Ocean Exploration: Diving to New Depths and Discoveries
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Worksheet 5.1--The History of Oceanography
Worksheet 5.1--The History of Oceanography Reading: Introduction to the World’s Oceans pages 4-22 1. The field of oceanography today is so broad that oceanography is usually broken down into a number of sub disciplines: a. ________________________________________ includes the study of the earth at the sea’s edge and below its surface b. ________________________________________ investigates how and why the oceans move c. ________________________________________ is the study of heat transfer, water cycles, and air-sea interactions. d. ________________________________________ studies the composition and history of the water e. ________________________________________ concerns the marine organisms and the relationship between these organisms and the environment. f. ________________________________________ is the discipline that designs and plans equipment and installations for use at sea. 2. When did oceanography begin to develop as a modern science? ____________________ The Early Times 3. Around 200 BC the Egyptian scientist Eratosthenes mapped the known world and calculated the circumference of the earth as 40,250 km. Today’s measurement is ______________ . How far from the correct value was Erathosthenes? 4. Approximately 350 years later the Roman Scientist Ptolemy produced the world’s first atlas. His atlas listed more than 8,000 places by latitude and longitude but his work contained a major flaw. What was it? 5. What difference would it have made for Columbus and other explorers if they had used Erathosthenes’ more accurate estimate of the earth’s circumference rather than Ptolemy’s flawed estimate? The Middle Ages 6. When did the Vikings reach North America? _______________ 7. Who first established regular trade routes across the Indian Ocean? _______________ 8. -
AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies. -
Annual Report 2014 OUR VISION
AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2014 Annual Report OUR VISION To establish a world-leading research centre for autonomous marine operations and systems: To nourish a lively scientific heart in which fundamental knowledge is created through multidisciplinary theoretical, numerical, and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation, and control. Cutting-edge inter-disciplinary research will provide the necessary bridge to realise high levels of autonomy for ships and ocean structures, unmanned vehicles, and marine operations and to address the challenges associated with greener and safer maritime transport, monitoring and surveillance of the coast and oceans, offshore renewable energy, and oil and gas exploration and production in deep waters and Arctic waters. Editors: Annika Bremvåg and Thor I. Fossen Copyright AMOS, NTNU, 2014 www.ntnu.edu/amos AMOS • Annual Report 2014 Table of Contents Our Vision ........................................................................................................................................................................ 2 Director’s Report: Licence to Create............................................................................................................................. 4 Organization, Collaborators, and Facts and Figures 2014 ......................................................................................... 6 Presentation of New Affiliated Scientists................................................................................................................... -
Deep-Sea Mining: the Basics
A fact sheet from June 2018 NOAA Office of Ocean Exploration and Research Deep-sea Mining: The Basics Overview The deepest parts of the world’s ocean feature ecosystems found nowhere else on Earth. They provide habitat for multitudes of species, many yet to be named. These vast, lightless regions also possess deposits of valuable minerals in rich concentrations. Deep-sea extraction technologies may soon develop to the point where exploration of seabed minerals can give way to active exploitation. The International Seabed Authority (ISA) is charged with formulating and enforcing rules for all seabed mining that takes place in waters beyond national jurisdictions. These rules are now under development. Environmental regulations, liability and financial rules, and oversight and enforcement protocols all must be written and approved within three to five years. Figure 1 Types of Deep-sea Mining Production support vessel Return pipe Riser pipe Cobalt Seafloor massive Polymetallic crusts sulfides nodules Subsurface plumes 800-2,500 from return water meters deep Deposition 1,000-4,000 meters deep 4,000-6,500 meters deep Cobalt-rich Localized plumes Seabed pump Ferromanganeseferromanganese from cutting crusts Seafloor production tool Nodule deposit Massive sulfide deposit Sediment Source: New Zealand Environment Guide © 2018 The Pew Charitable Trusts 2 The legal foundations • The United Nations Convention on the Law of the Sea (UNCLOS). Also known as the Law of the Sea Treaty, UNCLOS is the constitutional document governing mineral exploitation on the roughly 60 percent of the world seabed that lies beyond national jurisdictions. UNCLOS took effect in 1994 upon passage of key enabling amendments designed to spur commercial mining. -
LISA, the Gravitational Wave Observatory
The ESA Science Programme Cosmic Vision 2015 – 25 Christian Erd Planetary Exploration Studies, Advanced Studies & Technology Preparations Division 04-10-2010 1 ESAESA spacespace sciencescience timelinetimeline JWSTJWST BepiColomboBepiColombo GaiaGaia LISALISA PathfinderPathfinder Proba-2Proba-2 PlanckPlanck HerschelHerschel CoRoTCoRoT HinodeHinode AkariAkari VenusVenus ExpressExpress SuzakuSuzaku RosettaRosetta DoubleDouble StarStar MarsMars ExpressExpress INTEGRALINTEGRAL ClusterCluster XMM-NewtonXMM-Newton CassiniCassini-H-Huygensuygens SOHOSOHO ImplementationImplementation HubbleHubble OperationalOperational 19901990 19941994 19981998 20022002 20062006 20102010 20142014 20182018 20222022 XMM-Newton • X-ray observatory, launched in Dec 1999 • Fully operational (lost 3 out of 44 X-ray CCD early in mission) • No significant loss of performances expected before 2018 • Ranked #1 at last extension review in 2008 (with HST & SOHO) • 320 refereed articles per year, with 38% in the top 10% most cited • Observing time over- subscribed by factor ~8 • 2,400 registered users • Largest X-ray catalogue (263,000 sources) • Best sensitivity in 0.2-12 keV range • Long uninterrupted obs. • Follow-up of SZ clusters 04-10-2010 3 INTEGRAL • γ-ray observatory, launched in Oct 2002 • Imager + Spectrograph (E/ΔE = 500) + X- ray monitor + Optical camera • Coded mask telescope → 12' resolution • 72 hours elliptical orbit → low background • P/L ~ nominal (lost 4 out 19 SPI detectors) • No serious degradation before 2016 • ~ 90 refereed articles per year • Obs -
Development of the Crew Dragon ECLSS
ICES-2020-333 Development of the Crew Dragon ECLSS Jason Silverman1, Andrew Irby2, and Theodore Agerton3 Space Exploration Technologies, Hawthorne, California, 90250 SpaceX designed the Crew Dragon spacecraft to be the safest ever flown and to restore the ability of the United States to launch astronauts. One of the key systems required for human flight is the Environmental Control and Life Support System (ECLSS), which was designed to work in concert with the spacesuit and spacecraft. The tight coupling of many subsystems combined with an emphasis on simplicity and fault tolerance created unique challenges and opportunities for the design team. During the development of the crew ECLSS, the Dragon 1 cargo spacecraft flew with a simple ECLSS for animals, providing an opportunity for technology development and the early characterization of system-level behavior. As the ECLSS design matured a series of tests were conducted, including with humans in a prototype capsule in November 2016, the Demo-1 test flight to the ISS in March 2019, and human-in-the-loop ground testing in the Demo-2 capsule in January 2020 before the same vehicle performs a crewed test flight. This paper describes the design and operations of the ECLSS, the development process, and the lessons learned. Nomenclature AC = air conditioning AQM = air quality monitor AVV = active vent valve CCiCap = Commercial Crew Integrated Capability CCtCap = Commercial Crew Transportation Capability CFD = computational fluid dynamics conops = concept of operations COPV = composite overwrapped -
Scruise Report R/V Roger Revelle Cruise RR0901 10 January 2009 To
SCruise Report R/V Roger Revelle Cruise RR0901 10 January 2009 to 24 February 2009 Diapycnal and Isopycnal Mixing Experiment in the Southern Ocean DIMES Cruise US1 Deployment Cruise Chief Scientist James R. Ledwell Woods Hole Oceanographic Institution [email protected] Brian Guest, Leah Houghton, and Cynthia Sellers Woods Hole Oceanographic Institution Stewart C. Sutherland Lamont-Doherty Earth Observatory Peter Lazarevich and Nicolas Wienders Florida State University Ryan Abernathey and Cimarron J. L. Wortham Massachusetts Institution of Technology Byron Kilbourne University of Washington Magdalena Carranza and Uriel Zajaczkovski University of Buenos Aires Jonathan Meyer and Meghan K. Donohue Scripps Institution of Oceanography 2 November 2012 Acknowledgements Captain David Murline and the crew of R/V Roger Revelle provided excellent and steadfast support during this cruise. The marine operations and science support groups at Scripps Institution of Oceanography were thorough, professional and helpful, especially Jonathan Meyer and Meghan Donohue, the marine technicians on the cruise. Lawrence Anderson, Valery Kosneyrev, and Dennis McGillicuddy at the Woods Hole Oceanographic Institution helped enormously by calculating and sending estimates, including animations, of sea surface height from AVISO satellite altimetry data. Marjorie Parmenter, also of Woods Hole Oceanographic Institution, provided editorial assistance for this report. Funding for the project is from the National Science Foundation, Grants OCE 0622825 and OCE 1232962. ii -
Towards Autonomous Localization of an Underwater Drone
TOWARDS AUTONOMOUS LOCALIZATION OF AN UNDERWATER DRONE A Thesis presented to the Faculty of California Polytechnic State University, San Luis Obispo In Partial Fulfillment of the Requirements for the Degree Master of Science in Computer Science by Nathan Sfard June 2018 c 2018 Nathan Sfard ALL RIGHTS RESERVED ii COMMITTEE MEMBERSHIP TITLE: Towards Autonomous Localization of an Underwater Drone AUTHOR: Nathan Sfard DATE SUBMITTED: June 2018 COMMITTEE CHAIR: Lynne Slivovsky, Ph.D. Professor of Computer Engineering COMMITTEE MEMBER: John Seng, Ph.D. Professor of Computer Science COMMITTEE MEMBER: Xiao-Hua Yu, Ph.D. Professor of Electrical Engineering iii ABSTRACT Towards Autonomous Localization of an Underwater Drone Nathan Sfard Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their envi- ronments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acous- tic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Fil- ter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this Kalman Filter by analyzing the effect each parameter has on accuracy, then choosing the best combination of parameter values to assess the overall accuracy of the Kalman Filter. We find that the two parameters with the greatest effects on the system are the con- stant acceleration and the measurement uncertainty of the system. -
Modeling and Simulation of Motion of an Underwater Robot
2016 International Symposium on Nonlinear Theory and Its Applications, NOLTA2016, Yugawara, Japan, November 27th-30th, 2016 Modeling and Simulation of Motion of an Underwater Robot Ryo Inoharay, Kaito Isogaiy, Hideo Nakanoz, and Hideaki Okazakiy yGraduate School of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan zFaculty of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan Email: [email protected], [email protected], [email protected], [email protected] Abstract—This paper presents how system dynamics ics [1] of an underwater robot based on [2], [4]. The time and system control equations for an underwater robot were parameter t for all the stated variables, such as r(t), or Ω(t), derived using an Arnold-type operator to control the Open- etc., is omitted for convenience. We use the following no- ROV. Typical behavior of the OpenROV on MATLAB nu- tation as [2] (Fig 2): merical simulations is illustrated. ei 2 w (i = 1; 2; 3) are the base vectors of a right-handed Cartesian stationary coordinate system at the origin O; 2 = ; ; 1. Introduction Ei W (i 1 2 3) are the base vectors of a right moving coordinate system connected to the body at the center of Although there are several designs, control system equa- the mass Oc. tions, and dynamic equations for underwater robots, such as [1], unified methods to describe the dynamic equations Definition 1 Let w and W be oriented euclidean spaces for the rigid body kinetics of an underwater robot have yet (i.e. -
Commercial Orbital Transportation Services
National Aeronautics and Space Administration Commercial Orbital Transportation Services A New Era in Spaceflight NASA/SP-2014-617 Commercial Orbital Transportation Services A New Era in Spaceflight On the cover: Background photo: The terminator—the line separating the sunlit side of Earth from the side in darkness—marks the changeover between day and night on the ground. By establishing government-industry partnerships, the Commercial Orbital Transportation Services (COTS) program marked a change from the traditional way NASA had worked. Inset photos, right: The COTS program supported two U.S. companies in their efforts to design and build transportation systems to carry cargo to low-Earth orbit. (Top photo—Credit: SpaceX) SpaceX launched its Falcon 9 rocket on May 22, 2012, from Cape Canaveral, Florida. (Second photo) Three days later, the company successfully completed the mission that sent its Dragon spacecraft to the Station. (Third photo—Credit: NASA/Bill Ingalls) Orbital Sciences Corp. sent its Antares rocket on its test flight on April 21, 2013, from a new launchpad on Virginia’s eastern shore. Later that year, the second Antares lifted off with Orbital’s cargo capsule, (Fourth photo) the Cygnus, that berthed with the ISS on September 29, 2013. Both companies successfully proved the capability to deliver cargo to the International Space Station by U.S. commercial companies and began a new era of spaceflight. ISS photo, center left: Benefiting from the success of the partnerships is the International Space Station, pictured as seen by the last Space Shuttle crew that visited the orbiting laboratory (July 19, 2011). More photos of the ISS are featured on the first pages of each chapter. -
Exploration of the Jovian System by EJSM (Europa Jupiter System Mission): Origin of Jupiter and Evolution of Satellites
Trans. JSASS Aerospace Tech. Japan Vol. 8, No. ists27, pp. Tk_35-Tk_38, 2010 Topics Exploration of the Jovian System by EJSM (Europa Jupiter System Mission): Origin of Jupiter and Evolution of Satellites 1) 2) 2) 2) 3) By Sho SASAKI , Masaki FUJIMOTO , Takeshi TAKASHIMA , Hajime YANO , Yasumasa KASABA , 4) 4) 2) 2) Yukihiro TAKAHASHI , Jun KIMURA , Tatsuaki OKADA , Yasuhiro KAWAKATSU , 2) 2) 2) 2) 2) Yuichi TSUDA , Jun-ichiro KAWAGUCHI , Ryu FUNASE , Osamu MORI , Mutsuko MORIMOTO , 5) 6) 7) Masahiro IKOMA , Takeshi NAGANUMA , Atsushi YAMAJI , 8) 9) Hauke HUSSMANN , Kei KURITA and JUPITER WORKING GROUP 1)National Astronomical Observatory of Japan, Oshu, Japan 2)The Institute of Space and Astronautical Science, JAXA, Sagamihara, Japan 3)Tohoku University, Sendai, Japan 4)Hokkaido University, Sapporo, Japan 5)Tokyo Institute of Technology, Tokyo, Japan 6)Hiroshima University, Higashi-Hiroshima, Japan 7)Kyoto University, Kyoto, Japan 8)German Aerospace Center, Berlin, Germany 9)Earthquake Research Institute, The University of Tokyo, Tokyo, Japan (Received July 16th, 2009) EJSM (Europa Jupiter System Mission) is a planned Jovian system mission with three spacecraft aiming at coordinated observations of the Jovian satellites especially Europa and the magnetosphere, atmosphere and interior of Jupiter. It was formerly called "Laplace" mission. In October 2007, it was selected as one of future ESA scientific missions Cosmic Vision (2015-2025). From the beginning, Japanese group is participating in the discussion process of the mission. JAXA will take a role on the magnetosphere spinner JMO (Jupiter Magnetosphere Orbiter). On the other hand, ESA will take charge of JGO (Jupiter Ganymede Orbiter) and NASA will be responsible for JEO (Jupiter Europa Orbiter). -
The Next Generation of Ocean Exploration. Kelly Walsh Repeats Father’S Historic Dive, 60 Years Later, on Father’S Day Weekend
From father to son; the next generation of ocean exploration. Kelly Walsh repeats father’s historic dive, 60 years later, on Father’s Day weekend DSSV Pressure Drop. Challenger Deep, Mariana Trench 200miles SW of Guam. June 20th, 2020 – Kelly Walsh, 52, today completed a historic dive to approximately 10,925m in the Challenger Deep. The dive location was the Western Pool, the same area that was visited by Kelly’s father, Captain Don Walsh, USN (Ret), PhD, who was the pilot of the bathyscaph ‘Trieste’ during the first dive to the Challenger Deep in 1960. Mr. Walsh’s 12- hour dive, coordinated by EYOS Expeditions, was undertaken aboard the deep-sea vehicle Triton 36000/2 ‘Limiting Factor” piloted by the owner of the vehicle Victor Vescovo, a Dallas, Texas based businessman and explorer. The expedition to the Challenger Deep is a joint venture by Caladan Oceanic, Triton Submarines and EYOS Expeditions. Mr. Vescovo and his team made headlines last year by completing a circumnavigation of the globe that enabled Mr. Vescovo to become the first person to dive to the deepest point of each of the worlds five oceans. The dives by father and son connect a circle of exploration history that spans 60 years. “It was a hugely emotional journey for me,” said Kelly Walsh aboard DSSV Pressure Drop, the expedition’s mothership. “I have been immersed in the story of Dad’s dive since I was born-- people find it fascinating. It has taken 60 years but thanks to EYOS Expeditions and Victor Vescovo we have now taken this quantum leap forward in our ability to explore the deep ocean.