) 519 (IFORM) condition 102 Iver Iver2 IvP-Helm irregular wave irrotational flow Ishikawajima–Harima heavy intervention-AUV (I-AUV) intrinsic impedance intrusion seawater inundation Invar membrane inverse first-order reliability methods international – practical temperature scale (IPTS) – standards for risk – system of units interpolation function inter-symbol interference (ISI) interval programming (IvP) jacket-type platform jet Kalina cycle Kalman (filter) Kaplan–Meier estimator Karman – street –vortex keel Kelvin wave pattern Keulegan–Carpenter (KC) – number kinematic free surface boundary joint probability – density function – method (JPM) JONSWAP spectral form J–S curve Knudsen relation Kolmogorov scale Korteweg–de Vries equation 203 377 291 341, 930 1271 389 1037 255 787 928, 237 1006 90 287 890 211 1077 689 1155 974 976 619 154 926 261 326, 474 798 620 1261 912 1275 903 330 404 919, 208 473 92 95, 930 766 415 ke pipe (IGBT) 67 961 966 (EHP) (IIR) (IRM) 344, ta integral transform – perception – tug barge (ITB) integrator anti-windup –wave integrated – model interaction index inter-carrier interference (ICI) intermediate buoy –tank internal – diameter (ID) – forcing in insulated-gate bipolar transistor individual risk per annum (IRPA) induced buoyancy induction generator (IG) inductive power module inductively linked instrumentation inertia – coefficient –force in-stream current – measurement unit (IMU) – navigation system (INS) inertial –force – of the waterplane (IT) independent self-supporting tank indicative effective horsepower inferior-olive (IO) infinite impulse response (IIR) input–output (I/O) incipient breaking incompressible fluid infinite-duration impulse response infragravity –wave infrared (IR) initial consolidation initial stability input reduction – decoupling inspection, repair, and maintenance 964, 559, 1130 179 864 127 1028 1130 558, 348 1281 733 80, 858, 619 864 94 556, 208 1149 739 60 865 730– 155, 584, 851, 1282 281 319 151 1129 336 549, 1131 769 735– 859, 711, 966 198 582, 964 54 29, 138, 627 53 1261 777 1246 731 409 411 1273 711, 1130, 977 571,

I 569– 974 150 1106 current model

hydraulics – small water area ship (HYSWAS) hydrostatic pressure hydrofoil –PTO –cycle –drive –ROV – strip theory hydraulic – accumulator –jump – mining – power takeoff system hydroelasticity – damping –force –gap – transparency hydro turbine – overtopping WEC device hydrodynamic hydrodynamics – coefficient hyperbolic navigation hydrostatic stiffness – sampler idealized turbine IGC code IHI-SPB self-supporting tank ice load ideal – and viscous fluid flow hurricane –Gloria –Katrina hybrid – coordinate ocean model (HYCOM) – coordinate ocean model (HYCOM) incident wave force – pressure impeller impressed current density impact IIR filter structure Index 1334 Index Index 1335

Kutta–Jukowski lift theorem 166 limited-time look-ahead 493 – position of the center of buoyancy Kvaerner–Moss self-supporting tank line vortices 305 991 964 linear – stability 764 – and nonlinear waves 78 – strength 1001 L – dispersion relation 80 longitudinal center – equations of motion 769 – of buoyancy (LCB) 331, 762 Lagrangian 876 – generator 1131 – of flotation (LCF) 758, 1039 – coherent structure 453 – hydroelasticity 864 – of gravity (LCG) 331, 762 laminar – hysteretic damping 857 longitudinal metacentric – boundary layer 170 – time invariant (LTI) 203, 219, – height (GML) 1040 –flow 169 230, 1192 –radius(BML) 765, 991, 1040 – unseparated boundary layer flow – viscous damping 857 longshore 310 –wave 787 – current 133, 624 –wake 171 linearized – forcing 624 land based plant 1247 – AUV forward speed model 236 long-term ecosystem observatory land-installed marine power energy – drag coefficient 800 444 transmitter (LIMPET) 1137 – mooring-induced damping Loop Current 54 Laplace coefficient 893 Lorenz-95 model 493 – equation 79, 159, 788, 908 liquefaction 924 lost-buoyancy (constant buoyancy) – transform 229 Index – zone 930 method 782 – transformation 918 liquefied natural gas (LNG) 6, 54, low large eddy simulation (LES) 604 687, 743, 963 – aspect-ratio 298 laser – carrier (LNGC) 963 – cycle high-stress fatigue 971 – Doppler velocimetry 1203 – carrier containment system 964 – density parity-check 378 – induced breakdown spectroscopy – containment design methodology – Earth orbiting 369 428 978 – frequency cooperative target – in-situ scattering and – liquefaction process 969 tracking 507 transmissometry (LISST) 434 – offloading 969 – pressure 1017 – optical particle counter (LOPC) 434 – production 968 – probability of detection (LPD) law – properties 968 381 – of moving centroids 763, 765 – sloshing 978 – risk structures 1277 –ofthewake 173 – value chain 968, 969 – speed 281 –ofthewall 173 – vessel 963 – turbulence free surface water layered defense 509 liquefied petroleum gas (LPG) 689 channel 1203 leading-edge vortex (LEV) 283 liquid – turbulence free-surface water length – bulk terminal 687 1165 – between perpendicular 690 – chromatography mass spectrometry lower explosive limit (LEL) 1027 – on waterline (LWL) 140 (LC-MS) 427 LTI system – overall (LOA) 140, 690, 963 LISST-HOLO 434 – discrete-time 202 level list angle 757 – pole placement 261 – flight hybrid 314 live load 778 LTI-MIMO 261 – hybrid 307 load analysis 1276 LTI–SISO 261 –set 482 loaded mass 302 levelized cost of energy (LCOE) 7 local control 485 M Liberdade/XRay 304 localized corrosion 120 lift coefficient 131 lock-in 827 Maasvlakte-2 621 lift-to-drag ratio (L/D) 304 – in shear flow 835 MacCamy–Fuchs approximation light detection and ranging 57, 326, log law wind model 146 1282 621 long baseline 341, 413 Mach number 975 lightering 997 longitudinal machine learning 504 lightship 779 – metacenter 1039 – clustering 512 limit cycle oscillation (LCO) 249, – position of center of gravity 986, – reinforcement learning 504 287 1039 – winner-takes-all (WTA) 508 872, 991 627 928 892 891 860, 193 966 671 522 737 942 68 1261 798, 464 883 618 959 467, 464 736, 959 173 862 58 820 95 1156, 474 961 715 611 463, 862, 459, 1282 941 765 717 95 58, 1273 974 614 940, 442 360 937, ogical 629 810 phol ffshore drilling unit (MODU) containment system 1281 o 774 (MCTC) 708 mobile – measurement – –sensor modal – reduction – superposition mode shape model – physical – scaling –test modeling – vs. measurements modem modified image theory moment – to change trim by one centimeter – pattern – tide morphology Moss–Rosenberg spherical LNG – to change trim onemomentary inch liquefaction momentum flux (MF) monitoring – environmental monochromatic motion monopile Monte Carlo Moody diagram mooring – auto-detection – chain-catenary – deep-water – equipment guideline (MEG3) – line damping – line-induced damping – system component – type MOOS database MOOS-IvP – autonomy morfac approach Morison equation – method Morison force morphodynamic spin-up mor 530 376 1013 60 1074 731 581 838 997 380 222, 674 680 432 90 178 970, 50, 501 501 48 432 1108 85 332, 979 1037 964 761 617 343, 763 84, 532 1017 490 47 84 352 ble intensity (MPI) 519 94 93, (MILP) 604 118 (MEMS) 1127 463, 427 possi mixed Eulerian–Lagrangian (MEL) mixed integer linear programming – planning MIT VIV data depository –radius(BM) method of splitting tsunami (MOST) metocean metocean criteria microbially induced corrosion (MIC) micro-electro-mechanical system mission –AUV – oriented operating suite (MOOS) Microflow cytometer Mike21SW mild-slope equation mineral particle interaction mini-hydroelectric scheme minimum ground leg scope MIKE 3 HD current model –setdown – squared error (MSE) – time between failure (MTBF) – water level measure – of effectiveness – of performance Mechanical Transmission PTOs medium – access control (MAC) – pressure membrane – containment – inlet mass spectrometry (MIMS) –tanksystem metacenter metacentric – height (GM) – power density Maxwell’s equation mean – current – high water (MHW) –sealevel(MSL) – 464 1096, 1167 1230 1147, 1076 7 534 803 121 1163, 427, 1197 1226 520 964 127 377 877 113 179 394 897 1147, 178 113 165 876 537 1258 875 407 522 156, 1120 899 700 411 1099, 1 534 113, 1214 1167 826 85 1158

Analysis (MGSVA) 1163 415 1167

magnetic – charge density – dipole system Magnus effect – permeability main vehicle computer (MVC) manipulator – control Mariano Global Surface Velocity marine – application – autonomous systems engineering – autonomy – corrosion steel – grade stainless steel – hydrodynamics –power – railway – renewable energy (MRE) – environment – spatial planning (MSP) marine hydrokinetic (MHK) –energy – energy harnessing – power conversion maritime –design – hazard avoidance Mark III – membrane tank Markov chain – theory – transition probability – VIVACE power envelope mass –flux – ratio – spectrometry (MS) mast matching pursuit material – derivative mathematical – aggregation – approach – formulation – model matrix equation maximum – efficiency Index 1336 Index Index 1337

motion pattern 445 natural period number moving average 203 –heave 134 – densimetric Froude 717, 728 multi degrees of freedom (MDOF) –roll 134 – Reynolds 725 852 Navier–Stokes (NS) 603, 606 numerical multi fluid cascade (MFC) 969 – equation 872, 1148 – integration 759–761, 863 multiagent navigation 400 – model 1215 – approach 502 –aid(NA) 342, 352 – scheme 880 –system(MAS) 501 – channel 686 – solution 898 Navy coastal ocean model (NCOM) multibody simulation (MBS) 1282 – solution time domain 863 60, 450 multi-buoy mooring (MBM) 708 nearly constant velocity (NCV) 476 O multicarrier 368 near-resonant interaction 89 – modulation 377 nearshore circulation 93 objective analysis (OA) 444, 449 multidisciplinary simulation, nested autonomy 459–461 – mapping error 449 estimation and assimilation system net inlet pressure (NIP) 1021 observability matrix 240 (MSEAS) 482, 493 net positive suction head (NPSH) obstacle 484 multihopping 365 1006, 1020 – avoidance 533 multi-input multi-output (MIMO) net transport economy (NTE) 308 occupational risk 589 234, 375, 379 network 379, 460 ocean – LTI system 234 – of autonomous platform 337 Index – autonomy 482 multilayer architecture 505 neutral loading point (NP) 1009 – current 1102 Newmark’s method 863 multiobjective –energy 6 Newtonian 894 – behavior coordination 464 – environment electromagnetism nitrate 112 – optimization 463 177 NO96 964 multipath 365 – model 442, 450 NOAA Wavewatch III model 1101 – spread 368 – modeling 481 node-level 462 multiple – observation system 459 NOMAD 939 – access 362 – observing 481 nominal reduced – bar system 623 – observing and prediction system – frequency 827 445 – body interaction 977 – velocity 827 –power 1167 – cylinder interaction 1196 nominal strength 1015 – objectives 453 nonacoustic – prediction 450 multiple-access 379 – ocean sensor 423 – sampling 452 – collision avoidance (MACA) 381 – sensor packaging 436 – structure 17 multiscale flows 487 noncoherent modulation 374 – surface tide 40 multivariable LTI system 234 noncondensable gas 1248 – temperature driven desalination mutual information 493 nonhomogeneous seabed 912 1253 nonlinear – thermal energy conversion (OTEC) N –analysis 954 746, 1096, 1132, 1245 – hydroelasticity 870 – vehicle 481 ocean current nacelle 1270 – oscillator 1197, 1198 – energy potential metric 1110 narrowband VIV 833 – property 84 – turbine (OCT) 1151 NATO research vessel (NRV) 468 – shallow water (NSW) 604 –system 860, 900 – wind-driven 53 natural – time domain analysis 872 Ocean Explorer (OEX) 468, 476 – ocean current energy 1168 –wave 924 oceanic – tidal energy 1168 – wave theory 83 – adaptive sampling 495 –waveenergy 1168 nonparametric model 530 – conveyer belt 1147 natural frequency 824 nonuniform current 802 – noise level 107 natural frequency (NF) 854 Noordwijk 623 – path planning 495 –dry/wet 859, 866 normal motion 884 oceanic internal natural gas (NG) 963 north equatorial current (NEC) 37 – tide 43 – liquid (NGL) 969 nozzle 712, 723–725, 732–736 –wave 43 434 656 1211 502 468 475 375 641 67, 840 530 52 759 492, 360, 61, 1249 508 895 618 52 334, 472 499 778 790 838 183 481, 463 628 635 788 1045 80 283 65, 470, 789 621 247 etion potential (ODP) 307, 1142 51, 1141 1193 depl P 483 process (POMDP) 1165, synchronous generator (PMSG) 1271 1257 Panchal–Bell cycle parallel – online approach – polarization parallel-axis theorem parametric model parbuckling partial differential equation (PDE) partially observable Markov decision particle – acceleration – image velocimetry (PIV) – velocity passenger load passive turbulence control (PTC) path planning payload peak – enhancement factor – wave frequency peak-over-threshold pectoral fin Pelamis Pelnard Considère (P-C) pEnvtGrad perception-driven control performance – criteria – prediction periodic (type-I) signal permanent-magnet-excited- persistence perturbation – expansion – series expansion phase – shift keying (PSK) – speed phase-locked loop (PLL) phase-locking photomultiplier tube (PMT) overwash Oyster ozone 345 427 429 61, 1081 1126, 377 1141 1208 397 1088 970 1074 1118, 1084 335 693 1123, 248 583 1248 778 482 1173, 918 917 1072 1270 1076 193 432 625 739 1118, 283 393 105 1155 483 287 725 626 725 711– 1137 1274 emporal storage multiplexing (OFDM) environmental test tank (OHMSETT) 1118, (OWSC) 1143 776, t – surveillance – tar ball formation – – wavelength optimal – blade design – control open cycle plant open ocean – current – density open pile platform optical – homing – sampling (OS) optofluidics oleophilic surface skimmer olivo-cerebellar – control omnidirectional dock ON/OFF control onboard routing one-way travel-time (OWTT) onshore – LNG containment – migration operational load optimum propeller organic – nitrogen compound (DON) – thin-film transistor (OTFT) – dynamic orthogonal frequency division – use of containment oil and hazardous materials simulated – water uptake oscillating water column (OWC) oscillating wave surge converter oscillatory – pore pressure – soil response outfall – tunnel overtide overtopping device –shaft overturning moment (OTM) 1097, 1075 135, 748 1081 1059 1073 746 1089 1092 1084 1073 1076 1074 1087 1074 1075 1276 1070 1078 1267 102 1072 1073 1089 1084 1090 625 1076 470 1080 1071 685 1139 1084 1087 750 976 746 6 49 1084 747 1075 714

1267 990 1092 469

offshore platform – fixed and compliant – type oil – and hazardous substance (OHS) – biodegradation – floating – burning – cleanup methods – composition – containment – decontamination – detection – disposal – dissolution – evaporation – in-situ burning – natural dispersion – rig quality (ORQ) – sedimentation – sensitivity – separation – shoreline cleanup – spill – spreading and movement – submergence – photooxidation – reserve – restoration – property – pump – recommended cleanup method – recovery – recovery skimmer – remote sensing –terminal –windenergy – wind turbine (OWT) –system OEX AUV offshore –design – environment – loading – migration – ocean exploration Oceanlinx oceanographic – feature detection and tracking – temperature Index 1338 Index Index 1339

photonic inertial navigation system – source and sink of equal strength – liquefaction 922 (PHINS) 415 163 –wave 1117 photosynthetically active radiation – source/sink flow 161 project longevity 636 425 – theory 78 propagation Pico plant 1138 – uniform flow 160 –ofwaveenergy 81 pier 686 potential theory 794 – speed 181 Pierson–Moskowitz (P–M) 794, power 362, 372 proportional integral 252 867 – augmented ram 152 proportional integral derivative 4, pipe outfall 713, 735 –buoy 1133 13, 249 pipeline 712, 734, 750 – cycle analysis 1247 – autopilot 271 pistoncase 1124 – electronics 1275 propulsive power 282 pitch 335, 758 – in oscillator 1226 protection system 1275 – bearing 1271 – math model 1225, 1226 PTC-to-FIM map 1181, 1193 pitting corrosion 114 – of single-cylinder VIVACE 1227 publish-subscribe architecture 463 plane wave –series 84 pump 1084 – incident seawater 184 – spectral density (PSD) 218, 364, – discharge head 1019 – propagation 180 832 – performance 1025 – reflection 182 – takeoff 1118 – suction head 1019 – surface 182 – transfer 400 – theory 1018 Index – transmission 182 – transmission 1264 planetary boundary layer (PBL) power density Q 555, 585 – Florida Current 1111 planing hull 329 – of ocean currents 1104 Qflex class 964 plastic volumetric deformation 921 – of tidal currents 1104 Qmax class 964 plate heat exchanger 1253 power-envelope 1228 quadratic transfer function (QTF) platform 1158 power-take-off 1178 903, 977 plume 712, 717, 719–722, 737 practical salinity scale (PSS) 103 quadrature amplitude modulation PMSG/EESG 1276 Prandtl number 975 (QAM) 360 pneumatic turbine 1129 pressure quadrature amplitude modulation point-to-point protocol (PPP) 362 – coefficient 130 (QPSK) 376 pole placement design 264 – implicit with splitting of operators quasi-DC 188 pollution prevention 990 (PISO) 1215 quasi-static 190 polyaromatic hydrocarbon 1071 –sensor 981 –analysis 784 polydimethylsiloxane (PDMS) 427 primary LNG containment 970 quay 686 polymerase chain reaction (PCR) Princeton Ocean Model (POM) 61 QuikSCAT 57 431 prismatic tank 963 polytropic index 975 probabilistic design 653, 665 R poro-elastic theory 910 – tools for vertical breakwaters poro-elastoplastic 916 (PROVERBS) 665 radiation poro-elastoplastic (PZ3) probabilistic graphical model (PGM) – problem 795 – model 908, 915 501 –stress 92, 597 port 712, 724–729, 734–736, 758 probability radio frequency (RF) 291, 399, position float 757 – density function (PDF) 216, 371, 437, 461 post-processing FIM data 486, 511, 570, 587, 870 rail mounted gantrie (RMG) 687 1231–1233 – distribution 64 Raman spectrometer 424 potential flow – of failure 870 random – Blasius integral 167 probable maximum hurricane (PMH) – access 381 – circular cylinder 165 576 – signal 216 – D’Alembert’s paradox 166 profiling glider 301, 303, 309 random sea 867 – doublet 164 programmable logic controller random wave 791 – hand-drawn streamline 168 1139 – model 91 – irrotational line vortex 161 progressive rapid assessment of morphology – Rankine body 162, 163 – flooding 773 618 1268 687 142 60 521 621 141 114 671 985 574 729 517 1280 560, 103 141 149 997 926 985 1271 658, 517 70 980 715, 490 987 725 140 518 944 559, 991 629 292 441 103 992 141 1022 1270 101, 382, 1007 723– 140 943 663 552, 1269 758 ck o S rotor – aerodynamics –blade rotor-nacelle assembly (RNA) routing rubber tire gantrie (RTG) rubble mound – breakwater rope – synthetic –wire rosette robotic – vehicle – waypoint objective Robotuna rogue waves roll roll on roll off roller bearing ROMS current model –r rules of the road runup safety factor (SF) sailing – aerodynamic force – course – hydrodynamic force – leeway angle –truewind salinity –coastal – ocean surface salt marsh salvage – engineering –foam – personnel – planning – pump –survey salvage operation – free floating sacrificial corrosion safe – navigation – operation safety factor 603, 799, 150, 854 856, 343 813 201 972 329, 717, 839 61 588 797, 812, 776 172, 859 311, 736, 952 681 534 581 570, 336, 771, 771 1204 532 782 918 662 283, 681 579 726, 921 673, 579– 567– 539 518 775 1008 529 720 763 776, 950 653, 130, 653, 567, 1045 975 723– 657, 535 571, 528 1013 371 133 763 925 520 821, 971 712, 653– m r 524 814, equation (RANS) 324, 811, 939, reserve stability residual – buoyancy – liquefaction – soil response – stability resilience – operator (RAO) resistor and capacitor (RC) resonance resonant sloshing motion response amplitude – arm curve – method –moment – moment curve rigid – hull inflatable boat (RHIB) risk – assessment – factor – mitigation – of failure –ofloss – of unavailability risk of collision riptide riser ring laser gyroscope (RLG) revetment Reynolds – effect on VIV – number restricted in her ability to maneuver retardation function response in the time domain response-based analysis return –interval –period Ricean rigging right of way righting –a rhodamine Reynolds’ scaling law Reynolds-averaged Navier–Stokes 361, 654 376 434 1166 297, 987 487 122 619 382 1004 378 944, 122 62 693 91 282 59 751, 506 524 597 52, 601 482 529 492 825 530 450 366 861 1257 822 83, 428, 367 1267 444 291 879 64 182 865 528 407,

(ROMS) (REF/DIF) classification (REFLICS) 325 compliance 388, (REMUS) quest-to-send (RTS)

e – multi-mission vehicle (RMMV) remotely – operated vehicle (ROV) – operated vessel COLREGS r representative condition Renyi entropy REMUS renewable –energy – portfolio standard (RPS) refrigerant Regional Oceanic Modeling System regression analysis reinforced concrete reinforcement corrosion relative sea level rise (RSLR) reliability – estimation – index – modeling –trial relieving platform remote – environmental monitoring units reanalysis wind recoverable buoyancy recursive least square (RLS) red muscle (RM) reduced –basis – frequency – model – velocity Reed–Solomon (RS) reflection refraction – angle refraction/diffraction model ray tracing Rayleigh – damping – distribution real-time flow imaging and RAZOR reachable set realistic ocean condition Index 1340 Index Index 1341

– grounded ship 999 – nonlinear dynamic 894 side-by-side ships 977 – sunken ship 1001 – random sea 86 signal sampling 450 –system 896 – estimation 220 – performance 449 sediment 713, 733–738 – processing 467 – vehicle 493 – balance 617 signal-to-noise ratio (SNR) 225, sandbar 611 – compatibility 638 364 satellite – concentration 624 significant wave 793 – communication (SAT) 503 – transport gradient 613 similarity – databases 56 sedimentation 714, 723, 728 –law 810 Savonius rotor 1154 self-noise 306 – solution 170 Saybolt self-organizing map (SOM) 66 similitude and model testing 127 – furol second (SSF) 1025 self-propelled line array (SPLINE) Simpson’s first rule 761 – universal second (SSU) 1025 282 simulating waves nearshore (SWAN) SBEACH 612 self-referential phase reset (SPR) 53, 600 scalar (SISO) transfer function 237 294 simultaneous localization and scaling self-regulating nonlinear dynamic mapping (SLAM) 341 – factor 980 281 single – of loads 812 self-supporting, prismatic IMO type – anchor leg mooring (SALM) scarping 621 B 967 1262 Schrödinger equation 86 semantic sensor network 506 – carrier 368 Index science of autonomy 481 semiautonomous underwater vehicle – degree-of-freedom 852 screw propeller 143 for intervention mission – input single-output 219, 230 – apparent slip 145 (SAUVIM) 415 – mooring cable 888 – performance curve 144 semi-displacement hull 329 – point mooring (SPM) 702 – propulsive efficiency 144, 146 sensitivity analysis 626 sinkage rise 766 – Taylor wake fraction 146 sensor array 442 sinusoidal steady-state response – thrust coefficient 144 servicing 389 241 – torque coefficient 144 sewage 714–716, 728, 733, 739 skimmer 1080 – true slip 145 SF6-water 981 skin depth 394 Scribanti’s formula 767 shaft – electromagnetic 181 Sea Solar Power (SSP) 1254 –drop 731 slender structure 875 sea water 106 – horsepower (SHP) 1032 slender-member bodies 798 – electrical conductivity 103 – outfall 726–728 Slocum 303, 443 seabased WEC 1134 Shallow Water-06 487 – glider 447 seabed shallow-water wave 80, 87 SLOSHEL joint industry project – dynamics mechanism 916 shear 972 – stability 907 – layer 171 SLOSHER 291 Seaglider 303, 444 –stress 923 sloshing 971 seakeeping 335 –wave 93 small sea-level rise (SLR) 549, 561, 597, SHEAR7 842 – amplitude gravity wave 80 619, 626, 653, 674, 681 shelf-mounted plant 1247 –buoy 938 search algorithm 454 ship – craft harbor 689 seasonality 69 – bulk carrier 689 small waterplane area (SWA) 149 sea-surface-temperature (SST) 553 – Capesize 690 – twin hull (SWATH) 150, 323 seawall 653, 662 – container ship 689 smart blade 1284 secant wall 697 –cruise 689 smooth circular cylinder 800 second – deck barge 689 snap load 977 – moment of waterplane area 765 – general cargo 689 snap-slack condition 885 secondary –tankers 689 Snell’s law 83, 183, 599 – LNG containment 970 ship-to-ship (STS) 964 soft – steel 1273 shoaling 83, 597, 605 – docking 398 second-order – coefficient 1101 – galloping 1193 – double-frequency effect 900 shore protection 653, 674, 675 solar radiation 1245 – hydrondynamic effect 1284 short baseline (SBL) 392 solidifier 1087 747, 522 61, 220 863 57 725 1086 1199 352 269 758 418 298 976 68 1196 482 19 995 559, 410 899 540 485 1246 530 284 885 553– 267 627 624 617 28 885 482 60, 758 306 853, T (SSC) 302 1186 oscillator (TCXO) 105 807, unmanned testing (SCOUT) surface – craft for oceanographic and – gravity wave – roller –seawater –wind surface vessel – motion – state-space model surface-washing agent surge survival – function – prediction suspended sediment concentration SWAN swarm – formation – time-optimal sway swim rule swimmer delivery vehicle (SDV) swirl synergistic FIM synthetic – aperture radar (SAR) – storm modeling system identification system identification (SI) Swamee–Jain equation tactical scale UUV tandem offloading tangent stiffness matrix tank sounding task reconstruction Taylor series technology readiness level (TRL) teleoperation temperature compensated crystal temperature-salinity relationship tendon tension leg platform (TLP) 283, 1237 761 1193 1273 722 131, 559 1037 664, 846 1164, 680 331 1246 720– 927 980 1268, 576 852 1102 557– 155 133, 1136 663 750 492 663, 1028 519 712, 790, 851 946 248 868 854 551, 653, 887 pressure differential 1171 1118, 654, 78 1282 866 304 90 170 85 620 843 549– 1015 821 ged 114 805, device acquisition system (SCADA) 1138 – restoring force – stability – dynamics –mesh – model – velocity strut canting angle submer stream function stress strong suppression (SS) Strouhal number (St) – turbine steam power plant steel Steward platform still water level stochastic – game of life Stokes – drift –flow Stokes wave – theory storm steady-state – flight – response – response strake stranded ship stratification stormsize effects strain relief structural – damping –design surf – beat – zone – technology (SLT) subsea system sunken ship stability subsumption subtropical gyre supercritical regime supervisory control and data support structure 37 3 766 308 426 795 1016 417 1215 96, 189 274 718 307, 653 193 1086 775 770 90 791 797 163 294, 617 601 120 88, 605 332 57 442 1164 1140 443 794 784 154 364 758 1031 290 598, 763 366 1083 VE) 889 50 A 1131 303,

(SODAR) 82 analysis system (SEAS) (STW

steady-lift –converter solitary wave solution method Sommerfeld condition Sommerfield integral sonic detection and ranging sorbent sound – fixing and ranging (SOFAR) source axisymmetric – speed south equatorial current (SEC) Spalart–Allmaras model spatial scale spatio-temporal evolution of wave specific energy consumption spectral – model – wave model spectrophotometric elemental stabilizer fin stable energy flux stabilized shoreline stagnation point stainless steel starboard state-vector observer static –analysis – energy criterion – of submersibles standard cubic feet (SCF) – bollard – stability station keeping stability – at large angles of inclination spreading – function spring squall specular irradiance SPLINE SPERBOY spill-treating agent spray steady state spectral wave model stator Index 1342 Index Index 1343

terminal transient two-dimensional (2-D) – homing 388 – response 247, 855 – horizontal 604, 617 – structure 639 – state 614 – unsteady, Reynolds-Averaged, thermal transition Navier–Stokes 1213 – coating 1260 – piece 1273 – vertical 604 – glider 316, 318 – to turbulence 135 two-way communication 306 thermocline 469, 1245 translator 1131 type A tank 966 – seasonal 102 transport peak 625 type B tank 966 – tracking 471, 472, 490 transportation efficiency factor (TEF) type C tank 966 338 Thorp’s formula 364 types of shorelines 1090 three-cylinder transverse typhoon 549, 569 –CFD 1220 – center of buoyancy (TCB) 762, typical oils 1070 –FIM 1220 998 thrust 285 – center of gravity (TCG) 762 tidal – metacentric height 764 U – current 54, 1102, 1155 – metacentric radius 764 – forcing 626 trapezoidal rule of integration 760 Uehara cycle 1249, 1250 –inlet 617 trapped and leaky wave 92 ullage tide 60, 1102 traveling waves 831 –gas 975 Index tide-averaging approach 618 triad interaction 89 – pressure 964 time triangular impulse 982 – ullageocushioning 981 –reversal 379 trim 764, 768 ultra high molecular weight-high – system mapping 203 – angle 757 density poly-ethylene 942 time division triplex laminate 965 ultra large container ship (ULCS) – duplexing (TDD) 381 tropical 691 – multiple access (TDMA) 381, – cyclone 569–571, 579, 580, ultra large crude carrier (ULCC) 467 584–586 149, 691 time domain 888 tropical storm 49 ultrashort baseline (USBL) 343, –analysis 851 –Ernesto 489 388, 414, 444 – method 797 tsunami 551–553, 559–561, 575, – acoustic system 388 time-dependent flow 483 587, 597, 604 ultrasonic cleaning 1264 time-differencing bio-sonar 281 tunnel unbounded ocean 186 tip-flow effect 1235 – outfall 712, 722, 734 uncertain flow 486 tip-speed ratio (TSR) 131, 1152, – sea lion (TSL) 394 uncertainty 493, 567–570, 1269 turbine 1260 579–581, 592 Tollmein–Schlichting wave 135 – dynamics 1276 – quantification 483 tons per inch immersion (TPI) 1009 turbo equalization 378 undertow 616 turbulence 55, 603 Torpedo-like AUV 390 underwater 301 torque-speed-control curve 1275 – intensity 50, 1278 underwater (UW) total turbulent – bioluminescence assessment tool – alkalinity (TA) 426 – boundary layer 173 433 – dynamic head 1020 –flow 172 – cable 1255 – petroleum hydrocarbon (TPH) – mixing 173 – communication 467 1075 – spot 135 towing tank 1207 –trip 138 – excavation 1033 toxicity 737 turning – surface vehicle 5 TPC 766 – ability 298 unified TPI 766 –basin 686 – command 467 tracer 719–721 two-cylinder – model 475 transfer bridge 688 –CFD 1219 uniform corrosion 116 transfer function 793 –FIM 1218 uninterruptable power supply (UPS) – second order 871 – interference 1176 1133 transformation matrix 898 – near-wake 1218 unit system 761 921 573, 802, 673 737 571, 910 742, 929 667, 145 79 670 732– 865 1163 804 803 561, 628 158 82 78 132, 662– 285 658, 723, 796, 556– 1177 720 1096, 845 603 1165 25 96 1175 51 658, 655– 25 711– 771 94 91 ondition 1117 845 554, 876, 827 956 305, 571 174 617 78, 216 655– 778 549– 1279 842, rontage W 613, 922 600 rain f (VIVACE) 819, – tightness – tracing (WT) wave – body interaction – boundary c – (current)-induced soil response wake – capture – defect – displacement – effect propeller slip – frequency – interference – stiffness wall-shear stress WAMIT wastewater vorticity – transport equation – vibration (VIV) – generation – height – induced liquefaction – induced pore pressure – induced residual liquefaction – information study wave model – breaking – condition – particle trajectory – retension from wave splashing and water –level – current interaction – current kinematics – diffraction – dominated system – effect – evolution – exciting force –force –form – frequency – – vibrations for aquatic clean energy 1179 434 798, 503 188 1174 758 1183 132 446 188 691 50 450 670 1223 828, 1181, 412 801 1189 483 1180 1135 844 604, 820 336, 925 450 1180, 1001 1187– 1199 1178, 132, 1189 412 304 1210 842 1183 281 1183 1262 1192 odel Navier–Stokes equations (VARANS) 197 1189– m of gravity 812 methodology (VBAP) – – control room (VCR) – experiment – instrument (vi) – oscillator viscosity solution visual – feedback control –servoing visualization by CFD VIV suppression viscous drift loads VIVACE – component –converter – hydrodynamic principle –wake Vortex Hydro Energy (VHE) – tracking vortex-induced – motion (VIM) – principle – prototype – scale VIVANA void water volume –offluid(VOF) – scattering function (VSF) volume-averaged Reynolds-averaged vonKarmanvortexstreet von Karman’s constant vortex – shedding very large – crude carrier (VLCC) – electric dipole (VED) – magnetic dipole (VMD) –riser very high frequency (VHF) – floating structure (VLFS) – distance from the keel to the center Very Large Scale Integration (VLSI) virtual – body and artificial potential – center of gravity (VCG) 510, 325 287, 758, 1027 523 518 915, 517 443, 1138 517 1270 , 193 7 520 812 911 523 913– 734 869 976 89, 324 323, 525 907, 728, 911 390 729 1284 911 541 53, 1233 730 716 155 713, 442 449 920, 407, 713, 521 520 722 396, 535 912

V 383, 325 524 517, 991 926

-p – underwater vehicle (UUV) vacuum insulation validation – check Varley-Seymour (VS) vehicle – configuration –network velocity – potential – self-cleansing – space valve – duckbill – nonreturn variable – added mass – frequency drive (VFD) – permeability variable-pitch-to-feather variance of response vertical – center of buoyancy (VCB) unmanned – aerial vehicle (UAV) – approximation u – vessel classification unsaturated soil – sea surface vehicle (USSV) – sea surface–vehicle high speed – surface vehicle – marine vehicle (UMV) – maritime vehicle system (UMVS) – operation in public waters – boat – compliance to COLREGS – marine vehicle – ground vehicles (UGV) USV master plan upper explosive limit (UEL) upwelling Ursell number up-over-and-down path Index 1344 Index Index 1345

– instability 78 wear 1271 – induced drag 139 –load 777, 787 weathertightness 771 – wingtip vortix 140 – long-crested 788 Weber number 131, 812, 975 winged body of revolution 303 – model 600 Weibull distribution 982, 1278 working fluid 1257 – model (WAM) 59 weight World Ocean System Simulator – nonlinear 790 – addition 765 380 – number conservation 82 – removal 765, 1054 – pattern 327 –shift 765 wreck – potential perturbation 871 well 630 –grab 1061 – power density 1100 western boundary current 1104 – in place 1002 – radiation force 96 wharf 686 – removal operation 987 – resistance 81 WHOI Micromodem 471 wrecking in place 1055 – runup 133 whole effluent toxicity (WET) 737 – seabed–structure interactions 925 wide band/narrow band response X – shallow-water 791 833 –skewness 616 wide sense stationary (WSS) 217 XBeach 619 – spectra 867 Wiener filter 222 – spectrum 792, 1100, 1280 wind 49, 59, 549–551, 553–556, Y – theory 78 1277 – wave interaction 89 – climate 629 Index Wave Dragon 1143 – driven currents 34 yaw 758 wave energy 147 –energy 1267 – bearing 1271 –conversion(WEC) 81, 798, 892, – gust 808 yawed swimming 284 1117 –load 776, 806 yawing 285 – conversion actuator (WECA) – pressure 809 1139 – spectrum 51, 808, 1279 Z –flux 1100 – speed 49 – resource 1100 – speed profile 807 zero Wave Information Studies (WIS) – stress rotation 54 – initial condition 230 656 – turbine 1269 – order hold (ZOH) 201 Wave Modeling Project 59 –wave 98 WaveRoller 1141 winds, waves, and currents (WWC) – perfect 103 waypoint 446 47 – tension singularity 880 weakly nonlinear deep water wave wing zone theory 83 – in ground-effect (WIG) 152 – mixing 714