OCEANS 2009 - Europe

Bremen, Germany

11 – 14 May 2009

Pages 1-798

IEEE Catalog Number: CFP09OCF-PRT ISBN: 978-1-4244-2522-8 TABLE OF CONTENTS

ECOLOGY VERSUS ECONOMY

Geopolitical and Eco-economical Aspects of Natural Resources Management in Baltic Sea Region ...... 1 V. V. Anikiev, J. K. Chiasnavichius, A. V. Epishkina

Quantitative Analysis of Omega-3 Aliphatic Acid from Schizochytrium SP. DZAM Under Different Spectral Photo-Emissions...... 5 J. M. Oclarit, I. B. Belarmino

Cost Benefit Analysis in the Era of Sustainability ...... 12 P. D. Simal

Integrating Recent and Future Marine Technology in the Design of Marine Protected Areas - the Azores As Case Study...... 21 M. Schmiing, P. Afonso, F. Tempera, R. Santos

OCEAN OBSERVING SYSTEMS AND STRATEGIES

Development of Compact Ocean Bottom Cabled Seismometers System for Spatially Dense Observation on Sea Floor and First Installation Plan ...... 28 T. Kanazawa, M. Shinohara, O. Sano, S. Sakai, H. Utada, T. Yamada, Y. Morita, K. Yamazaki, H. Shiobara

The Spanish Institute of Oceanography (IEO) Coastal Observing System at the Southern Bay of Biscay, New Real-time Development: the Ocean-Meteorological AGL Buoy...... 35 A. Lavín, R. Somavilla, J. Arteche, C. Rodriguez, D. Cano, M. Ruiz-Villareal

The Tasmanian Marine Analysis Network (TasMAN)...... 43 G. Timms, J. W. McCulloch, P. McCarthy, B. Howell, P. de Souza, M. D. Dunbabin, K. Hartmann

System Engineering at the Edge of a Cabled Ocean Observatory...... 49 P. Phibbs, S. Mihaly, R. Jones

Cyberinfrastructure for the US Ocean Observatories Initiative: Enabling Interactive Observation in the Ocean...... 57 A. D. Chave, M. Arrott, C. Farcas, E. Farcas, I. Krueger, M. Meisinger, J. A. Orcutt, F. L. Vernon, C. Peach, O. Schofield, J. E. Kleinert

Developing the Ocean Networks Canada Centre for Enterprise and Engagement...... 67 S. M. Taylor, J. Garrett, B. Bornhold

Autonomous Bathymetry for Risk Assessment with ROAZ Robotic Surface Vehicle...... 74 H. Ferreira, C. Almeida, A. Martins, J. Almeida, N. Dias, A. Dias, E. Silva

COSYNA, an Integrated Coastal Observation System for Northern and Arctic Seas...... 80 R. Riethmüller, F. Colijn, H. Krasemann, F. Schroeder, F. Ziemer

All the Year Round Investigations of the Current Profiles Variability Near the Curonian Spit (south- east Baltic) ...... 87 V. V. Gorbatsky

Large Scale Data Collection Using Networks of Heterogeneous Vehicles and Sensors ...... 96 J. Pinto, P. S. Dias, J. B. Sousa, F. L. Pereira

FerryBox - Application of Continuous Water Quality Observations along Transects in the North Sea...... 102 W. Petersen, H. Krasemann, M. Gehrung, F. Schroeder, A. Khan

Tsunami Observatory for South Korea ...... 107 K. Schleisiek

Installation Method of High-quality Seismic Observation in the Seafloor...... 111 S. Kaneko, E. Araki, K. Kawaguchi, A. Sakuma, H. Matsumoto, T. Kodera, Y. Kaneda

HF Radar Role in an Integrated Ocean Observing System ...... 116 M. L. Heron, A. Prytz

ROSE: Development and Demonstration of a 'Mobile Response Observatory' Prototype for Subsea Environmental Monitoring ...... 120 J. Marvaldi, J. Legrand, J. F. Masset, L. Delauney, M. Nicot, D. Barbot, Y. Dégrés, M. Jouannic, F. Cabioch, J. Guyomarch, P. Billand, A. M. Caujan, S. Hibral, C. Laot

Precision Timing in the NEPTUNE Canada Network...... 128 S. Lentz, A. Lécroart

Development, Deployment, and Operation of Kilo Nalu Nearshore Cabled Observatory ...... 133 G. Pawlak, E. De Carlo, J. Fram, C. Jones, B. McLaughlin, M. McManus, K. Millikan, F. Sansone, T. Stanton, J. Wells

RENEWABLE ENERGY

Innovattive Wave Power Generation System Using Electroactive Polymer Artificial Muscles ...... 143 S. Chiba, M. Waki, R. Kornbluh, R. Pelrine

Tidal Stream Power Technology - State of the Art ...... 146 J. King, T. Tryfonas

Cabled Observatory Technology for Ocean Renewable Energy Devices...... 154 H. Grob, D. White

ADVANCED TECHNOLOGY FOR RESOURCES EXPLORATION

High Resolution, Deep-tow Seismic Survey to Investigate Methane Hydrate-bearing Sediments, Nankai Trough, Offshore, Japan...... 159 E. Asakawa, S. Mizohata, T. Inamori, T. Saeki

Methane Hydrate Detection with Marine Electromagnetic Surveys: Case Studies off Japan Coast...... 167 T-N Goto, T. Kasaya, R. Takagi, N. Sakurai, M. Harada, K. Sayanagi, M. Kinoshita

Comparison of Machine Vision based Methods for Online in situ Oil Seep Detection and Quantification ...... 171 B. Saworski, O. Zielinski

Detection and Identification of Hydrocarbons in Marine Waters using Time-resolved Laser- fluorescence: Set-up and First Results of a New Submersible Sensor...... 175 P. Rohde, J. A. Busch, R. H. Henkel, D. Voss, O. Zielinski

Shallow Drilling in the Deep Sea: The Sea Floor Drill Rig MEBO...... 180 T. Freudenthal, G. Wefer

ESTUARY SYSTEMS AND WADDEN SEAS

Observatory in the Wadden Sea: Nutrient Cycling and Export to the North Sea ...... 184 M. Beck, M. Grunwald, C. Kohlmeier, O. Dellwig, H-J Brumsack

Monitoring River Estuaries and Coastal Areas Using TerraSAR-X Data...... 187 S. Brusch, P. Held, S. Lehner

Automated Measuring Stations in the German Wadden Sea...... 191 G. Flöser, R. Onken, R. Riethmüller

MARITIME SECURITY AND SURVEILLANCE

Detection and Classification of Offshore Artificial Objects in TerraSAR-X Images: First Outcomes of the DeMarine-DEKO project...... 195 S. Estable, F. Teufel, L. Petersen, S. Knabe, G. Saur, T. Ullmann

Utilization of ASAR Wave Mode Data for Shipping Safety...... 203 X-M Li, S. Lehner

Ship Surveillance by Joint Use of SAR and AIS ...... 208 S. Lehner, S. Brusch, T. Fritz

Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator- based Control ...... 213 M. Burger, A. Pavlov, K. Pettersen

Global Maritime Surveillance with Satellite-based AIS ...... 221 S. Holsten, C. Tobehn, C. Borowy

ACOUSTICAL OCEANOGRAPHY

Using MBES Backscatter Strength Measurements for Assessing a Shallow Water Soft Sediment Environment ...... 225 K. Siemes, M. Snellen, D. Simons, J-P Hermand

The Integrated Marine Acoustic Controller System...... 232 E. Thurman, J. Riordan, D. Toal

Acoustic Monitoring of the Ushant Front: A Feasibility Study ...... 238 O. Carrière, J-P Hermand, Y. Stéphan

Using Multibeam Echoes in Seafloor Classification...... 243 Z. Lubniewski, A. Chybicki

OCEAN NOISE AND SEISMO-ACOUSTICS

Classification of Odontocete Buzz Clicks using a Multi-Hypothesis Tracker...... 247 O. Gérard, C. Carthel, S. Coraluppi

Wave Energy and Underwater Noise: State of Art and Uncertainties...... 254 S. Patrício, A. Moura, T. Simas

Seafloor Receiver Function Analysis for Hybrid Dataset Composed of both Refraction Survey and Earthquake Records...... 259 H. Mikada, S. Tsujimoto, Y. Okano, K. Onishi, E. Asakawa

Geophone Calibration by Means of Hyperbaric Chamber ...... 263 X. Roset, M. Nogueras, A. Garcia, J. del Río, D. Sarrià

SYSIF a New Seismic Tool for Near Bottom Very High Resolution Profiling in Deep Water...... 267 P. Leon, S. Ker, Y. Le Gall, B. Marsset, M. Voisset

Breaking Wave Study from in situ Experiments...... 272 X. Demoulin, R. Garello

VEHICLE DESIGN

Development of a Low-cost Autonomous Oceanographic Observation Vehicle...... 276 S. Gomáriz, J. Prat, A. G. Ruiz, J. Sole, P. Gayá, J. del Río

A Two-Fold Strategy for Designing Minimal Fuel Consumption, Superior Seakeeping Highly Maneuverable Marine Vessels based on ASAP Hull Technology and Sontag Non-Linear Feedback Stabilization...... 281 A. Hassan, G. Fath-Allah, J. Mikhael

Transfer, Adaptation and Further Development of Terrestrial Ocean Vehicle Technology for the Exploration of the Jovian Moon Europa ...... 289 C. Lange, L. Richter

Prototype Development of the SQX-1 Autonomous Underwater Vehicle...... 298 D. Shea, N. Riggs, R. Bachmayer, C. Williams

An Overall Pressure Tolerant Underwater Vehicle: DNS Pegel...... 303 C. Thiede, M. Buscher, M. Lück, H. Lehr, G. Körner, J. Martin, M. Schlichting, S. Krüger, H. Huth

Aluminum Hull USV for Coastal Water and Seafloor Monitoring ...... 309 M. Caccia, M. Bibuli, R. Bono, Ga. Bruzzone, Gi. Bruzzone, E. Spirandelli

Underwater Parallel Robot for Oceanic Measuring and Observations-Remo I: Development and Navigation Control Advances...... 314 R. Saltaren, R. Aracil, P. Cárdenas, C. Peña, E. Yime, C. Alvarez

Design, Simulation and Experimental Results of Taipan 300, a New Autonomous Underwater Vehicle Prototype...... 323 V. Creuze, O. Parodi, X. Xiang

Develpment of a Multi-drive Submersible Platform for Deep Seabed Research...... 329 T. Boh, J. Billingsley, R. S. Bradbeer, P. Hodgson

VEHICLE NAVIGATION

Terrain Based Localization for Pinpoint Observation of Deep Seafloors ...... 332 T. Nakatani, T. Ura, T. Sakamaki, J. Kojima

A MOOS-Based Online Trajectory Re-planning System For AUVs...... 338 M. Barisic, Z. Vukic, N. Miskovic, S. Kragelund

Distance Keeping for Underwater Vehicles - Tuning Kalman Filters using Self-Oscillations ...... 344 N. Miskovic, Z. Vukic, I. Petrovic, M. Barisic

A Tracking of AUV with Integration of SSBL Acoustic Positioning and Transmitted INS Data...... 350 Y. Watanabe, H. Ochi, T. Shimura, T. Hattori

Subsea Positioning by Merging Inertial and Acoustic Technologies ...... 356 E. Willemenot, P-Y Morvan, H. Pelletier, A. Hoof

Portable Control Console for Autonomous Ocean-going Vehicles...... 364 D. Hlavác, J. B. de Sousa, F. L. Pereira

Manoeuvre Based Mission Control System for Autonomous Surface Vehicle ...... 374 N. Dias, C. Almeida, H. Ferreira, J. Almeida, A. Martins, A. Dias, E. Silva

Pose-Based SLAM with Probabilistic Scan Matching Algorithm using a Mechanical Scanned Imaging Sonar...... 379 A. Mallios, P. Ridao, E. Hernández, D. Ribas, F. Maurelli, Y. Petillot

Vision Based Localization System for AUV Docking on Subsea Intervention Panels...... 385 T. Palmer, D. Ribas, P. Ridao, A. Mallios

Coordinated Path following Control of Multiple Nonholonomic Vehicles...... 395 X. Xiang, L. Lapierre, B. Jouvencel, O. Parodi

Full-depth ROV "ABISMO" and its Transponder ...... 402 T. Sawa, T. Aoki, H. Osawa, H. Yoshida, T. Inoue, J. Tahara, K. Itoh, S. Ishibashi, Y. Watanabe

Doppler Water-Track Aided Inertial Navigation for Autonomous Underwater Vehicle ...... 406 O. Hegrenaes, E. Berglund

Preventing Extended Kalman Filter Instabilities During Two Transponder Long Baseline Navigation with Real Time Fuzzy Logic Parameter Adjustment...... 416 J. Pentzer, B. Armstrong, T. Bean, M. Anderson, D. Edwards, N. Schmehl

Path Planning for Multiple Marine Vehicles...... 423 A. Häusler, R. Ghabcheloo, I. Kaminer, A. M. Pascoal, A. P. Aguiar

A Conical Laser Light-Sectioning Method for Navigation of Autonomous Underwater Vehicles for Internal Inspection of Pipelines ...... 432 P. V. Unnikrishnan, B. Thornton, T. Ura, Y. Nose

Terrain Referencing for Autonomous Navigation of Underwater Vehicles...... 441 C. Morice, S. Veres, S. D. McPhail

Radar Based Collision Detection Developments on USV ROAZ II...... 448 C. Almeida, T. Franco, H. Ferreira, A. Martins, R. Santos, J. Almeida, J. Carvalho, E. Silva

VEHICLE PERFORMANCE

System Verification of Autonomous Underwater Vehicles by Model Checking...... 454 L. Molnar, S. Veres

Interoperability of Agent Capabilities for Autonomous Knowledge Acquisition and Decision Making in Unmanned Platforms ...... 464 P. Patrón, D. M. Lane, Y. Petillot

Modelling and Motion Simulation of an Underwater Glider with Independently Controllable Main Wings ...... 472 M. Arima, N. Ichihashi, Y. Miwa

Update on Ifremer Technological Developments and Operational Feedbacks with Underwater System...... 478 V. Rigaud

AUTONOMOUS UNDERWATER VEHICLES

Air Launched Platforms - a New Approach for Underwater Vehicles...... 485 P. Stevenson, S. D. McPhail, M. Tsimplis, E. Higgins

Comparison Between Results Obtained with Thetis, a Real-time Multi-vehicles Hardware-in-the-loop Simulator, and Results Obtained During Sea Trials...... 493 O. Parodi, V. Creuze, B. Jouvencel, X. Xiang

Towards AUV Docking on Sub-sea Structures ...... 500 S. Krupinski, F. Maurelli, A. Mallios, T. Palmer, P. Sotiropoulos

Exploring Beneath the PIG Ice Shelf with the Autosub3 AUV...... 510 S. D. McPhail, M. E. Furlong, M. Pebody, J. R. Perrett, P. Stevenson, A. Webb, D. White

A Highly Versatile Autonomous Underwater Vehicle with Bio-mechanical Propulsion ...... 518 D. Simons, M. M. C. Bergers, S. Henrion, J. I. J. Hulzenga, R. W. Jutte, W. M. G. Pas, M. van Schravendijk, T. G. A. Vercruyssen, A. P. Wilken

Investigation of Portability of Space Docking Techniques for Autonomous Underwater Docking...... 524 F. Maurelli, Y. Petillot, A. Mallios, S. Krupinski, R. Haraksim, P. Sotiropoulos

Cooperating AUV Teams: Adaptive Area Coverage with Space-Varying Communication Constraints...... 533 A. Caiti, G. Casalino, A. Munafó, A. Turetta

Measuring Light Attenuation with a Compact Optical Emission Spectrometer and CTD Mounted on a Low Cost AUV ...... 540 K. Hartmann, P. de Souza, G. Timms, A. Davie

UAV and AUVs Coordination for Ocean Exploration ...... 545 P.B. Sujit, J. B. Sousa, F. L. Pereira

MR-X1 - An AUV Equipped with a Space Distributed CPU System and a Satellite Telecontrol Interface ...... 552 H. Yoshida, T. Sawa, T. Hyakudome, S. Ishibashi, J. Tahara

Sensor-based Problems and Techniques for Autonomous Underwater Vehicles...... 557 B. Maciel, J. B. de Sousa

A Simulation Environment for Autonomous Underwater Vehicles ...... 563 H-U Kobialka, T. Wunderlich

AUV Docking System for Existing Underwater Control Panel ...... 567 P. Sotiropoulos, D. Grosset, G. Giannopoulos, F. Casadei

A New Concept for an Obstacle Avoidance System for the AUV “SLOCUM Glider” Operation under Ice...... 572 M. Eichhorn

Full Function Air Transportable AUV Joins the Fugro Fleet...... 580 D. M. Hussong, E. Roach

Collaborative Mapping with Autonomous Underwater Vehicles in Low-Bandwidth Conditions ...... 585 B. Johnson, N. Hallin, H. Leidenfrost, M. O'Rourke, D. Edwards

A Fuzzy Logic Resource Optimizer for a Fleet of Autonomous Vehicles in Low-Bandwidth Conditions ...... 592 N. Hallin, B. Johnson, M. O'Rourke, D. Edwards

Multiple AUV Control in an Operational Context: a Leader - Follower Approach ...... 600 R. Haraksim, L. Brignone, J. Opderbecke

ATLAS GREX

Obstacle Avoidance for Multiple Unmanned Marine Vehicles (MUMVs) in Close Formation...... 606 T. Glotzbach, M. Schneider, M. Jacobi, P. Otto

Relative Positioning of Multiple Underwater Vehicles in the GREX Project...... 616 R. Engel, J. Kalwa

Cooperative Autonomous Marine Vehicle Motion Control in the Scope of the EU GREX Project: Theory and Practice ...... 623 A. P. Aguiar, J. Almeida, M. Bayat, B. Cardeira, R. Cunha, A. Häusler, P. Maurya, A. Oliveira, A. M. Pascoal, A. Pereira, M. Rufino, L. Sebastião, C. Silvestre, F. Vanni

GREX Sea Trials: First Experiences in Multiple Underwater Vehicle Coordination Based on Acoustic Communication...... 633 L. Brignone, J. Alves, J. Opderbecke

The GREX-project: Coordination and Control of Cooperating Heterogeneous Unmanned Systems in Uncertain Environments ...... 639 J. Kalwa

A Communication Infrastructure for Cooperative Operation of a Fleet of Heterogeneous Autonomous Marine Vehicles: Concepts and Developments Within the GREX Project...... 648 J. Alves, M. Schneider

REMOTELY OPERATED VEHICLES

Advances in Developing Telemanipulators for an Underwater Robot - Remo II...... 656 C. Peña, R. Aracil, R. Saltaren, E. Yime, P. Cárdenas, J. Quintero

Workspace Control System of Underwater Tele-Operated Manipulators on ROVs...... 664 B-H Jun, H. W. Shim, P-M Lee, H. Baek, S. K. Cho, D-J Kim

Europe´s Growing Fleet of Scientifc Deepwater ROVs: Emerging Demands for Interchange, Workflow Enhancement and Training ...... 670 V. Ratmeyer, V. Rigaud

Cable Laying ROV for Real-time Seafloor Observatory Network Construction...... 676 K. Kawaguchi, S. Kaneko, T. Nishida, T. Komine

How to Resolve the Paradox of Mental Workload when Navigating and Operating Underwater - Experiences on a New Human System Interface...... 680 O. Kleindienst, M. Lueth

Preliminary Research on the Thruster Assisted Crawler System for a Deep Sea ROV ...... 683 T. Inoue, T. Katsui, H. Murakami, J. Tahara, T. Sinbori

Hardware ROV Simulation Facility for the Evaluation of Novel Underwater Manipulation Techniques...... 688 L. Christensen, P. Kampmann, M. Hildebrandt, J. Albiez, F. Kirchner

Realtime Motion Compensation for ROV-based Tele-operated Underwater Manipulators...... 696 M. Hildebrandt, L. Christensen, J. Kerdels, J. Albiez, F. Kirchner

SONAR SIGNAL PROCESSING

Sensing the Underwater Sound Field Produced by a Moving Airborne Signal Source...... 702 B. G. Ferguson, K. W. Lo, G. C. Speechley

Variability of Available Capacity due to the Effects of Depth and Temperature in the Underwater Acoustic Communication Channel...... 709 A. Sehgal, I. Tumar, J. Schönwälder

Toward in situ Detection of Algae Species ...... 715 F. Colas, S. Laurent, M. Hamelin, M. Lehaitre, M-P Crassous, E. Antoine, C. Dreanno, A. Deuff, C. Compère

Sonar-based AUV Localization using an Improved Particle Filter Approach ...... 718 F. Maurelli, Y. Petillot, A. Mallios, P. Ridao, S. Krupinski

Acoustic Wave Processing and Target Detection ...... 727 H. Shahbazi, A. Karimifard, B. Mirzapour

Finite Element Modeling of Sonar Domes with Noise for Transducer Arrays in Sea Environment ...... 733 H. Mestouri, A. Loussert

Evolving Radial Basis Function Neural Network with Hausdorff Similarity Measure for SONAR Signals Detection/Classification...... 738 H. Peyvandi

ARRAY SIGNAL PROCESSING AND ARRAY DESIGN

Non-Perfect Channel Estimation in OFDM-MIMO-based Underwater Communications ...... 740 K. Grythe, J. E. Håkegård

Non-linear, Adaptive Array Processing for Underwater Source Localization and Sonar Interference Suppression ...... 749 E. Hoppe, M. J. Roan

True Time-Delay Bandpass Beamforming: a New Implementation...... 754 W. Xu, M. Xia, Q. Chen

Synthetic Elements for Moving Line Arrays ...... 759 M. H. Johnson

Distributed Underwater Source Location Estimation Using a Multi-Array Network...... 765 M. J. Roan, E. Hoppe

SIGNAL PROCESSING TECHNIQUES

Superimposed Chirped Pulse Parameter Estimation based on the Extended Kalman Filter (EKF)...... 769 J. C. Olivier

System Design and Fusion Techniques for Multistatic Active Sonar ...... 772 F. Ehlers, M. Daun, M. Ulmke

Low Complexity Iterative MLSE Equalization in Highly Spread Underwater Acoustic Channels ...... 782 H. C. Myburgh, J. C. Olivier

Robust Matched Field Processing for Source Localization Using Convex Optimization ...... 789 Z. Xiao, W. Xu, X. Gong

Adaptive Model-Based Mine Detection/Localization using Noisy Laser Doppler Vibration Measurements...... 794 E. J. Sullivan, N. Xiang, J. V. Candy

SONAR IMAGING

An Improvement on SAS Image Formation...... 799 P. Courmontagne, T. Telandro, A. Asada

Acoustic Stereo Imaging (ASI) System ...... 807 H. Assalih, Y. Petillot, J. Bell

GPU-based Simulation of Side-looking Sonar Images...... 814 E. Coiras, A. Ramirez-Montesinos, J. Groen

Side Scan Sonar Image Resolution and Automatic Object Detection, Classification and Identification...... 820 F. Langner, C. Knauer, W. Jans, A. Ebert

Source Number Estimation Using Eigenspace in Direction of Arrival (DOA) Estimate ...... 828 W-Q Zhu, J. Hu, X. Liu, Z. Liu, M. Zhu

SONAR IMAGING ATLAS

On the Influence of Positioning Errors on Tomography-Based Sonar Imaging Systems...... 834 F. Boschen, A. Kummert, A. Kraft

Quality Assessment of Synthetic Aperture Sonar Images ...... 840 C. Debes, R. Engel, A. M. Zoubir, A. Kraft

Towards Fast High Resolution Sonar Imaging using High BandwidthTransducers and Frequency Domain Compounding ...... 844 R. M. Lemor, F. J. Becker, C. Degel, U. Hölscher-Höbing, H. Biegler

3D-Sonar Image Formation and Shape Recognition Techniques ...... 849 A. Lorenson, D. Kraus

Multi-Beam/Multi-Aspect Image Processing for AUV Application ...... 855 U. Hölscher-Höbing, E. Krömer, D. Kraus

ACOUSTIC TELEMETRY AND COMMUNICATION

Frequency-Domain Turbo Equalization for MIMO Underwater Acoustic Communications ...... 861 J. Zhang, Y. Zheng, C. Xiao

Receiver Comparisons on an OFDM Design for Doppler Spread Channels ...... 866 S. F. Mason, C. R. Berger, S. Zhou, K. R. Ball, L. Freitag, P. Willett

Divergent Beam Shaping for High Data-Rate Underwater Communications...... 873 C. R. Benson, R. M. Dunbar, M. J. Ryan, M. R. Frater

Cognitive Intelligence in UAC Channel Parameter Identification, Measurement, Estimation, and Environment Mapping ...... 876 S. Ahmed, H. Arslan

Underwater Acoustic Sparse Aperture System Performance: Using Transmitter Channel State Information for Multipath & Interference Rejection...... 890 A. Puryear, L. J. Burton, P. F. J. Lermusiaux, V. W. S. Chan

Statistical Characterization and Capacity of Shallow Water Acoustic Channels ...... 899 A. Radosevic, J. G. Proakis, M. Stojanovic

Experimental Studies of Time-Reversal Underwater Acoustic Communications...... 907 M. Xia, W. Xu, F. Sun, X. Pan

On the Use of Interwoven Order of Oncoming Packets for Reliable Underwater Acoustic Data Transfer...... 912 O. Kebkal

Implementation and Evaluation of Multihop ARQ for Reliable Communications in Underwater Acoustic Networks ...... 919 A. Valera, P. W. Q. Lee, H-P Tan, H-G Liang, W. K. G. Seah

Distance Awareness Scheduling for Single-Hop Underwater Ad-Hoc Network ...... 925 O. Aldawibi, B. S. Sharif, C. Tsimenidis

Iterative Equalization for Underwater Acoustic Channels using Bit Interleaved Coded Modulation and Decision Feedback Equalization...... 931 C. P. Shah, C. Tsimenidis, B. S. Sharif, J. A. Neasham

Mitigation of Intercarrier Interference in OFDM Systems over Underwater Acoustic Channels...... 936 K. Tu, D. Fertonani, T. M. Duman, P. Hursky

Multi-user Navigation and Telemetry Performance Issues in Shallow Water Environments...... 942 J. Davies, C. Pearce, D. Newborough

Adaptive Acoustic Underwater Communications based on Generalized Multi-Carrier Interleave- Division Multiplexing ...... 952 P. A. Hoeher

Design of Receiver Front-End with 25kHz Carrier Frequency and 5 kHz Symbol Rate for Communication System...... 959 S-G Kim, J-W Park, Y-G Lim

Sparse Channel Estimation for Multicarrier Underwater Acoustic Communication: From Subspace Methods to Compressed Sensing ...... 964 C. R. Berger, S. Zhou, J. C. Preisig, P. Willett

High Bit Rate Communication through Metallic Structures using Electromagnetic Acoustic Transducers...... 972 D. J. Graham, J. A. Neasham, B. S. Sharif

A Performance Study of the High-Speed, High-Frequency Acoustic Uplink of the HERMES Underwater Acoustic Modem ...... 978 P. J. Beaujean

AUTOMATIC CONTROL

Nonlinear and Adaptive Robust Control of the Ship Course with Uncertainties on the Model...... 984 M. H. Casado, F. J. Velasco

Robotics Vision-based System for an Underwater Pipeline and Cable Tracker ...... 993 M. Narimani, S. Nazem, M. Loueipour

Condition Monitoring and Diagnosis for Subsea Control Systems. A Subsystem Prototype...... 999 E. Altamiranda, L. Kiaer, X. Hu

An Automated Purge Valve for Marine Salvage...... 1005 J. Farrell, S. Wood

Formation Stabilization of Underwater Mobile Sensing Networks...... 1015 Z-P Feng, R. Allen

CURRENT MEASUREMENT TECHNOLOGY

High-Resolution Current Measurements From Space With TerraSAR-X Along-Track InSAR...... 1019 R. Romeiser, S. Suchandt, H. Runge, U. Steinbrecher

The Variable-Buoyancy Drifting DIMES Shearmeter Instrument ...... 1024 T. F. Duda, S. M. Faluotico, E. M. Hobart, J. Ware, S. Lelievre

Measuring High and Low Waves with HF Radar...... 1029 L. R. Wyatt, J. J. Green

Current and Wave Measurements in Support of Shallow Water Environmental Modeling ...... 1034 J. H. Churchill, A. J. Williams, G. W. Cowles

Simulation of Tsunami Signatures in Ocean Surface Current Maps Measured by HF Radar...... 1041 A. Dzvonkovskaya, K-W Gurgel, T. Pohlmann, T. Schlick, J-L Xu

OCEANOGRAPHIC INSTRUMENTATION, BUOYS AND CABLES

Optical Measurements of Nitrate and H2S Concentrations in Baltic Waters...... 1047 R. Prien, D. Meyer, B. Sadkowiak

Cabled Observatory Technology for Ocean Acidification Research...... 1052 W. Kirkwood, E. Peltzer, P. Walz, P. Brewer

Development of a New Lagrangian Float for Studying Coastal Marine Ecosystems...... 1058 A. Schwithal, C. Roman

11,000m Class Free Fall Mooring System...... 1064 T. Murashima, H. Nakajoh, H. Takami, N. Yamauchi, A. Miura, T. Ishizuka

Biofouling Protection for Marine Underwater Observatories Sensors ...... 1069 L. Delauney

Heat Flow Measurements with the Newly Designed FIELAX Heat Flow Probe...... 1073 W. Nehmiz, N. Kaul, J. Rogenhagen

Smart Sensor Metamodel for Deep Sea Observatory ...... 1074 O. K. Zein, J. Champeau, D. Kerjean, Y. Auffret

UCTD—A New Tool for Underway Soundspeed Profiling ...... 1080 J. Klinke

New Instruments to Monitor Coastal Sea Water Masses According to European Water Framework Directive, Trophimatique Project...... 1084 M. Répécaud, Y. Dégrés, N. Bernard, J-P Allenou, Y. Aoustin, J-P Arrondeau, J-F Bouget, K. Bucas, A. Daniel, J- F Guillaud, M. Hamon, P. Jégou, A. Laes, D. Le Roux, D. Le Piver, L. Quemener, J-F Rolin, T. Rudelle, J. Legrand, R. Vuillemin

Lightframe On-sight Key Species Investigation (LOKI) - The Art of Imaging Minute Plankton Species On-the-fly...... 1087 J. Schulz, K. Barz, D. Mengedoht, T. Hanken, H. Lilienthal, N. Rieper, J. Hoops, K. Vogel, J-J Hirche

Automated Nucleic Biosensors - A Key to High Resolution Monitoring of Marine Phytoplankton...... 1092 K. Metfies, S. Diercks, F. Schroeder, W. Petersen, T. Hanken

Instrument Interface Standards for Interoperable Ocean Sensor Networks ...... 1099 T. C. O’Reilly, K. Headley, D. R. Edgington, C. Rueda, K. Lee, E. Song, J. Zedlitz, J. del Río, D. Toma, A. Mànuel, E. Delory, S. Fairgrieve, L. Bermudez, A. Amirault

PACT - a Bottom Pressure Based, Compact Deep-Ocean Tsunameter with Acoustic Surface Coupling...... 1109 A. Macrander, V. Gouretski, O. Boebel

New Technology for Ecosystem-Based Management: Marine Monitoring with the ORCA Kilroy Network ...... 1114 E. D. Thosteson, E. A. Widder, C. A. Cimaglia, J. W. Taylor, B. C. Burns, K. J. Paglen

Real-time Procedures Implemented Within Coastal HF Radar System in the Northern Adriatic...... 1121 I. Vilibic, V. Dadic, D. Ivankovic, S. Muslim, J. Šepic, H. Mihanovic

COASTAL RADARS

High Resolution Current and Bathymetry Information Determined by Nautical X-Band Radar in Shallow Waters ...... 1127 K. Hessner, P. S. Bell

Sharing Our Experience Using Wave Theories Inversion for the Determination of the Local Depth...... 1132 S. Flampouris, J. Seemann, F. Ziemer

Accuracy and Reliability of Ocean Current and Wave Monitoring with the Coastal Radar "WERA" ...... 1139 T. Helzel, L. Petersen, V. Mariette, N. Thomas

Sediment Modeling based on Radar Observed Surface Hydrodynamics ...... 1144 S. Sedlacek, F. Ziemer, M. Cysewski

A Simulation Technique for High Frequency Doppler Spectra and Comparison with High-Bandwidth WERA Data ...... 1149 J-J Zhang, E. Gill, J. Walsh, K-W Gurgel

SPACEBORNE OCEAN OBSERVING – COLOUR AND RADAR

Turbidity Measurement from ALOS Satellite Imagery ...... 1155 H. S. Lim, M. Z. MatJafri, K. Abdullah

Monitoring of Water Quality in the Coastal Zone using Optical Remote Sensing...... 1160 C. Brockmann, K. Stelzer

Regional Objective Analysis for Merging MERIS, MODIS/Aqua and SeaWiFS Chlorophyll-a Data from 1998 to 2008 on the European Atlantic Shelf at a Resolution of 1.1Km...... 1165 B. Saulquin, F. Gohin, R. Garello

Chlorophyll Measurement from Landsat TM Imagery...... 1175 H. S. Lim, M. Z. MatJafri, K. Abdullah

Sea Surface Current Retrievals using ASAR WVW Acquisitions...... 1179 C. Danilo, R. Garello

Internal Wave Observations in the Northern South China Sea from Satellite Ocean Color Imagery ...... 1183 C-R Ho, F-C Su, N-J Kuo, C-C Tsao, Q. Zheng

Analysis of Chlorophyll-a Concentration around the South China Sea from Ocean Color Images...... 1188 N-J Kuo, C-R Ho, Y-T Lo, S-J Huang, L. Chang

New Concept of Passive Measure using GNSS Reflected Signals in Oceanographic Applications...... 1192 S. Tay, F. Maussang, A. Coatanhay, R. Garello

DATA ACCESS, HANDLING AND VISUALIZATION

Biigle - Web 2.0 Enabled Labelling and Exploring of Images from the Arctic Deep-sea Observatory HAUSGARTEN...... 1197 J. Ontrup, N. Ehnert, M. Bergmann, T. Nattkemper

Keeping Pace with Technology through the Development of an Intuitive Data Fusion, Management, Analysis & Visualization Software Solution...... 1204 T. Pauly, I. Higginbottom, C. Malzone, H. Pederson, J. Corbett, M. Wilson

The Data Management System for the VENUS and NEPTUNE Cabled Observatories ...... 1212 B. Pirenne, E. Guillemot

The Joys of Smoothing ...... 1216 A. Willumsen, O. Hegrenaes

NUMERICAL MODELLING

Towards Predicting Water Levels using Artificial Neural Networks...... 1223 S. N. Londhe

Development of a GIS-based Oil Spill Risk Assessment System...... 1229 S. Castanedo, A. J. Abascal, R. Medina, F. Fernandez, M. Liste, M. Olabarrieta

Introducing Marine Climate Variability Into Life Cycle Management of Coastal and Offshore Structures ...... 1235 I. J. Losada, F. J. Mendez, G. Diaz, B. G. Reguero, P. Camus, R. Guanche, J. L. Lara, M. Menendez, A. Espejo, C. Izaguirre, A. D. Gutierrez

Real time Sidescan Simulator and Applications...... 1241 Y. Pailhas, Y. Petillot, C. Capus, K. Brown

Web-based GIS Dedicated for Marine Environment Surveillance and Monitoring...... 1247 L. Kaminski, M. Kulawiak, W. Cizmowski, A. Chybicki, A. Stepnowski, A. Orlowski

INFORMATION MANAGEMENT

Analysing the Multidimensional Wave Climate with Self Organizing Maps...... 1254 F. J. Mendez, P. Camus, R. Medina, A. Cofiño

IMC: A Communication Protocol for Networked Vehicles and Sensors ...... 1263 R. Martins, P. S. Dias, E. R. B. Marques, J. Pinto, J. B. Sousa, F. L. Pereira

Integrating Standards in Data QA/QC into Open Geospatial Consortium Sensor Observation Services ...... 1269 J. J. Fredericks, M. Botts, T. Cook, J. Bosch

Playback System of Hemire ROV with Statistical Analysis on Exploration Data...... 1275 B-H Kim, B-H Jun, K-H Kim, H. Baek, P-M Lee

OCEAN SCIENCES AND METEOROLOGY

Measurements of High Concentration Sediment Plume in the Estuary with Strong Tidal Currents...... 1281 H. Chien, W-S Chiang, P. Liu, K-K Liu

In-situ Sinking Speed Measurements of Marine Snow Aggregates Acquired with a Settling Chamber Mounted to the Cherokee ROV...... 1286 N. Nowald, G. Fischer, V. Ratmeyer, M. Iversen, C. Reuter, G. Wefer

Application of a Remote Controlled Hammering Drill from Space to Deep Sea...... 1292 L. Richter, O. Krömer

Physical Controls of Cold Seep Methane Emission...... 1296 P. Linke, S. Sommer, L. Rovelli, D. F. McGinnis

Deepwater Archaeology - Status and Potential ...... 1304 F. Søreide, M. Jasinski

MARINE LIFE, ECOSYSTEMS AND POLLUTION MONITORING

Development of Ballast Water Treatment System Based on Electrochemical Disinfection Technology...... 1308 E-C Kim, K-P Lee

Issues and Preliminary Results in Oil Spill Detection Using Optical Remotely Sensed Images...... 1316 M. Cococcioni, L. Corucci, B. Lazzerini

Topic-based Habitat Classification Using Visual Data...... 1320 O. Pizarro, S. Williams, J. Colquhoun

An Approach for Tracking Oil Slicks by Using Active Contours on Satellite Images ...... 1328 S. Robla, J. R. Llata, C. Torre, E. G. Sarabia

Marine Biological Baseline Study in Igaliku Fjord, Greenland...... 1336 F. Søreide, T. Bakken

IMAGING AND VISION

The Stereo Vision System for an Underwater Vehicle...... 1343 S. Ishibashi

Towards Real Time Vision Based UUV Navigation Using GPU Technology ...... 1349 J. Horgan, F. Flannery, D. Toal

Online Video Mosaicing Through SLAM for ROVs...... 1355 M. Caccia, Ga. Bruzzone, F. Ferreira, G. Veruggio

Online Generation of an Underwater Photo Map with Improved Fourier Mellin based Registration ...... 1361 H. Buelow, A. Birk,V. Unnithan

3D Reconstruction Based on Underwater Video from ROV Kiel 6000 Considering Underwater Imaging Conditions ...... 1367 A. Sedlazeck, K. Köser, R. Koch

Rotation Estimation from Noisy Sonar Images and Distortion Corrections for Nonlinearities...... 1377 H. Shiba

A Bayesian Approach for Tracking Undersea Narrow Telecommunication Cables...... 1382 A. Ortiz, J. Antich, G. Oliver

A Model-based Method for Reducing the Sound Speed Induced Errors in Multi Beam Echo-Sounder Bathymetric Measurements...... 1392 M. Snellen, D. Simons, K. Siemes

3D Characterization of Rain by Means of Static Image Processing with Projected Shadows...... 1399 M. I. Arenado, L. A. Rentería, J. M. P. Oria

MARINE OPTICS TECHNOLOGY AND COMMUNICATION

Studying the Behaviour of Norway Lobster using RFID and Infrared Tracking Technologies ...... 1405 D. Sarrià, J. del Río, A. Mànuel, J. Aguzzi, F. Sardà, J. A. García

Optical Communication for Underwater Wireless Sensor Networks: a VHDL-implementation of a Physical Layer 802.15.4 Compatible ...... 1409 D. Anguita, D. Brizzolara, G. Parodi

An Efficient Transmission Scheme for Underwater Sensor Networks...... 1411 S. Park

A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles...... 1414 J. M. Daladier, M. A. Labrador

MARINE LAW AND POLICY

Offshore Wind Farm Siting in Germany and the United States: Legal and Policy Impediments and Supports ...... 1424 M. E. Portman, J. Köppel, J. A. Duff

Under-Ice Seabed Mapping with AUVs...... 1434 J. Ferguson

Deep Sea Observatories and International Law...... 1440 D. R. Burnett, L. Carter

Place of Refuge for Ships in Need of Assistance - Methodological Approach and Croatian Concept ...... 1451 Z. Bradaric, M. Kostelac

MARINE SAFETY AND SECURITY

HISS: Harbour Intrusion Simulator System...... 1456 A. Caiti, A. Munafó, G. Vettori

Prediction of Typhoon Triggered Sea Hazards in China ...... 1466 D. Liu, H. Jiang, F. Wang, Y. Wang, L. Yuan

Future Maritime Communication Technologies ...... 1473 F. Bekkadal

A Three-Layered Architecture for Real Time Path Planning and Obstacle Avoidance for Surveillance USVs Operating in Harbour Fields...... 1479 G. Casalino, A. Turetta, E. Simetti

MARINE MATERIAL SCIENCES AND MARINE STRUCTURES

New Design Method of Ceramics Pressure Housings for Deep Ocean Applications...... 1487 K. Asakawa, S. Takagawa

An Economically Rational Selection of Submarine Hull Materials...... 1490 M. Blanco

Development of Filler Wire for Underwater Welding As a Repair Tool for Adaptation on AUV...... 1496 Y. Lizunkova, T. Hassel, A. Wolyniec, J. Klotz, F. Bach

STUDENT POSTERS

Backscattering of Sound from Salinity Fluctuations: Measurements off a Coastal River Estuary ...... 1501 M. M. Sastre-Córdova

Simulation of the Radar Observation of a Sea Patch using the TLM Electromagnetic Method...... 1507 T. Lurton, C. Sintès, R. Garello

Control and Acquisition System Design for an Expandable Seafloor Observatory (OBSEA)...... 1514 M. Nogueras, C. Artero, J. del Río, A. Mànuel, D. Sarrià

Acoustic Modelling of Dolphin Sound Reception and Implications for Biosonar Design...... 1519 S. Graf, P. Blondel, W. M. Megill, S. E. Clift

Fast Phytoplankton Classification from Fluorescence Spectra: Comparison Between PSVM and SOM...... 1525 I. F. Aymerich, J. Piera, J. Mohr, A. Soria-Frisch, K. Obermayer

Towards Large Scale Optical and Acoustic Sensor Integration for Visualization ...... 1529 M. Johnson-Roberson, O. Pizarro, S. Williams

Visual Mapping of Internal Pipe Walls using Sparse Features for Application on board Autonomous Underwater Vehicles ...... 1533 A. Bodenmann, B. Thornton, T. Ura, P. V. Unnikrishnan

Blue Whale B and D Call Classification using a Frequency Domain based Robust Contour Extractor...... 1541 S. K. Madhusudhana, M. A. Roch, E. M. Oleson, M. S. Soldevilla, J. A. Hildebrand

Analysis of Acoustic Modem Performance for Long Range Horizontal Data Transmission ...... 1548 G. M. Pusey, A. J. Duncan, A. M. Smerdon

A Voice Recognition System for a Submarine Piloting...... 1557 F. Ferrando, G. Nouveau, B. Philip, P. Pradeilles, V. Soulenq, G. Van-Staen, P. Courmontagne

Designing High Speed Monohull Small Crafts (HSMSC) using Neural Networks Guided CFD based Optimization ...... 1563 M. A. El-laffy, M. Abdel-salam, B. Salah, B. Magdy, M. Tarek, A. El-bastaweesy, I. Adel , M. Mahmoud, I. E-D Abdel-majeed, A. El-sayed, A-A Eladly, A. Abdelhady, O. Fathy, S. Ali

WCLES: An Innovative Environmental Friendly Combustionless Engines for Marine Applications based on Low-Current Electrolysis Technology ...... 1570 S. Sharaf, M. A. El-salam

Forward Modeling of Paleo Heat Flow: a Case Study of Kristin Field, Mid-Norwegian Continental Shelf ...... 1575 Y. Fu, V. Unnithan

Offshore Mussel Aquaculture: New Or Just Renewed?...... 1584 T. Lado-Insua, F. J. Ocampo, K. Moran

Author Index