From the Seafloor to the Sea Surface: a Technical Solution for the Cabled EMSO-SN1 Observatory in the Western Ionian Sea
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Global Inventory of AUV and Glider Technology Available for Routine Marine Surveying
Appendix 1. Global Inventory of AUVs and Gliders Global Inventory of AUV and Glider Technology available for Routine Marine Surveying Project Leaders: Dr Russell Wynn (NOC) and Dr Elizabeth Linley (NERC) Report Prepared by: Dr James Hunt (NOC) Inventory correct as of September 2013 1 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders Contents United Kingdom Institutes ................................................................. 16 Marine Autonomous and Robotic Systems (MARS) at National Oceanography Centre (NOC), Southampton ................................. 17 Autonomous Underwater Vehicles (AUVs) at MARS ................................... 18 Autosub3 ...................................................................................................... 18 Technical Specification for Autosub3 ......................................................... 18 Autosub6000 ................................................................................................ 19 Technical Specification .............................................................................. 19 Autosub LR ...................................................................................................... 20 Technical Specification .............................................................................. 20 Air-Launched AUVs ........................................................................................ 21 Gliders at MARS .............................................................................................. 22 Teledyne -
The Exchange of Water Between Prince William Sound and the Gulf of Alaska Recommended
The exchange of water between Prince William Sound and the Gulf of Alaska Item Type Thesis Authors Schmidt, George Michael Download date 27/09/2021 18:58:15 Link to Item http://hdl.handle.net/11122/5284 THE EXCHANGE OF WATER BETWEEN PRINCE WILLIAM SOUND AND THE GULF OF ALASKA RECOMMENDED: THE EXCHANGE OF WATER BETWEEN PRIMCE WILLIAM SOUND AND THE GULF OF ALASKA A THESIS Presented to the Faculty of the University of Alaska in partial fulfillment of the Requirements for the Degree of MASTER OF SCIENCE by George Michael Schmidt III, B.E.S. Fairbanks, Alaska May 197 7 ABSTRACT Prince William Sound is a complex fjord-type estuarine system bordering the northern Gulf of Alaska. This study is an analysis of exchange between Prince William Sound and the Gulf of Alaska. Warm, high salinity deep water appears outside the Sound during summer and early autumn. Exchange between this ocean water and fjord water is a combination of deep and intermediate advective intrusions plus deep diffusive mixing. Intermediate exchange appears to be an annual phen omenon occurring throughout the summer. During this season, medium scale parcels of ocean water centered on temperature and NO maxima appear in the intermediate depth fjord water. Deep advective exchange also occurs as a regular annual event through the late summer and early autumn. Deep diffusive exchange probably occurs throughout the year, being more evident during the winter in the absence of advective intrusions. ACKNOWLEDGMENTS Appreciation is extended to Dr. T. C. Royer, Dr. J. M. Colonell, Dr. R. T. Cooney, Dr. R. -
AUV Adaptive Sampling Methods: a Review
applied sciences Review AUV Adaptive Sampling Methods: A Review Jimin Hwang 1 , Neil Bose 2 and Shuangshuang Fan 3,* 1 Australian Maritime College, University of Tasmania, Launceston 7250, TAS, Australia; [email protected] 2 Department of Ocean and Naval Architectural Engineering, Memorial University of Newfoundland, St. John’s, NL A1C 5S7, Canada; [email protected] 3 School of Marine Sciences, Sun Yat-sen University, Zhuhai 519082, Guangdong, China * Correspondence: [email protected] Received: 16 July 2019; Accepted: 29 July 2019; Published: 2 August 2019 Abstract: Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed. Keywords: autonomous underwater vehicle(s); maritime robotics; adaptive sampling; underwater feature tracking; in-situ sensors; sensor fusion 1. Introduction Autonomous underwater vehicles (AUVs) are unmanned marine robots. Owing to their mobility and increased ability to accommodate sensors, they have been used for a broad range of oceanographic missions, such as surveying underwater plumes and other phenomena, collecting bathymetric data and tracking oceanographic dynamic features. -
MODELING, DESIGN and CONTROL of GLIDING ROBOTIC FISH By
MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang A DISSERTATION Submitted to Michigan State University in partial fulfillment of the requirements for the degree of Electrical Engineering – Doctor of Philosophy 2014 ABSTRACT MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang Autonomous underwater robots have been studied by researchers for the past half century. In particular, for the past two decades, due to the increasing demand for environmental sustainability, significant attention has been paid to aquatic environmental monitoring using autonomous under- water robots. In this dissertation, a new type of underwater robots, gliding robotic fish, is proposed for mobile sensing in versatile aquatic environments. Such a robot combines buoyancy-driven gliding and fin-actuated swimming, inspired by underwater gliders and robotic fish, to realize both energy-efficient locomotion and high maneuverability. Two prototypes, a preliminary miniature underwater glider and a fully functioning gliding robotic fish, are presented. The actuation system and the sensing system are introduced. Dynamic model of a gliding robotic fish is derived by in- tegrating the dynamics of miniature underwater glider and the influence of an actively-controlled tail. Hydrodynamic model is established where hydrodynamic forces and moments are dependent on the angle of attack and the sideslip angle. Using the technique of computational fluid dynamics (CFD) water-tunnel simulation is carried out for evaluating the hydrodynamic coefficients. Scaling analysis is provided to shed light on the dimension design. Two operational modes of gliding robotic fish, steady gliding in the sagittal plane and tail- enabled spiraling in the three-dimensional space, are discussed. -
The Global Marine Phosphorus Cycle: Sensitivity to Oceanic Circulation
Biogeosciences, 4, 155–171, 2007 www.biogeosciences.net/4/155/2007/ Biogeosciences © Author(s) 2007. This work is licensed under a Creative Commons License. The global marine phosphorus cycle: sensitivity to oceanic circulation C. P. Slomp and P. Van Cappellen Department of Earth Sciences – Geochemistry, Faculty of Geosciences, Utrecht University, P.O. Box 80021, 3508 TA Utrecht, The Netherlands Received: 4 September 2006 – Published in Biogeosciences Discuss.: 5 October 2006 Revised: 8 January 2007 – Accepted: 20 February 2007 – Published: 22 February 2007 Abstract. A new mass balance model for the coupled ma- stand long-term variations in marine biological activity, at- rine cycles of phosphorus (P) and carbon (C) is used to ex- mospheric composition and climate (Holland, 1984; Van amine the relationships between oceanic circulation, primary Cappellen and Ingall, 1996; Petsch and Berner, 1998; Bjer- productivity, and sedimentary burial of reactive P and partic- rum and Canfield, 2002). Important forcings include the sup- ulate organic C (POC), on geological time scales. The model ply of reactive P from the continents, oceanic circulation and explicitly represents the exchanges of water and particulate sea level fluctuations (Follmi,¨ 1996; Compton et al., 2000; matter between the continental shelves and the open ocean, Handoh and Lenton, 2003; Wallmann, 2003; Bjerrum et al., and it accounts for the redox-dependent burial of POC and 2006). the various forms of reactive P (iron(III)-bound P, particu- Upward transport of nutrient-rich water sustains biologi- late organic P (POP), authigenic calcium phosphate, and fish cal activity in marine surface waters. Vertical mixing, how- debris). Steady state and transient simulations indicate that ever, also controls the ventilation of the deeper ocean waters, a slowing down of global ocean circulation decreases pri- which in turn has a major effect on the sedimentary burial mary production in the open ocean, but increases that in the of phosphorus. -
Glider Robot a Sleek Ocean Explorer 27 December 2009, by Sandy Bauers
Glider robot a sleek ocean explorer 27 December 2009, By Sandy Bauers The sea was heaving, the skies gray. The captain surface. of the research ship was worried about the weather. About 120 miles off the coast of Spain, Roemmich works with another project, dubbed three Rutgers University scientists had a narrow Argo, which employs 3,000 buoys worldwide, about window of opportunity to find and retrieve their 180 miles apart, to sample the water column. But prize -- an 8-foot, torpedo-shaped yellow robot that they can only drift. they had launched seven months earlier off the coast of New Jersey. The glider, loaded with data sensors, can be directed. They could grab it and learn from it, or in the rough seas accidentally ram it and sink it. "We are data poor for understanding how the ocean operates, and this is going to give us the capability After an hour of pitching in the 20-foot waves, the to understand this much better," said Richard shipmates let out a cheer. Having spent 221 days Spinrad, assistant administrator of the National at sea on a voyage of 4,604 miles, the robot Oceanic and Atmospheric Administration in Silver dubbed Scarlet Knight was safely aboard. Spring, Md. With that came the completion of a mission that "If we can go across the Atlantic, we can go just made oceanographic history. about anywhere with these." Not only was the robot -- an underwater glider -- And what a way to go. the first of its ilk to cross the Atlantic, a mission supporters compared to Sputnik and Charles For its long, solo flights, the glider needs to be a Lindbergh's solo flight. -
A Multi-Level Motion Controller for Low-Cost Underwater Gliders
2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015 A Multi-level Motion Controller for Low-Cost Underwater Gliders Guilherme Aramizo Ribeiro, Anthony Pinar, Eric Wilkening, Saeedeh Ziaeefard, and Nina Mahmoudian Abstract— An underwater glider named ROUGHIE (Research deploying UGs [23] for submarine tracking. With a valida- Oriented Underwater Glider for Hands-on Investigative Engineer- tion platform, researchers will be able to better understand ing) is designed and manufactured to provide a test platform and glider dynamics [24] and improve UG effectiveness in littoral framework for experimental underwater automation. This paper presents an efficient multi-level motion controller that can be used zones. Additionally, underwater localization and positioning to enhance underwater glider control systems or easily modified and path planning in high risk areas will be improved. for additional sensing, computing, or other requirements for ROUGHIE is 1 m long and weighs 12 kg (payload 1 kg) advanced automation design testing.The ultimate goal is to have with minimum operating endurance of 8 hours and maximum a fleet of modular and inexpensive test platforms for addressing depth of 40 m. At 10% of the cost of commercial underwater the issues that currently limit the use of autonomous underwater vehicles (AUVs). Producing a low-cost vehicle with maneuvering gliders, a ROUGHIE fleet is affordable without compromis- capabilities and a straightforward expansion path will permit easy ing the sophisticated control systems and maneuverability experimentation and testing of different approaches to improve (See the detailed characteristics in Table I). underwater automation. In this paper, the mechanical and electrical components of the ROUGHIE are introduced in Section I as a plant for the INTRODUCTION controller design. -
Ocean Storage
277 6 Ocean storage Coordinating Lead Authors Ken Caldeira (United States), Makoto Akai (Japan) Lead Authors Peter Brewer (United States), Baixin Chen (China), Peter Haugan (Norway), Toru Iwama (Japan), Paul Johnston (United Kingdom), Haroon Kheshgi (United States), Qingquan Li (China), Takashi Ohsumi (Japan), Hans Pörtner (Germany), Chris Sabine (United States), Yoshihisa Shirayama (Japan), Jolyon Thomson (United Kingdom) Contributing Authors Jim Barry (United States), Lara Hansen (United States) Review Editors Brad De Young (Canada), Fortunat Joos (Switzerland) 278 IPCC Special Report on Carbon dioxide Capture and Storage Contents EXECUTIVE SUMMARY 279 6.7 Environmental impacts, risks, and risk management 298 6.1 Introduction and background 279 6.7.1 Introduction to biological impacts and risk 298 6.1.1 Intentional storage of CO2 in the ocean 279 6.7.2 Physiological effects of CO2 301 6.1.2 Relevant background in physical and chemical 6.7.3 From physiological mechanisms to ecosystems 305 oceanography 281 6.7.4 Biological consequences for water column release scenarios 306 6.2 Approaches to release CO2 into the ocean 282 6.7.5 Biological consequences associated with CO2 6.2.1 Approaches to releasing CO2 that has been captured, lakes 307 compressed, and transported into the ocean 282 6.7.6 Contaminants in CO2 streams 307 6.2.2 CO2 storage by dissolution of carbonate minerals 290 6.7.7 Risk management 307 6.2.3 Other ocean storage approaches 291 6.7.8 Social aspects; public and stakeholder perception 307 6.3 Capacity and fractions retained -
Antarctic Sea Ice Control on Ocean Circulation in Present and Glacial Climates
Antarctic sea ice control on ocean circulation in present and glacial climates Raffaele Ferraria,1, Malte F. Jansenb, Jess F. Adkinsc, Andrea Burkec, Andrew L. Stewartc, and Andrew F. Thompsonc aDepartment of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139; bAtmospheric and Oceanic Sciences Program, Geophysical Fluid Dynamics Laboratory, Princeton, NJ 08544; and cDivision of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91125 Edited* by Edward A. Boyle, Massachusetts Institute of Technology, Cambridge, MA, and approved April 16, 2014 (received for review December 31, 2013) In the modern climate, the ocean below 2 km is mainly filled by waters possibly associated with an equatorward shift of the Southern sinking into the abyss around Antarctica and in the North Atlantic. Hemisphere westerlies (11–13), (ii) an increase in abyssal stratifi- Paleoproxies indicate that waters of North Atlantic origin were instead cation acting as a lid to deep carbon (14), (iii)anexpansionofseaice absent below 2 km at the Last Glacial Maximum, resulting in an that reduced the CO2 outgassing over the Southern Ocean (15), and expansion of the volume occupied by Antarctic origin waters. In this (iv) a reduction in the mixing between waters of Antarctic and Arctic study we show that this rearrangement of deep water masses is origin, which is a major leak of abyssal carbon in the modern climate dynamically linked to the expansion of summer sea ice around (16). Current understanding is that some combination of all of these Antarctica. A simple theory further suggests that these deep waters feedbacks, together with a reorganization of the biological and only came to the surface under sea ice, which insulated them from carbonate pumps, is required to explain the observed glacial drop in atmospheric forcing, and were weakly mixed with overlying waters, atmospheric CO2 (17). -
Wednesday Morning, 30 November 2016 Lehua, 8:00 A.M
WEDNESDAY MORNING, 30 NOVEMBER 2016 LEHUA, 8:00 A.M. TO 9:05 A.M. Session 3aAAa Architectural Acoustics and Speech Communication: At the Intersection of Speech and Architecture II Kenneth W. Good, Cochair Armstrong, 2500 Columbia Ave., Lancaster, PA 17601 Takashi Yamakawa, Cochair Yamaha Corporation, 10-1 Nakazawa-cho, Naka-ku, Hamamatsu 430-8650, Japan Catherine L. Rogers, Cochair Dept. of Communication Sciences and Disorders, University of South Florida, USF, 4202 E. Fowler Ave., PCD1017, Tampa, FL 33620 Chair’s Introduction—8:00 Invited Papers 8:05 3aAAa1. Vocal effort and fatigue in virtual room acoustics. Pasquale Bottalico, Lady C. Cantor Cutiva, and Eric J. Hunter (Commu- nicative Sci. and Disord., Michigan State Univ., 1026 Red Cedar Rd., Lansing, MI 48910, [email protected]) Vocal effort is a physiological entity that accounts for changes in voice production as vocal loading increases, which can be quanti- fied in terms of Sound Pressure Level (SPL). It may have implications on potential vocal fatigue risk factors. This study investigates how vocal effort is affected by room acoustics. The changes in the acoustic conditions were artificially manipulated. Thirty-nine subjects were recorded while reading a text, 15 out of them used a conversational style while 24 were instructed to read as if they were in a class- room full of children. Each subject was asked to read in three different reverberation time RT (0.4 s, 0.8 s, and 1.2 s), in two noise condi- tions (background noise at 25 dBA and Babble noise at 61 dBA), in three different auditory feedback levels (-5 dB, 0 dB, and 5 dB), for a total of 18 tasks per subject presented in a random order. -
Navegación Y Control De Un Mini Veh´Iculo Submarino Autónomo
CENTRO DE INVESTIGACION´ Y DE ESTUDIOS AVANZADOS DEL INSTITUTO POLITECNICO´ NACIONAL UNIDAD ZACATENCO DEPARTAMENTO DE CONTROL AUTOMATICO´ Navegaci´on y control de un mini veh´ıculo submarino aut´onomo TESIS Que presenta M. en C. Iv´an Torres Tamanaja Para obtener el grado de DOCTOR EN CIENCIAS EN LA ESPECIALIDAD DE CONTROL AUTOMATICO´ Directores de Tesis: Dr. Jorge Antonio Torres Mu˜noz Dr. Rogelio Lozano Leal MEXICO´ DISTRITO FEDERAL AGOSTO DEL 2013. El riego de nadar entre tiburones, no son los tiburones. El verdadero riesgo es sangrar mientras lo haces. (I.T.T.) A la memoria de mi Chan´ın. Q.E.P.D. Dedicatoria A mis padres: Sa´ul Torres Jim´enez Guillermina Tamanaja Ram´ırez Por su palabras de aliento, por la confianza que siempre me han dado, porque son el refugio en mis momentos de duda, porque con nada pago el gran amor y cari˜no que me profesan sin esperar nada a cambio. Por ser una gu´ıa, ejemplo y motor impulsor en mi vida. A mis hermanas: Ivonne e Ivette Qu´epor todo y sobre todo han mostrado ser las mejores hermanas, porque demuestran su afecto y cari˜no con las cosas m´as b´asicas. A mis sobrinos: Iv´an Santiago David Con sus sonrisas me recuerdan que la vida es un juego. Agradecimientos A Dios, que me da la oportunidad de abrir los ojos a un nuevo d´ıatodos los d´ıas. Al CONACYT, por otorgarme una beca para poder realizar mis estudios de docto- rado. Al Dr. Pedro Castillo Garcia, que con su estilo muy particular de aconsejar.. -
Deep Ocean Water Concentrate Changes Physicochemical Characteristics, the Profile of Volatile Components and Consumer Acceptance for Taiwanese Rice Shochu
foods Article Deep Ocean Water Concentrate Changes Physicochemical Characteristics, the Profile of Volatile Components and Consumer Acceptance for Taiwanese Rice Shochu 1, 2, 3,4 1, , Ming-Kuei Shih y , Qiao-Yu Hsu y , Bo-Kang Liou , Yu-Han Peng * z and 2, , Chih-Yao Hou * z 1 Graduate Institute of Food Culture and Innovation, National Kaohsiung University of Hospitality and Tourism, Kaohsiung 812, Taiwan; [email protected] 2 Department of Seafood Science, National Kaohsiung University of Science and Technology, Kaohsiung 811, Taiwan; [email protected] 3 Department of Food Science and Technology, Central Taiwan University of Science and Technology, Taichung 406, Taiwan; [email protected] 4 Department of Food Science and Biotechnology, National Chung Hsing University, Taichung 406, Taiwan * Correspondence: [email protected] (Y.-H.P.); [email protected] (C.-Y.H.); Tel.: +886-917545098 (Y.-H.P.); +886-985300345 (C.-Y.H.); Fax: +886-7-3640364 (Y.-H.P. & C.-Y.H.) These authors contributed equally to this study and share the co-first authorship. y These authors contributed equally to this study and share the co-corresponding authorship. z Received: 2 November 2020; Accepted: 1 December 2020; Published: 4 December 2020 Abstract: To study the effects of deep-ocean water concentrate (DOWC) on sake quality, Taichung No. 10 indica rice (Oryza sativa subsp. indica) and Tainan No. 11 japonica rice (O. sativa subsp. japonica) were used as raw materials, and basic physicochemical property parameters in shochu were analyzed differentially. Sake fermentation mash analysis results revealed that DOWC addition did not significantly affect the basic physicochemical properties during sake brewing, but it significantly reduced citric acid and malic acid contents in Taichung No.