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From the seafloor to the surface: a technical solution for the cabled EMSO-SN1 observatory in the Western Ionian Sea

Stefania Sparnocchia*, Mireno Borghini, Sara Alessandro Giordano and Gianni Biasini Durante and Virna Meccia Communication Technology srl Istituto di Scienze Marine, ISMAR Cesena, Italy Consiglio Nazionale delle Ricerche, CNR La Spezia and Trieste, Italy. *[email protected]

Abstract—The SN1 observatory is a cabled deep-sea in the vicinity of the Mount Etna, one of the largest and most observatory operating in real-time since 2005 in Southern Italy active volcanoes in Europe [1]. (East Sicily), at 2100 m depth, 25 km from the harbor of the city of Catania. A structural enhancement of the SN1 observatory is undergoing in the framework of the Italian EMSO MedIT project, including the implementation of a multi- parametric monitoring system for observation in the dialoguing with the junction box in SN1. The new system is an inductive collecting data from four water depths, and has been installed in its location on March 18, 2015. Coupling inductive modem, acoustic and fiber optic telemetries, this implementation is innovative and very challenging. The monitoring system of the water column is presented and its expected contribution to the knowledge of the deployment area is highlighted.

Keywords—Real-Time ; Inductive mooring; cabled observatory; Ionian Sea

I. INTRODUCTION A cabled deep-sea observatory located at 25 km from the harbor of Catania (East Sicily) in Southern Italy (Fig. 1) has been operating in real-time since 2005. It is placed at 2100 m water depth on a flat zone, about 3 km east from the Malta Escarpment, which is a steep eastward-sloping surface. The prototype consists of two components: the multi- parametric station NEMO-SN1 (TSN branch) equipped with geophysical and environmental sensors, and the NEMO-OȞDE station (TSS branch) equipped with four wideband hydrophones. A 28 km long electro-optical cable links the observatory to a shore laboratory which collects data and supplies power to the underwater instrumentatiion [1]. The observatory is one of the key sites of the large-scale European Research Infrastructure EMSO (the European Multidisciplinary Seafloor and Water Column Observatory) [2] for its intrinsic importance for geo-hazards and for the stepwise development in the Global Monitoring for Environment and Security (GMES) initiative [3]. The site is one of the most seismically active areas of the Mediterranean [4]. In fact, very Fig. 1. Location of EMSO-SN1 observatory. The lower panel corresponds strong earthquakes have taken place in the area in 1169, 1693 to the bold rectangle in the wider map. TSN and TSS are the positions of the two branches and WC-SN1 the position of the multi-parametric monitoring and 1908 causing waves [5]. Moreoveer, SN1 is located system for observation in the water column.

EMSO MedIT is funded by the Italian Ministry of University and Research, Cohesion Action Plan, D.D. 2013/274 (PAC01_00044/1)

978-1-4799-8736-8/15/$31.00 ©2015 IEEE A structural enhancement of the SN1 observatory is variations of the thermohaline properties of entering the undergoing in the framework of EMSO MedIT project basin [15, 16]. (http://www.emso-medit.it/en/). It consists in the The change observed at the surface in 1997 also impacted implementation of a multi-parametric monitoring system for the LIW subsurface flow, which was intensified at the western observation in the water column (WC-SN1), based on boundary and in the Strait of Sicily [17].In intermediate layers, inductive modem technology and acoustically dialoguing with the salty LIW enters the Ionian Sea through the Cretan a new junction box. Passage, spreading westward from its formation site, the north- The system will strengthen the capabilities to monitor eastern Levantine Basin [18, 19]. Then, from the Ionian it long-term variability of key physical and biogeochemical enters the Strait of Sicily, usually within the sills south of parameters. Data collected will be shared in near real time Malta. According to [9], a portion of LIW flows northward through the Catania node of the high-speed telecommunication without entering the Strait and possibly re-circulates in the network for University and Scientific Research. Ionian Sea. Possible applications include, for example, studies on At greater depths, the Adriatic Deep Water (ADW) has modifications of the properties of water masses and the marine been recognized for long time as the primary source of EMDW circulation; trends in global ; and changes in marine [20, 21, 22] until an additional source of dense water became chemistry, with particular emphasis on the carbon system and active in the Aegean Sea during late eighties and early nineties its role in acidification. [23]. This event is known as the Eastern Mediterranean Transient (EMT). The ADW spreads into the Ionian abyssal II. WATER MASSES AND CIRCULATION IN THE DEPLOYMENT layers following different pathways after overflowing through AREA the Strait of Otranto [24]. The deployment area (Fig. 1) is located in the western Sicilian shelf region, in the Ionian Sea, a crucial basin where III. PRELIMINARY OBSERVATIONS IN THE waters from the Levantine, Aegean, Adriatic and Western DEPLOYMENT AREA Mediterranean enter and interact each other. Pre-deployment hydrological observations were conducted during oceanographic cruises on board the R/V Urania of CNR The main water masses circulating in the Ionian Sea are the to characterize the site and surrounding area in October 2013, modified Atlantic Water (AW), identified by a subsurface June 2014 and November 2014. A further survey was done minimum located between 30 m and 200 m depth; the during the EMSO MedIT 03 cruise on board the R/V Minerva Levantine Intermediate Water (LIW), placed between 200 and Uno in March 2015, when WC-SN1 was deployed. 600 m depth and identified by a salinity maximum; and the Eastern Mediterranean Deep Water (EMDW), occupying the The cumulative θ/S diagram and the vertical profiles of abyssal layers below 1600 m. The layer comprised between potential and salinity, measured in 700 m and 1600 m is occupied by a transitional water mass, correspondence of the TSS end-point, are displayed in Fig. 2. with intermediate properties between the LIW and the EMDW. The principal water masses circulating in the basin are present Finally, a further water mass is found in the surface layer, the in the area of study, and their hydrological properties show Ionian Surface Water (ISW) which is warmer and saltier than variations from a profile to the other. the AW and is clearly distinguishable from it in summer [6]. In particular, the LIW is clearly recognized as a salinity Observations in the past two decades have shown that the maximum (S > 38.9), located at about 240 m in June 2014, circulation in this basin is less stable than it was believed 160 m in November 2014 and 340 m in March 2015. The LIW before, presenting a clear variability at seasonal and decadal core is eroded in October 2013, because of an intruding less time scales. salty water mass. Above the LIW, a sequence of layers alternating low and high salinity values is observed. This fact Regarding the surface circulation, the AW enters into the evidences mixing between relatively fresh and warm upper Ionian Sea at the Malta escarpment after crossing the Strait of waters with the saltier and relatively colder LIW below. The Sicily, mainly transported by the Atlantic Ionian Stream (AIS) absolute salinity minimum, found between 35 and 50 m in [7]. Observations during late eighties [6] and early nineties [8] October 2013, June 2014 and November 2014, is a showed the AIS bifurcating after passing the slope north of reminiscence of the AW, diluted by mixing along its path. No Malta, with a strong branch forming an anti-cyclonic meander signature of AW is found in March 2015, suggesting that this northward and a weaker one going south-southeast along the water mass is not crossing the site in this period. Below 1000 slope. Substantial mesoscale activity (eddies and meanders) m to the bottom, where the transitional water and the EMDW was estimated to occur more or less between 15°E and 17°E, are found, salinity progressively reduces from a mean value of interesting the deployment area, where the intermittent 38.76 to 38.74 with a standard deviation equal to 0.02. The cyclonic Messina Rise Vortex (MRV) was documented [9]. In mean value of potential temperature also decreases from 13.66 1997 the surface circulation in the Northern Ionian reversed to C to 13.47 C, with a standard deviation between 0.01 and 0.02. cyclonic [10, 11], suppressing the northern branch of the AIS, and this mode persisted until 2006, when it switched to anti- cyclonic again [12]. The reversal of the surface circulation in the Northern Ionian is the largest documented decadal variability event in this basin, that was associated with changes in the prevalent wind stress curl sign [13, 14], or with

Fig. 2. Cumulative θ/S diagram and vertical profiles of Potential Temperature (θ) and Salinity in the position at 37°30.04 ‘ N – 15°23.37’ E.

IV. THE WATER COLUMN OBSERVING SYSTEM DESIGN configuration, all the instruments are settled to record data once per hour, except the ADCP at L1 that is acquiring a current The multi-parametric monitoring system in the water profile every 2 hours. column consists of an inductive mooring from 500 m depth to the bottom. It is made of three pieces of cable for inductive TABLE I. PAYLOAD AND SAMPLING RATE transmission and equipped with sensors at selected vertical Sampling levels (Fig. 3, Table 1). Sensor Manufacturer and model rate Data collected by the instruments installed along the L1 (500 m) mooring line are conveyed to a CommTech LISC System ADCP TRDI LR 75 kHz 1 profile/2 h Control and Data Logger secured at the base of the mooring. Afterwards, it acoustically transfers them to the Junction Box CTD Seabird SBE16plus-IM V2 1 record/h by twin Benthos ATM acoustic modems. The Junction Box, Dissolved Oxygen Seabird SBE 63 1 record/h finally, conveys the data to the shore station via fiber-optic telemetry. Turbidity Turner Design Cyclops-7 1 record/h L2 (1000 m) The mooring line design allows for four measuring levels at L3 (1500 m) 500 (L1), 1000 (L2), 1500 (L3) and 2000 m (L4), all hosting ADCP TRDI WH 300 kHz 1 profile/h SeaBird SBE16plus-IM V2 probes (p, T, C/S) integrating optical SBE 63 sensors and Turner Designs Cyclops-7 turbidity CTD Seabird SBE16plus-IM V2 1 record/h sensors. TRDI 75 kHz (L1) and TRDI WH 300 kHZ (L2 and Dissolved Oxygen Seabird SBE 63 1 record/h L3) have been setup to provide current profiles of 456 m and 112 m portions of the water column, respectively. The lower Turbidity Turner Design Cyclops-7 1 record/h level, L4, also hosts a SeaBird SBE 53 BPR Bottom Pressure L4 (2000 m) Recorder and a HydroC CO2 II CONTROS for high resolution pressure and partial pressure of carbon dioxide measurements, CTD Seabird SBE16plus-IM V2 1 record/h respectively. The SBE16plus probes are fitted with built-in Dissolved Oxygen Seabird SBE 63 1 record/h Inductive Modem (IM) adapters. The other instruments are coupled with external SBE 44 IM each, except the SBE 53 that Turbidity Turner Design Cyclops-7 1 record/h is directly connected to the data logger by a RS232 cable. Partial pressure of Contros HydroC CO2 II 1 record/h carbon dioxide The mooring has been deployed at 37°32.4026’ N, High resolution Seabird SBE 53 BPR 1 record/h 15°23.8388’ E, half a mile south to the TSN end-point, on pressure Bottom Pressure Recorder March 18, 2015. At present the mooring is operating in stand- alone modality for testing the proper functioning of components. The final asset of the coupled deep-sea and water column observatory is envisaged by mid-20115. In the present

Fig. 3. Design of WC-SN1 system communicating with the junction box by acoustic modems. The pictures on the right side show a part of the instrumentation and a phase of deployment from the R/V Minerva Uno. The instrumentation installed at each level is detailed in Table 1.

V. CONCLUSION

On March 18, 2015, the inductive mooring WC-SN1 has ACKNOWLEDGMENT been deployed at 37°32.4026’ N, 15°23.8388’ E, half a mile south the TSN end-point of the cabled EMSO-SN1 The authors are indebted to the captain and the crew of the observatory. At the moment the mooring is operating in stand- R/V Minerva Uno for valuable support during the operation of alone modality for testing the proper functioning of its assemblage and deployment of the mooring. Carolina Cantoni components. A recovery is planned in autumn 2015 for a and Luca Mazzei are acknowledged for the kind and valuable general structural check. support for sensors testing during the EMSO MedIT 03 deployment cruise. Figs. 1 and 2 have been drawn using the The final asset of the coupled deep-sea and water column Ocean Data View software package [25]. observatory is envisaged by mid-2015. At that step a junction box will be deployed at TSN site, allowing to receive data in REFERENCES near real time at the land station in Catania. Until then, data are [1] P. Favali, F. Chierici, G. Marinaro, G. Giovanetti, A. Azzarone, L. being stored both in the data logger installed on the mooring Beranzoli, A. De Santis, D. Embriaco, S. Monna, N. Lo Bue, T. Sgroi, and in the internal memory of each instrument, and will be G. Cianchini, L. Badiali, E. Qamili, M.G. De Caro, G. Falcone, C. Montuori, F. Frugoni, G. Riccobene, M. Sedita, G. Barbagallo, G. downloaded manually at the next recovery. Cacopardo, C. Calì, R. Cocimano, R. Coniglione, M. Costa, A. The data collected by the system presented in this paper D’Amico, F. Del Tevere, C. Distefano, F. Ferrera, V. Giordano, M. Imbesi, D. Lattuada, E. Migneco, M. Musumeci, A. Orlando, R. would provide information on the water masses permanence Papaleo, P. Piattelli, G. Raia, A. Rovelli, P. Sapienza, F. Speziale, A. and variability limited to the layer from 500 m to the bottom. Trovato, S. Viola, F. Ameli, M. Bonori, A. Capone, R. Masullo, F. Moreover, the three ADCPs fixed at different depths will allow Simeone, L. Pignagnoli, N. Zitellini, F. Bruni, F. Gasparoni, and G. to track the water masses movements also from the surface to Pavan, “NEMO-SN1 Abyssal Cabled Observatory in the Western Ionian Sea,” IEEE Journal of Oceanic Engineering, vol. 38 (2), pp. 358-374 , 500 m. This would allow to study their changes and circulation April 2013. reversals due to internal or external forcings. [2] ESFRI, “Strategy Report on Research Infrastructures Roadmap”, p. 32, In a second phase of implementation, the mooring will be 2010. completed with a profiling system, collecting data in the layer [3] Commission of the European Communities, “Global Monitoring for Environment and Security (GMES): From Concept to Reality”, from the surface to 200 m. This way, information on the Communication from the Commission to the Council and the European variable hydrological characteristics in surface and subsurface Parliament, COM(2005) 565 final , pp. 13, November 2005. levels will be attained. [4] T. Sgroi, L. Beranzoli, G. Di Grazia, A. Ursino, and P. Favali, “New observations of local seismicity by the SN-1 seafloor observatory in the By coupling inductive, acoustic and fiber optic telemetries Ionian sea, off-shore Eastern Sicily (Italy)”, Geophysical Journal this implementation is innovative and very challenging, and International, vol. 169(2), pp. 490-501, doi: 10.1111/j.1365- will strengthen the capabilities of EMSO-SN1 to monitor long- 246X.2007.03348.x, 2007. term variability of some key physical and biogeochemical [5] S. Tinti, A. Maramai, and L. Graziani, “The new catalogue of Italian parameters. Results would conduct to several studies, including ”, Nature Hazards, vol. 33, pp. 439-465, 2004. the modification of the water masses properties and circulation, [6] P. Malanotte-Rizzoli, B.B. Manca, M. Ribera D’Alcalà, A. Theocharis, the evolving trends in global sea level, and the changes in A. Bergamasco, D. Bregant, G. Budillon, G. Civitarese, D. Georgopoulos, A. Michelato, E. Sansone, P. Scarazzato, and E. marine chemistry, with particular emphasis on the carbon Souvermezoglou, “A synthesis of the Ionian Sea , system and its role in ocean acidification. circulation and water mass pathways during POEM-Phase I”, Progress in Oceanography, vol- 39, pp. 153-204, 1997.

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AUTOMATED BUOYANCY CONTROL SYSTEM FOR A REMOTELY OPERATED UNDERWATER CRAWLER ...... 1 Wood, S. L. ; Hendricks, A. ; Corbet, M. APPLICATION AND EFFECTIVENESS OF A PORTABLE HYDRODYNAMIC TEST FLUME ...... 11 Wood, S. L. ; Canedo, D. ; Le Merdy, T. B. APPLICATION OF GAMMA-FLUCTUATING-INTENSITY SIGNAL MODEL TO ACTIVE SONAR ...... 21 Abraham, D. A. XBEE POSITIONING SYSTEM WITH EMBEDDED HAPTIC FEEDBACK FOR DANGEROUS OFFSHORE OPERATIONS: A PRELIMINARY STUDY ...... 29 Sanfilippo, F. ; Pettersen, K. Y. A DATA ASSIMILATION SCHEME TO IMPROVE THE WAVE PREDICTIONS IN THE BLACK SEA ...... 35 Butunoiu, D. ; Rusu, E. COMMUNICATIONS RELAY AND AUTONOMOUS TRACKING APPLICATIONS FOR WAVE GLIDER ...... 41 O'Reilly, T. C. ; Kieft, B. ; Chaffey, M. POLARIMETRIC SAR IMAGE SEGMENTATION BASED ON SPATIALLY CONSTRAINED KERNEL FUZZY C-MEANS CLUSTERING ...... 47 Jianchao Fan ; Jun Wang PLOCAN. AN OFFSHORE TEST SITE FOR OCEAN ENERGY CONVERTERS ...... 51 Gonzalez, J. ; Monagas, V. ; Remirez, X. ; Luque, A. ; Hernandez, J. ; Llinas, O. BROADBAND PARTICLE FILTERING IN A NOISY LITTORAL OCEAN ...... 55 Candy, J. V. SEQUENTIAL DETECTION OF FISSION PROCESSES FOR HARBOR DEFENSE ...... 63 Candy, J. V. ; Walston, S. E. ; Chambers, D. H. ASSESSMENT OF THE WIND ENERGY POTENTIAL IN THE COASTAL ENVIRONMENT OF TWO ENCLOSED SEAS ...... 73 Raileanu, A. ; Onea, F. ; Rusu, E. COASTAL IMPACT OF A HYBRID MARINE FARM OPERATING CLOSE TO THE SARDINIA ISLAND ...... 81 Onea, F. ; Rusu, L. THE SINGAPORE AUTONOMOUS UNDERWATER VEHICLE CHALLENGE (SAUVC): AN EFFORT TO ENGAGE AND EXPOSE YOUNG ENGINEERS TO CHALLENGES OF UNDERWATER ...... 88 Pallayil, V. ; Chitre, M. ; Kalyan, B. ; Suman, S. ; Teong Beng Koay ; Chin Swee Chia ; Teo Hoe Eng Ken ; Cheah Siang Lim ; Taher, T. SEAFLOOR IMAGE COMPRESSION USING HYBRID WAVELETS AND DIRECTIONAL FILTER BANKS ...... 97 Zhang, Y. ; Li, Q.-Z. ; Negahdaripour, S. HF RADAR OPTIMISED FOR TSUNAMI MONITORING ...... 106 Heron, M. ; Dzvonkovskaya, A. ; Helzel, T. STEREO SLAM FOR ROBUST DENSE 3D RECONSTRUCTION OF UNDERWATER ENVIRONMENTS ...... 111 Bonin-Font, F. ; Cosic, A. ; Negre, P. L. ; Solbach, M. ; Oliver, G. A CLOSED-CYCLE HYDROGEN COMBUSTION SYSTEM WITH STIRLING ENGINE FOR AUV PROPULSION ...... 117 Hyunjong Paik THE MEUST DEEP SEA CABLED OBSERVATORY ...... 122 Vallee, C. ; Ageron, M. ; Bertin, V. ; Beurthey, S. ; Billault, M. ; Brunner, J. ; Caillat, L. ; Cosquer, A. ; Coyle, P. ; Destelle, J. J. ; Dornic, D. ; Gallo, F. ; Henry, S. ; Keller, P. ; Lamare, P. ; Laurence, J. ; Leon, F. ; Lerouvillois, C. ; Royon, J. ; Solazzo, M. ; Tezier, D. ; Theraube, S. ; Bernardet, K. ; Gojak, C. ; Hafidi, Z. ; Le Moal, F. ; Lenault, Y. ; Mahiouz, K. ; Lefevre, D. ; Tamburini, C. NEW EUROPEAN UNDERWATER NOISE MEASUREMENT STANDARD DEVELOPED IN THE AQUO PROJECT ...... 128 Moreno Rodriguez, A. ; Salinas Mullor, R. ; Beltran Palomo, P. ; Baudin, E. ; Lamaison, V. A NOVEL ACOUSTIC TEST BENCH FOR EVALUATING UNDERWATER ACOUSTIC MODEMS BY NUMERICAL REAL-TIME SIMULATION OF THE ACOUSTIC CHANNEL ...... 134 Arzelies, P. ; Drogou, M. ; Opderbecke, J. ; Noel, C. ; Beauchene, S. ; Martin, C. ; Lachaud, E. ; Nasr, A. A PRACTICAL PATH PLANNING AND NAVIGATION ALGORITHM FOR AN USING THE FAST MARCHING ALGORITHM ...... 138 Yuanchang Liu ; Rui Song ; Bucknall, R. INNOVATIVE POWER SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE ...... 145 Borgogna, G. ; Lamberti, T. ; Massardo, A. F. NEW COST-EFFECTIVE, INTEROPERABLE SENSORS TESTED ON EXISTING OCEAN OBSERVING PLATFORMS IN APPLICATION OF EUROPEAN DIRECTIVES: THE COMMON SENSE EUROPEAN PROJECT ...... 153 Ribotti, A. ; Magni, P. ; Schroeder, K. ; McCaul, M. ; Diamond, D. ; Mireno, B. ; Barton, J. ISSUES AFFECTING CURRENT METER DESIGN ...... 162 Williams, A. J. VIRTUAL PROTOTYPING SYSTEM FOR MARITIME CRANE DESIGN AND OPERATION BASED ON FUNCTIONAL MOCK-UP INTERFACE ...... 168 Yingguang Chu ; Hatledal, L. I. ; Sanfilippo, F. ; Asoy, V. ; Houxiang Zhang ; Schaathun, H. G. WAVE CLIMATE OF THE BLACK SEA: AN ANALYSIS OF THE OBSERVED TRENDS ...... 172 Boris, D. ; Ruben, K. A SIMPLE METHOD FOR ESTIMATING WAVE REFRACTION ALONG WEAKLY CURVILINEAR COASTS ...... 177 Lopez-Ruiz, A. ; Ortega-Sanchez, M. ; Losada, M. CAPACITY-ACHIEVING INPUT FOR PARAMETRIC UNDERWATER COMMUNICATIONS ...... 182 Wiedmann, K. ; Weber, T. LONG AND SHORT-TERM BEAM SPREAD BY TURBULENCE AND OPTIMIZATION OF THE BEAM GEOMETRY ...... 188 Charnotskii, M. SPECTRAL STRUCTURE OF BREAKING WAVES AND ITS INFLUENCE ON THE TRANSPORT OF SEDIMENTS IN COASTAL ZONE ...... 194 Kuznetsov, S. ; Saprykina, Y. ; Shtremel, M. ; Kuznetsova, O. NONLINEAR TRANSFORMATION OF WAVES ABOVE SUBMERGED STRUCTURES: APPLICATION TO COASTAL PROTECTION ...... 200 Saprykina, Y. ; Kuznetsov, S. ; Korzinin, D. A GROUND-BASED VISION SYSTEM FOR UAV TRACKING ...... 204 Pessanha Santos, N. ; Lobo, V. ; Bernardino, A. LAGRANGIAN COHERENT STRUCTURES DEDUCED FROM HF RADAR MEASUREMENTS ...... 213 Enrile, F. ; Besio, G. ; Magaldi, M. G. ; Mantovani, C. ; Cosoli, S. ; Gerin, R. ; Poulain, P. M. SHAPE DEPENDENT WAVE FORCE AND BENDING MOMENT OF OFFSHORE WIND SUBSTRUCTURE SYSTEM ...... 218 Youn-Ju Jeong ; Young-Jun You ; Min-Su Park ; Du-Ho Lee IMPROVING THE QUALITY CONTROL AND ACCURACY OF HF RADAR CURRENTS ...... 222 Wyatt, L. R. SCHEDULING ALGORITHM WITH TRANSMISSION POWER CONTROL FOR RANDOM UNDERWATER ACOUSTIC NETWORKS ...... 226 Anjangi, P. ; Chitre, M. A LOW-COST PIPELINE FOR SEMI-REAL TIME UNDERWATER SITE STUDY ...... 234 Scaradozzi, D. ; Sorbi, L. ; Gambogi, P. ADAPTIVE SAMPLING AND COLLECTIVE BEHAVIOUR IN A SMALL TEAM OF AUVS FOR A SOURCE LOCALIZATION PROBLEM ...... 239 Shaukat, M. ; Chitre, M. COLOUR CORRECTION OF UNDERWATER IMAGES ...... 245 Hoth, J. ; Kowalczyk, W. OFFSHORE WIND POWER IN THE MEDITERRANEAN SEA USING BLENDED SEA WINDS ...... 250 Soukissian, T. ; Axaopoulos, P. ; Karathanasi, F. MEASUREMENTS OF SIGNAL COHERENCE FOR HIGH AND LOW DUTY CYCLE SONARS IN A SHALLOW WATER CHANNEL ...... 258 Hines, P. C. ; Hicks, K. ; Murphy, S. M. ; Taylor, N. A RELOCATABLE ENKF OCEAN DATA ASSIMILATION TOOL FOR HETEROGENEOUS OBSERVATIONAL NETWORKS ...... 263 Falchetti, S. ; Alvarez, A. ; Onken, R. IMPROVING SEASONDE RADIAL VELOCITY ACCURACY AND VARIANCE USING RADIAL METRICS ...... 269 De Paolo, T. ; Terrill, E. ; Kirincich, A. CONSTRAINT-INDUCED FORMATION SWITCHING FOR ADAPTIVE ENVIRONMENTAL SAMPLING ...... 278 Kemna, S. ; Caron, D. A. ; Sukhatme, G. S. A SHALLOW WATER AUV FOR BENTHIC AND WATER COLUMN OBSERVATIONS ...... 285 Marouchos, A. ; Muir, B. ; Babcock, R. ; Dunbabin, M. DYNAMICS AND ADAPTIVE FUZZY TURNING CONTROL OF AN UNDERWATER GLIDER ...... 292 Junliang Cao ; Junjun Cao ; Baoheng Yao ; Lian Lian LOW-COMPLEXITY SUBBAND EQUALIZATION OF MOBILE UNDERWATER ACOUSTIC CHANNELS ...... 299 Pelekanakis, K. ; Chitre, M. THREE DIMENSIONAL MODEL, HYDRODYNAMICS ANALYSIS AND MOTION SIMULATION OF AN UNDERWATER GLIDER ...... 307 Junjun Cao ; Junliang Cao ; Baoheng Yao ; Lian Lian UNDERWATER RUNNING ON UNEVEN TERRAIN ...... 315 Calisti, M. ; Laschi, C. PIECEWISE PLANAR UNDERWATER MOSAICING ...... 320 Bellavia, F. ; Fanfani, M. ; Pazzaglia, F. ; Colombo, C. ; Costanzi, R. ; Monni, N. ; Ridolfi, A. ; Allotta, B. A COMBINED ACOUSTIC AND OPTICAL INSTRUMENT FOR INDUSTRY MANAGED FISHERIES STUDIES ...... 327 Underwood, M. ; Sherlock, M. ; Marouchos, A. ; Cordell, J. ; Kloser, R. ; Ryan, T. THRUST DEPLETION AT HIGH PULSATION FREQUENCIES IN UNDERACTUATED, SOFT- BODIED, PULSED-JET VEHICLES ...... 332 Giorgio-Serchi, F. ; Renda, F. ; Calisti, M. ; Laschi, C. APPLICATION OF BLUE LED IRRADIATION TO ANTIFOULING OF A SHIP'S BOTTOM ...... 338 Mimura, H. ; Hirono, K. ; Yano, Y. ; Endo, N. A PRELIMINARY WAVE ENERGY EXPLOITATION ASSESSMENT IN THE NORTHERN THYRRENIAN SEA ...... 342 De Santis, G. ; Besio, G. ; Mentaschi, L. ; Mazzino, A. TIME-VARIANT ACOUSTIC PROPAGATION MODELING FOR HIGH-SPEED COHERENT MIMO TRANSMISSION ...... 348 Bousquet, J.-F. ; McIntyre, G. ; Quirion, J. OFF-SHORE WAVE ENERGY HARVESTING: A WEC-MICROTURBINE SYSTEM: HARVESTING AND STORING ENERGY FOR OFF-SHORE APPLICATIONS ...... 356 Di Fresco, L. ; Traverso, A. ; Barberis, S. ; Guglielmino, E. ; Garrone, M. COMPARISON OF TWO METEOROLOGICAL MODELS USING SELF-ORGANIZING MAPS ...... 362 Kalinic, H. ; Matic, F. ; Mihanovic, H. ; Vilibic, I. ; Zagar, N. ; Jasenko, B. ; Tudor, M. OVERVIEW OF THE FP7 PROJECT “CADDY — COGNITIVE AUTONOMOUS DIVING BUDDY” ...... 368 Miskovic, N. ; Bibuli, M. ; Birk, A. ; Caccia, M. ; Egi, M. ; Grammer, K. ; Marroni, A. ; Neasham, J. ; Pascoal, A. ; Vasilijevic, A. ; Vukic, Z. SMART PORT: EXPLOITING RENEWABLE ENERGY AND STORAGE POTENTIAL OF MOORED BOATS ...... 373 Lamberti, T. ; Sorce, A. ; Di Fresco, L. ; Barberis, S. ON THE RELATIONSHIP BETWEEN SAS IMAGE RESOLUTION AND TARGET-DETECTION PERFORMANCE ...... 376 Williams, D. P. ; Hunter, A. J. USING SEADATANET MANAGEMENT SYSTEM TO PRESERVE THE XBT DATA-SET OF THE MEDITERRANEAN SEA ...... 381 Pecci, L. ; Ciuffardi, T. ; Reseghetti, F. ; Fichaut, M. ; Picco, P. ; Schaap, D. YAW OPERATION OF A SHROUDED HORIZONTAL AXIS HYDROKINETIC TURBINE ...... 386 Shahsavarifard, M. ; Bibeau, E. L. ON THE BANDWIDTH OF 6-AXIS FORCE/TORQUE SENSORS FOR UNDERWATER APPLICATIONS ...... 390 Palli, G. ; Moriello, L. ; Melchiorri, C. MITIGATION MEASURES FOR CONTROLLING THE SHIP UNDERWATER RADIATED NOISE, IN THE SCOPE OF AQUO PROJECT ...... 396 Audoly, C. ; Rousset, C. ; Rizzuto, E. ; Salinas Mullor, R. ; Hallander, J. ; Baudin, E. HIGH RESOLUTION STEREO IMAGING OF SEA WAVES FOR VALIDATION AND OPTIMIZATION OF WAVE MODELLING ...... 402 Corgnati, L. ; Mazzei, L. ; Marini, S. ; Isoppo, B. ; Ottaviano, E. ; Besio, G. ; Magaldi, M. G. VARIABILITY OF UNDERWATER RADIATED SHIP NOISE MEASURED USING TWO HYDROPHONE ARRAYS ...... 410 Humphrey, V. ; Brooker, A. ; Dambra, R. ; Firenze, E. HOW SMARTPHONE INDUSTRY MADE UCOMMS EASIER: MOORE'S LAW GOES UNDERWATER ...... 420 Dol, H. ; Colin, M. ; Van Walree, P. ; Otnes, R. NUMERICAL SIMULATION OF TIDAL CURRENT ENERGY IN YANGTZE ESTUARY- HANGZHOU BAY, CHINA ...... 425 Dan Li ; Yanming Yao ; Qin Chen ; Zhouteng Ye ACTIVE SONAR SYSTEMS IN THE PRESENCE OF STRONG DIRECT BLAST ...... 431 Gianelli, C. ; Luzhou Xu ; Jian Li RESEARCH ON THE HYDRODYNAMIC CHARACTERISTIC OF A VERTICAL AXIS PROPELLER ...... 441 Xinxing Gu ; Dahai Zhang ; Jianxing Leng ; Ying Chen ; Jialin Huang ; Lixin Chen ; Dan Li WATER JETTING ARM OPTIMAL DESIGN CONSIDERATION FOR A ROV TRENCHER ...... 454 Li, J. H. ; Kim, J. T. ; Lee, M. J. ; Jee, S. C. ; Kang, H. J. ; Kim, M. K. ; Kwak, H. W. ; Kim, S. B. ; Oh, T. W. UNDERWATER MAGNETOMETRIC DETECTION OF QUASI-PUNCTIFORM KINEMATIC SOURCES: FROM THE METROLOGY OF THE FIELD TO THE METROLOGY OF THE SINGULARITY ...... 459 Nasta, Stefano ; Faggioni, Osvaldo ; Nasta, Stefano ; Faggioni, Osvaldo ; Soldani, Maurizio BALANCE PARAMETERS CALCULATION METHOD OF UNDERWATER GLIDER BASED ON BP NEURAL NETWORK ...... 463 Qian-Li Jiang ; Lei-Han ; Xiang-Dong Wang ; Hua-Yang ; Da-Lei Song MODELING PROVENANCE IN MARINE SURVEY PROJECT ...... 466 Mingtao Liu ; Jianliang Xu ; Xiaohong Wang ; Hongtao Liang ; Shijuan Yan VISUAL POSE ESTIMATION FOR AUTONOMOUS INSPECTION OF FISH PENS ...... 471 Duda, A. ; Schwendner, J. ; Stahl, A. ; Rundtop, P. GLOBAL CLIMATE CHANGE: ANALYZING ANTHROPOGENIC WARMING AND CAUSALITY ...... 477 Stips, A. K. ; Macias, D. ; Coughlan, C. ; Garcia-Gorriz, E. MONITORING LONG TERM OCEAN NOISE IN EUROPEAN WATERS ...... 481 Folegot, T. ; Clorennec, D. ; Brunet, P. ; Six, L. ; Chavanne, R. ; Van Der Schaar, M. ; Andre, M. EVALUATING THIRD GENERATION WAVE SPECTRAL MODELS PERFORMANCES IN COASTAL AREAS. AN APPLICATION TO EASTERN LIGURIA ...... 488 Sartini, L. ; Mentaschi, L. ; Besio, G. THE DESIGN OF MEASUREMENT-BASED UNDERWATER ACOUSTIC CHANNEL SIMULATORS USING THE INLSA ALGORITHM ...... 498 Naderi, M. ; Patzold, M. ; Zajic, A. G. DESIGN OF A MODULAR PROPULSION SYSTEM FOR MARTA AUV...... 504 Allotta, B. ; Costanzi, R. ; Gelli, J. ; Pugi, L. ; Ridolfi, A. DESIGN OF A MODULAR AUTONOMOUS UNDERWATER VEHICLE FOR ARCHAEOLOGICAL INVESTIGATIONS ...... 511 Allotta, B. ; Baines, S. ; Bartolini, F. ; Bellavia, F. ; Colombo, C. ; Conti, R. ; Costanzi, R. ; Dede, C. ; Fanfani, M. ; Gelli, J. ; Tolasa Gundogdu, H. ; Monni, N. ; Moroni, D. ; Natalini, M. ; Antonietta Pascali, M. ; Pazzaglia, F. ; Pugi, L. ; Ridolfi, A. ; Reggiannini, M. ; Roig, D. ; Salvetti, O. ; Tekdemir, E. I. ANALYSIS OF CAPTURE AND MULTI-PACKET RECEPTION ON THE AIS SATELLITE SYSTEM ...... 516 Clazzer, F. ; Munari, A. PERFORMANCE ANALYSIS OF UNDERWATER NETWORK PROTOCOLS WITHIN INTERNATIONAL SEA TRIAL ...... 525 Goetz, M. ; Nissen, I. ; Otnes, R. ; Van Walree, P. HYBRID ACOUSTIC/OPTIC COMMUNICATIONS IN UNDERWATER SWARMS ...... 532 Moriconi, C. ; Cupertino, G. ; Betti, S. ; Tabacchiera, M. CHARACTERIZATION OF COASTAL EVENTS DURING THE GENERATION OF THE WATER COLUMN STRATIFICATION IN SPRING (VILANOVA I LA GELTRÚ, NW MEDITERRANEAN) ...... 541 Antonijuan, J. ; Guillen, J. ; Simarro, G. ; Nogueras-Cervera, M. ; Del Rio, J. ADAPTIVE OBJECT TRACKING IN A SENSOR NETWORK ...... 546 Lopez Rodriguez, A. ; Stojanovic, M. SHORT-TERM FORECASTING OF ZONAL AND MERIDIONAL WAVE ENERGY FLUX IN THE BAY OF BISCAY USING RANDOM FORESTS ...... 551 Ibarra Berastegi, G. ; Saenz, J. ; Esnaola, G. ; Ezcurra, A. ; Ulazia, A. A TWO-LAYERED FAST MARCHING PATH PLANNING ALGORITHM FOR AN UNMANNED SURFACE VEHICLE OPERATING IN A DYNAMIC ENVIRONMENT ...... 557 Rui Song ; Yuanchang Liu ; Wenwen Liu ; Bucknall, R. A NEW WAY FOR UNDERWATER ACOUSTIC SIGNAL ANALYSIS: THE MORPHOLOGICAL FILTERING ...... 565 Moreaud, U. ; Courmontagne, P. ; Chaillan, F. ; Mesquida, J.-R. ; Ouelha, S. ACTIVE CONTOURS FOR SYNTHETIC APERTURE SONAR SNIPPET REGISTRATION ...... 574 Dugelay, S. ; Fox, W. FROM DATA TO DECISION: AN OVERVIEW OF CMRE'S INFORMATION SUPPLY CHAIN ...... 580 Berni, A. ; Cimino, G. ; Camossi, E. ; Giannecchini, S. TEAM-BASED WORKSHOP TO ENGAGE YOUNG STUDENTS IN ENGINEERING AND SCIENCE: BUILDING AND DRIVING A ROV (R2B2). TWO SPECIAL EDITIONS IN INDIA ...... 585 Cuff, X. ; Villanueva, M. ; El-Fakdi, A. ; Hurtos, N. ; Muntaner, E. ; Freixenet, J. ; Massich, J. ; Quintana, J. ; Palomeras, N. ; Bosch, A. ; Renart, A. ON THE DEVELOPMENT OF A FRAMEWORK FOR UNDERWATER LOCALIZATION USING ALL-SOURCE DATA ...... 591 Menozzi, A. ; Hansen, J. ; Peele, G. ; Snarski, S. ; Merrick, C. ROBUST HEADING CONTROL AND ITS APPLICATION TO CISCREA UNDERWATER VEHICLE ...... 601 Yang, R. ; Clement, B. ; Mansour, A. ; Li, H. J. ; Li, M. SHIP EFFICIENCY FORECAST BASED ON SENSORS DATA COLLECTION: IMPROVING NUMERICAL MODELS THROUGH DATA ANALYTICS ...... 607 Coraddu, A. ; Oneto, L. ; Baldi, F. ; Anguita, D. COORDINATION OF UNMANNED MARINE VEHICLES FOR ASYMMETRIC THREATS PROTECTION ...... 617 Nardi, S. ; Della Santina, C. ; Meucci, D. ; Pallottino, L. TOWARDS THE IMPLEMENTATION OF A FULLY OPERATIONAL HF COASTAL RADAR NETWORK OPERATED BY PUERTOS DEL ESTADO ...... 624 Lorente, P. ; Soto-Navarro, J. ; Ruiz, M. I. ; Alvarez-Fanjul, E. ; Piedracoba, S. ; Montero, P. MISSION INTEGRATED COLLISION AVOIDANCE FOR USVS USING LASER RANGE FINDER ...... 629 Blaich, M. ; Kohler, S. ; Schuster, M. ; Schuchhardt, T. ; Reuter, J. ; Tietz, T. USE OF OCEAN RELATED CHALLENGES IN ENGINEERING EDUCATION ...... 635 Kirkwood, W. J. CODE RATE OPTIMIZATION FOR ENERGY EFFICIENT DELAY CONSTRAINED UNDERWATER ACOUSTIC COMMUNICATIONS ...... 641 De Souza, F. ; Souza, R. ; Brante, G. ; Pellenz, M. ; Rosas, F. ; Chang, B. COMPARISON OF FINITE TIME LYAPUNOV EXPONENT AND MEAN FLOW ENERGY DURING TWO CONTRASTING YEARS IN THE ADRIATIC SEA ...... 645 Hariri, S. ; Besio, G. ; Stocchino, A. SEAPERCH: HOW A START-UP HANDS-ON ROBOTICS ACTIVITY GREW INTO A NATIONAL PROGRAM ...... 651 Nelson, Susan Giver ; Cooper, Kelly B. ; Djapic, Vladimir PERFORMANCE CHARACTERISTICS OF THE ENERGY CAT 3EC42 HYDROKINETIC TURBINE ...... 654 Shahsavarifard, M. ; Birjandi, A. H. ; Bibeau, E. L. ; Sinclaire, R. LOW POWER BEAMFORMING FOR UNDERWATER ACOUSTIC SENSING USING A 5- ELEMENT CIRCULAR HYDROPHONE ARRAY ...... 658 McIntyre, G. ; Loadman, C. ; Bousquet, J.-F. ; Blouin, S. SUB-BAND PROCESSING OF CONTINUOUS ACTIVE SONAR SIGNALS IN SHALLOW WATER ...... 666 Murphy, S. M. ; Hines, P. C. TRAJECTORY AND GUIDANCE MODE FOR AUTONOMOUSLY LANDING AN UAV ON A NAVAL PLATFORM USING A VISION APPROACH ...... 670 Morais, F. ; Ramalho, T. ; Sinogas, P. ; Monteiro Marques, M. ; Pessanha Santos, N. ; Lobo, V. PROBABILISTIC RECONSTRUCTION OF COLOR FOR SPECIES' CLASSIFICATION UNDERWATER ...... 677 Rzhanov, Y. ; Pe'Eri, S. ; Saskov, A. DEVELOPMENT OF A USV STATION-KEEPING CONTROLLER ...... 682 Sarda, E. I. ; Bertaska, I. R. ; Qu, A. ; Von Ellenrieder, K. D. THE ENIGMATIC JURIDICAL REGIME OF UNMANNED MARITIME SYSTEMS ...... 692 Giunta, L. UNMANNED AIRCRAFT SYSTEMS IN MARITIME OPERATIONS: CHALLENGES ADDRESSED IN THE SCOPE OF THE SEAGULL PROJECT ...... 701 Monteiro Marques, M. ; Dias, P. ; Pessanha Santos, N. ; Lobo, V. ; Batista, R. ; Salgueiro, D. ; Aguiar, A. ; Costa, M. ; Estrela Da Silva, J. ; Ferreira, A. S. ; Sousa, J. ; De Fatima Nunes, M. ; Pereira, E. ; Morgado, J. ; Ribeiro, R. ; Marques, J. S. ; Bernardino, A. ; Grine, M. ; Taiana, M. USING UNDERWATER AMBIENT SOUND TO LOCALIZE SWARMS OF UNDERWATER VEHICLES ...... 707 Jaffe, J. S. ; Roberts, P. L. D. ; Roux, P. PRIOR PARAMETER ESTIMATION FOR ISING-MRF-BASED SONAR IMAGE SEGMENTATION BY LOCAL CENTER-ENCODING ...... 711 Sanming Song ; Bailu Si ; Xisheng Feng ; Herrmann, J. M. DESIGN AND AUTOMATION OF AN OCEAN-GOING AUTONOMOUSLY ACTING USV ...... 716 Rentzow, E. ; Dewitz, D. ; Kurowski, M. ; Lampe, B. P. ; Ritz, S. ; Kutz, R. ; Golz, M. ; Boeck, F. HYDRODYNAMICS OF WAVE FORCES ON COASTAL-BRIDGE DECKS: CALCULATIONS BY EULER'S EQUATIONS VERSUS NONLINEAR SHALLOW-WATER WAVE EQUATIONS ...... 722 Ertekin, R. C. ; Hayatdavoodi, M. OS-IS A NEW METHOD FOR THE SEA WAVES MONITORING ...... 731 Iafolla, L. ; Fiorenza, E. ; Iafolla, V. A. ; Montani, L. ; Carmisciano, C. ; Burlando, M. ; De Gaetano, P. ; Solari, G. STRUCTURED LIGHT AND STEREO VISION FOR UNDERWATER 3D RECONSTRUCTION ...... 737 Massot-Campos, M. ; Oliver-Codina, G. ; Kemal, H. ; Petillot, Y. ; Bonin-Font, F. FAULT TOLERANT CONTROLLER DESIGN OF SERVO-VALVE CONTROLLED HYDRAULIC PROPULSION SYSTEMS ...... 743 Jee, S. C. ; Li, J. H. ; Kim, J.-T. ; Lee, M. J. ; Kang, H. J. WINGSAIL PROJECTS FOR AEROSPACE ENGINEERING CAPSTONE DESIGN ...... 748 Anderson, M. R. ; Terrill, E. J.

IN SITU DETECTION OF CO 2/CH 4 DISSOLVED IN VENT-ASSOCIATED AT THE CLAM AND IHEYA NORTH HYDROTHERMAL VENTS AREA, OKINAWA TROUGH ...... 753 Qiannan Hu ; Xin Zhang ; Bing Wang ; Chuanbo Wang ; Zhendong Luan ; Changan Chen ; Jun Yan MULTI-TARGET LOCALIZATION OF UNDERWATER ACOUSTIC SOURCES BASED ON PROBABILISTIC ESTIMATION OF DIRECTION ANGLE ...... 759 Jinwoo Choi ; Hyun-Taek Choi WIND FEED-FORWARD CONTROL OF A USV ...... 765 Huajin Qu ; Sarda, E. I. ; Bertaska, I. R. ; Von Ellenrieder, K. D. EXPERIMENTAL INVESTIGATION OF AIRFLOW OVER HELICOPTER PLATFORM OF A POLAR ICEBREAKER ...... 775 Rahimpour, M. ; Oshkai, P. HEADING-CONTROL TESTS OF AN UNDERWATER GLIDER FOR VIRTUAL MOORING ...... 783 Asakawa, K. ; Hyakudome, T. ; Ishihara, Y. ; Nakamura, M. OBSERVATION AND REGIONAL MODEL BASED MARINE HYDROKINETIC ENERGY RESOURCE ESTIMATES FOR NORTH CAROLINA ...... 787 Muglia, M. ; Ruoying He ; Lowcher, C. ; Bane, J. ; Taylor, P. ; Edge, B. MEASURING AND PROCESSING OF OCEAN TURBULENCE FROM A MOORED INSTRUMENT ...... 794 Yuanyuan Wang ; Hua Yang ; Xiuyan Liu ; Dalei Song DEVELOPMENT OF UNDERWATER ACOUSTIC BACKSCATTER AND DOPPLER INSTRUMENTS FROM A SMALL AND VERSATILE MULTI-FREQUENCY SONAR BOARD WITH SOFTWARE DEFINED PROCESSING ...... 799 Jaffre, F. M. ; Traykovski, P. ; Moulton, M. ; Lawson, G. L. ; Austin, T. C. ADAPTIVE ALGORITHM FOR COMBINATION METHOD OF CONVENTIONAL AND COHERENT DOPPLER SONAR ...... 805 Peng Liu ; Kouguchi, N. ADAPTIVE SAMPLING USING FLEETS OF UNDERWATER GLIDERS IN THE PRESENCE OF FIXED BUOYS USING A CONSTRAINED CLUSTERING ALGORITHM ...... 811 Cococcioni, M. ; Lazzerini, B. ; Lermusiaux, P. F. J. MULTIOBJECTIVE EVOLUTIONARY OPTIMIZATION OF QUADRATIC TAKAGI-SUGENO FUZZY RULES FOR REMOTE BATHYMETRY ESTIMATION ...... 817 Cococcioni, M. ; Lazzerini, B. UNDERWATER VISUAL SLAM WITH LOOP-CLOSURE USING IMAGE-TO-IMAGE LINK RECOVERY ...... 823 Seonghun Hong ; Taeyun Kim ; Jinwhan Kim SUSTAINABLE DEPLOYMENT OF MARINE CURRENT ENERGY IN INDONESIA ...... 829 Ramachandran, R. ; Takagi, K. UNDERWATER IMAGE SEGMENTATION VIA DARK CHANNEL PRIOR AND MULTISCALE HIERARCHICAL DECOMPOSITION ...... 834 Haiyong Zheng ; Xue Sun ; Bing Zheng ; Rui Nian ; Yangfan Wang RESEARCH AND TESTS ON HYDRODYNAMIC PERFORMANCE OF A SEATED HORIZONTAL AXIS TIDAL TURBINE ...... 838 Shujie Wang ; Yijun Zhang ; Peng Yuan ; Junzhe Tan A POTENTIAL METHOD FOR UNDERWATER CHARGING ...... 845 Fan, F. A METHOD TO PREDICT UNDERWATER NOISE FROM CAVITATING PROPELLERS ...... 850 Firenze, E. ; Valdenazzi, F. MOTION CONTROL OF UNDERWATER USING CALIBRATION-FREE VISUAL SERVOING SYSTEM ...... 856 Kawamura, A. ; Kubo, M. ; Yokoi, K. ; Sakagami, N. ; Kawamura, S. ACOUSTIC EMISSION HEALTH MONITORING OF MARINE RENEWABLES: ILLUSTRATION WITH A WAVE ENERGY CONVERTER IN FALMOUTH BAY (UK) ...... 861 Walsh, J. ; Bashir, I. ; Thies, P. R. ; Johanning, L. ; Blondel, P. UNDERWATER WIRELESS OPTICAL COMMUNICATION USING A DIRECTLY MODULATED SEMICONDUCTOR LASER ...... 868 Aobo Lin ; Weichao Lu ; Jing Xu ; Hong Song ; Fengzhong Qu ; Jun Han ; Xinxing Gu ; Jianxing Leng IN-SITU ACOUSTIC RECEIVED LEVEL MEASUREMENTS WITH GLIDER BASED REACTIVE BEHAVIOUR ...... 872 Yong-Min Jiang ; Alvarez, A. ; Cecchi, D. ; Garau, B. ; Micheli, M. OPTICAL FIBRE HYDROPHONES FOR NAVIGATION SYSTEMS ...... 878 Maccioni, E. ; Beverini, N. ; Calamai, M. ; Morganti, M. ; Bancallari, L. ; Firpi, S. THE DESIGN OF OCEAN TURBULENCE MEASUREMENT WITH A MOORED INSTRUMENT ...... 882 Xin Luan ; Xiu-Yan Liu ; Shu-Xin Wang ; Hua Yang ; Guo-Jia Hou ; Da-Lei Song SOFTWARE-DEFINED MULTIBAND ARRAY PASSIVE RADAR (SMARP) DEMONSTRATOR: A TEST AND EVALUATION PERSPECTIVE ...... 887 Capria, A. ; Petri, D. ; Moscardini, C. ; Conti, M. ; Forti, A. C. ; Massini, R. ; Cerretelli, M. ; Ledda, S. ; Tesi, V. ; Dalle Mese, E. ; Gentili, G. B. ; Berizzi, F. ; Martorella, M. ; Soleti, R. ; Martini, T. ; Manco, A. DEFINITION AND RESULTS OF TEST CASES FOR SHIPPING SOUND MAPS ...... 893 Colin, M. E. G. D. ; Ainslie, M. A. ; Binnerts, B. ; De Jong, C. A. F. ; Sertlek, H. O. ; Karasalo, I. ; O¨stberg, M. ; Folegot, T. ; Clorennec, D. POTENTIAL OF THE INTRINSIC DIMENSIONALITY FOR CHARACTERIZING THE SEABED IN THE ATR CONTEXT ...... 902 Picard, L. ; Baussard, A. ; Le Chenadec, G. ; Quidu, I. INVESTIGATION OF THE IMPROVED SDRE CONTROL STRATEGY OF AN AUV BASED ON THE OPTIMUM OF THE ENERGY ...... 909 Yao Xuliang ; Meng Lingwei SWATH BATHYMETRIC DATA FUSION APPLICATION TO AUTONOMOUS UNDERWATER VEHICLES ...... 917 Fezzani, R. ; Zerr, B. ; Legris, M. ; Mansour, A. ; Dupas, Y. AN EXPERIMENT OF REAL-TIME DATA TRANSMISSION OF SONAR IMAGES FROM CRUISING UUV TO DISTANT SUPPORT VESSEL VIA USV: DEVELOPMENT OF UNDERWATER REAL-TIME COMMUNICATION SYSTEM (URCS) BY PARALLEL CRUISING ...... 922 Suzuki, N. ; Kitajima, H. ; Kaba, H. ; Suzuki, T. ; Suto, T. ; Kobayashi, A. ; Ochi, F. SENSOR-DRIVEN GLIDER DATA PROCESSING ...... 928 Cecchi, D. ; Garau, B. ; Camossi, E. ; Berni, A. ; Coelho, E. REMOTE PRESENCE: POWERFUL TOOL FOR PROMOTION, EDUCATION AND RESEARCH IN MARINE ROBOTICS ...... 937 Omerdic, E. ; Toal, D. ; Dooly, G. 3D SUB-BOTTOM PROFILING — HIGH RESOLUTION 3D IMAGING OF SHALLOW SUBSURFACE STRUCTURES AND BURIED OBJECTS ...... 944 Gutowski, M. ; Malgorn, J. ; Vardy, M. SIMULTANEOUS MAPPING AND PLANNING FOR AUTONOMOUS UNDERWATER VEHICLES IN UNKNOWN ENVIRONMENTS ...... 951 Hernandez, J. D. ; Vidal, E. ; Vallicrosa, G. ; Pairet, E. ; Carreras, M. BAYESIAN SOURCE LOCALIZATION WITH UNCERTAIN GREEN'S FUNCTION ...... 957 Le Gall, Y. ; Dosso, S. E. ; Socheleau, F.-X. ; Bonnel, J. TRAJECTORY GENERATION FOR VESSELS USING A REACHABILITY GRAPH ...... 963 Blaich, M. ; Wirtensohn, S. ; Reuter, J. ; Hahn, A. VIRTUAL ENVIRONMENT AS A TOOL TO ACCESS THE MARINE ABYSSES ...... 970 Magrini, M. ; Moroni, D. ; Pascali, M. A. ; Reggiannini, M. ; Salvetti, O. ; Tampucci, M. REALISTIC MODELING OF UNDERWATER AMBIENT NOISE AND ITS INFLUENCE ON SPREAD-SPECTRUM SIGNALS ...... 975 Aparicio, J. ; Jimenez, A. ; Urena, J. ; Alvarez, F. J. THE OPTIMAL HYBRID/ELECTRIC FERRY FOR THE LIGURIA NATURAL PARKS ...... 981 Bianucci, M. ; Merlino, S. ; Ferrando, M. ; Baruzzo, L. AN ADVANCED AIS RECEIVER USING A PRIORI INFORMATION ...... 991 Hassanin, A. ; Lazaro, F. ; Plass, S. REAL-TIME LOCALIZATION AND DENSE MAPPING IN UNDERWATER ENVIRONMENTS FROM A MONOCULAR SEQUENCE ...... 998 Concha, A. ; Drews-Jr, P. ; Campos, M. ; Civera, J. ESTIMATION OF WAVE PARAMETERS FROM HF RADAR USING DIFFERENT METHODOLOGIES AND COMPARED WITH WAVE BUOY MEASUREMENTS AT THE WAVE HUB ...... 1003 Gomez, R. ; Helzel, T. ; Lopez, G. ; Conley, D. ; Wyatt, L. ; Thomas, N. ; Smet, S. ; Sicot, G. DEEP GEN: A DEEP WATER HYDRO GENERATOR FOR MOORINGS ...... 1012 Bianucci, M. ; Merlino, S. ; Ottaviani, E. ; Di Benedetti, I. VERTICAL CABLE SEISMIC SURVEYS FOR SMS EXPLORATION IN IZENA CAULDRON, OKINAWA-TROUGH ...... 1017 Asakawa, E. ; Murakami, F. ; Tsukahara, H. ; Mizohata, S. ; Tara, K. S3MAG — LOW MAGNETIC NOISE AUV FOR MULTIPURPOSE INVESTIGATIONS ...... 1022 Cocchi, L. ; Carmisciano, C. ; Palangio, P. ; Gualdesi, L. A TWO-WAY COUPLING CFD METHOD TO SIMULATE THE DYNAMICS OF A WAVE ENERGY CONVERTER ...... 1026 Bergmann, M. ; Bracco, G. ; Gallizio, F. ; Giorcelli, E. ; Iollo, A. ; Mattiazzo, G. ; Ponzetta, M. AUTONOMY LEVELS VERSUS COMMUNICATION IN AN ...... 1032 Grythe, K. ; Reinen, T. A. ; Transeth, A. A. SPECTRAL ANALYSIS OF THE UNDERWATER ACOUSTIC NOISE RADIATED BY SHIPS WITH CONTROLLABLE PITCH PROPELLERS ...... 1040 Traverso, F. ; Gaggero, T. ; Rizzuto, E. ; Trucco, A. EXPERIMENTAL STUDY OF A WAVE ENERGY SCAVENGING SYSTEM ONBOARD AUTONOMOUS SURFACE VESSELS (ASVS) ...... 1046 Bowker, J. A. ; Townsend, N. C. ; Tan, M. ; Shenoi, R. A. PROPOSAL OF A BIOLOGICAL DATABASE TO RESEARCH FOR THE FISH EPINEPHELUS ITAJARA ...... 1055 Pichorim, Sergio Francisco ; Suzuki, Danielle Forbeci PSAMMITE — A SOIL CHARACTERIZATION SYSTEM FOR ENVIRONMENTAL ANALYSIS ...... 1060 Laskoski, G. T. ; Pichorim, S. F. DEVELOPMENT OF AN UNDERWATER GRAVITY MEASUREMENT SYSTEM USING AUTONOMOUS UNDERWATER VEHICLE FOR EXPLORATION OF SEAFLOOR DEPOSITS ...... 1065 Shinohara, M. ; Yamada, T. ; Ishihara, T. ; Araya, A. ; Kanazawa, T. ; Fujimoto, H. ; Uehira, K. ; Tsukioka, S. ; Omika, S. ; IIzasa, K. MICROSTRUCTURE MEASUREMENT FORM AN UNDERWATER GLIDER: MOTION ANALYSIS AND EXPERIMENTAL RESULTS ...... 1072 Yang Weng ; Hua Yang ; Jingyuan He ; Dalei Song VALIDATION OF A SIMULATION TOOL FOR SHIP TRAFFIC NOISE ...... 1077 Gaggero, T. ; Karasalo, I. ; Ostberg, M. ; Folegot, T. ; Six, L. ; Van Der Schaar, M. ; Andre, M. ; Rizzuto, E. REDUCING POWER DEMAND AND SPIKES IN DYNAMIC POSITIONING: A MODEL PREDICTIVE CONTROL APPROACH ...... 1084 Vincenzo, C. ; Hasnes, G. AN EVALUATION OF ARTIFICIAL FIDUCIAL MARKERS IN UNDERWATER ENVIRONMENTS ...... 1089 Brito Dos Santos Cesar, D. ; Gaudig, C. ; Fritsche, M. ; Dos Reis, M. A. ; Kirchner, F. HETEROGENEOUS ROBOTIC SYSTEM FOR UNDERWATER OIL SPILL SURVEY ...... 1095 Vasilijevic, A. ; Calado, P. ; Lopez-Castejon, F. ; Hayes, D. ; Stilinovic, N. ; Nad, D. ; Mandic, F. ; Dias, P. ; Gomes, J. ; Molina, J. C. ; Guerrero, A. ; Gilabert, J. ; Miskovic, N. ; Vukic, Z. ; Sousa, J. ; Georgiou, G. ACOUSTIC DATA ANALYSIS FOR UNDERWATER ARCHAEOLOGICAL SITES DETECTION AND MAPPING BY MEANS OF AUTONOMOUS UNDERWATER VEHICLES ...... 1102 Allotta, B. ; Costanzi, R. ; Ridolfi, A. ; Pascali, M. A. ; Reggiannini, M. ; Salvetti, O. ; Sharvit, J. NUMERICAL MODELLING STUDY OF THE EFFECTS OF SUSPENDED AQUACULTURE FARMS ON TIDAL STREAM ENERGY GENERATION ...... 1108 O'Donncha, F. ; James, S. C. ; O'Brien, N. ; Ragnoli, E. AN ASV FOR COASTAL UNDERWATER ARCHAEOLOGY: THE PLADYPOS SURVEY OF CAESAREA MARITIMA, ISRAEL ...... 1115 Vasilijevic, A. ; Buxton, B. ; Sharvit, J. ; Stilinovic, N. ; Nad, D. ; Miskovic, N. ; Planer, D. ; Hale, J. ; Vukic, Z. A MULTIPLE LAYER MODELLING APPROACH TO INVESTIGATE THE EFFECTS OF TIDAL TURBINE DEPLOYMENT ...... 1122 O'Brien, N. ; O'Donncha, F. ; Ragnoli, E. MULTI-VIEW UNDERWATER 3D RECONSTRUCTION USING A STRIPE LASER LIGHT AND AN EYE-IN-HAND CAMERA ...... 1128 Penalver, A. ; Fernandez, J. J. ; Sales, J. ; Sanz, P. J. EXPERIMENTAL ASSESSMENT OF UNDERWATER RADIATED SOUND OF DIFFERENT SHIP TYPES ...... 1134 Jansen, H. W. ; De Jong, C. A. F. SEASONALITY OF WAVE PREDICTION SKILLS FOR SUPPORTING MARINE OPERATIONS IN AN OFFSHORE WIND FARM ...... 1142 Perez-Landa, G. ; Sainz De Aja, L. ; Orellana, P. SIGNAL AND RECEIVER DESIGN FOR LOW-POWER ACOUSTIC COMMUNICATIONS USING M-ARY ORTHOGONAL CODE KEYING ...... 1148 Sherlock, B. ; Tsimenidis, C. C. ; Neasham, J. A. TOWARDS AN IMMERSIVE AND NATURAL GESTURE CONTROLLED INTERFACE FOR INTERVENTION UNDERWATER ...... 1158 Garcia, J. C. ; Patrao, B. ; Perez, J. ; Seabra, J. ; Menezes, P. ; Dias, J. ; Sanz, P. J. POWER AND SCIENCE IN THE CONTEXT OF THE COMMISSION ON THE LIMITS OF THE ...... 1163 Martins, Tiago Figueiredo Santos A STUDY FOR THE RESTORATION OF A PLATFORM-ISLAND OIL TERMINAL ...... 1168 Di Fresco, L. ; Barberis, S. OCEAN SURFACE VEHICLES FOR MARITIME SECURITY APPLICATIONS (THE PERSEUS PROJECT) ...... 1173 Real-Arce, D. A. ; Barrera, C. ; Hernandez, J. ; Llinas, O. CORRELATION BETWEEN COASTAL AND THE SPEED OF COMMERCIAL VESSELS ...... 1177 Hjelmervik, K. ; Schoyen, H. MODELING THE THROUGHPUT OF 1-PERSISTENT CSMA IN UNDERWATER NETWORKS ...... 1182 Olivier, A. ; Zorzi, M. ; Casari, P. ENABLING CENTRAL ACCESS TO MARINE DATA: DATA PORTAL GERMAN MARINE RESEARCH ...... 1188 Koppe, R. ; Schafer, A. A HYBRID RECORDED-SYNTHETIC SONAR DATA SET FOR VALIDATION OF ASW CLASSIFICATION ALGORITHMS ...... 1193 Hjelmervik, K. T. ; Berg, H. ; Stender, D. H. S. ; Sastad, T. S. BOOSTING THE TALENT OF NEW GENERATIONS OF MARINE ENGINEERS THROUGH ROBOTICS COMPETITIONS IN REALISTIC ENVIRONMENTS: THE SAUC-E AND EURATHLON EXPERIENCE ...... 1198 Ferri, G. ; Ferreira, F. ; Djapic, V. PERFORMANCE EVALUATION OF T-TRANSFORM BASED OFDM IN UNDERWATER ACOUSTIC COMMUNICATIONS ...... 1204 Hengda Ding ; Neasham, J. A. ; Boussakta, S. ; Tsimenidis, C. C. DESIGN AND DEVELOPMENT OF POLYPROPYLENE FRAME FOR REMOTELY OPERATED VEHICLE ...... 1211 Pranesh, S. B. ; Sathianarayanan, D. ; Chandrasekar, E. ; Murugesan, M. ; Ramadass, G. A. ; Atmanand, M. A. ESTIMATION OF OCEANOGRAPHIC PROFILES AND CLIMATOLOGICAL REGIONS IN THE BARENTS SEA ...... 1217 Hjelmervik, K. ; Hjelmervik, K. T. ; Ostenstad, P. STABILIZATION OF AN AUTONOMOUS UNDERWATER VEHICLE RELATIVE TO THE SEA BOTTOM BY MEANS OF THE STEREOSCOPIC IMAGES PROCESSING ...... 1223 Goi, V. ; Gatsenko, A. ; Shestopalov, G. ; Sporyshev, M. ; Tolstonogov, A. ; Scherbatyuk, A. P. BENCHMARKING USING UWSIM, SIMURV AND ROS: AN AUTONOMOUS FREE FLOATING DREDGING INTERVENTION CASE STUDY ...... 1228 Fernandez, J. J. ; Perez, J. ; Penalver, A. ; Sales, J. ; Fornas, D. ; Sanz, P. J. TOWARDS FULLY AUTONOMOUS UNDERWATER VEHICLES IN ASW SCENARIOS: AN ADAPTIVE, DATA DRIVEN AUV MISSION MANAGEMENT LAYER ...... 1235 Ferri, G. ; Munafo, A. ; Goldhahn, R. ; Lepage, K. TECHNOLOGIES BEING DEVELOPED IN INDIA FOR UTILIZSATION OF OCEAN RESOURCES ...... 1244 Atmanand, M. A. ; Jalihal, P. ; Ramesh, S. ; Vedachalam, N. ; Ramadass, G. A. PROJECT “V-FIDES”: AN INNOVATIVE, MULTI PURPOSE, AUTONOMOUS UNDERWATER PLATFORM ...... 1253 Novi, M. ; Pacini, F. ; Paoli, G. ; Saviozzi, G. ; Ballini, G. ; Caiti, A. ; Di Corato, F. ; Fenucci, D. ; Grechi, S. ; Reggiannini, R. ; Carrai, F. SIMULATION OF MULTIMODAL OPTICAL AND ACOUSTIC COMMUNICATIONS IN UNDERWATER NETWORKS ...... 1262 Campagnaro, F. ; Favaro, F. ; Guerra, F. ; Sanjuan Calzado, V. ; Zorzi, M. ; Casari, P. BLUE WHALES (BALENOPTERA MUSCULUS) IN THE CANAL MORALEDA AND GOLFO CORCOVADO, CHILE ...... 1269 Bocconcelli, A. ; Hickmott, L. ; Landea Briones, R. ; Howes, G. ; Sayigh, L. IN-SITU PERFORMANCE ANALYSIS OF SATELLITE COMMUNICATION IN THE HIGH NORTH ...... 1278 Rodseth, O. J. ; Kvamstad-Lervold, B. ; Dac Ho, T. PREDICTION OF THE ELECTROMAGNETIC INTERFERENCE DUE TO ANTENNA SYSTEMS IN NON-METALLIC VESSELS ...... 1284 Ustuner, F. ; Demirel, E. ; Baran, E. ; Gokdogan, I. H. ; Cosar, C. PROJECT “V-FIDES”: FREE FLOODED VEHICLE FOR DEEP SEA EXPLORATION ...... 1291 Pacini, F. ; Paoli, G. ; Perillo, M. ; Rossetti, F. ; Di Fazio, A. ; Sgro`, G. ; Nardini, L. GLIDER-BASED SEABED CHARACTERIZATION USING NATURAL-MADE AMBIENT NOISE ...... 1296 Nielsen, P. L. ; Siderius, M. ; Muzi, L. THE ISMAR HIGH FREQUENCY COASTAL RADAR NETWORK: MONITORING SURFACE CURRENTS FOR MANAGEMENT OF MARINE RESOURCES ...... 1303 Corgnati, L. ; Mantovani, C. ; Griffa, A. ; Bellomo, L. ; Carlson, D. F. ; Magaldi, M. G. ; Berta, M. ; Pazienza, G. ; D'Adamo, R. CREATING 360° UNDERWATER VIRTUAL TOURS USING AN OMNIDIRECTIONAL CAMERA INTEGRATED IN AN AUV ...... 1311 Bosch, J. ; Ridao, P. ; Ribas, D. ; Gracias, N. SEAFLOOR MASSIVE SULFIDE DEPOSITS: CONTINUING EFFORTS TOWARD A GLOBAL ESTIMATE OF SEAFLOOR MASSIVE SULFIDES ...... 1318 Hannington, M. D. ; Jamieson, J. ; Petersen, S. FROM THE SEAFLOOR TO THE SEA SURFACE: A TECHNICAL SOLUTION FOR THE CABLED EMSO-SN1 OBSERVATORY IN THE WESTERN IONIAN SEA ...... 1321 Sparnocchia, S. ; Borghini, M. ; Durante, S. ; Meccia, V. ; Giordano, A. ; Biasini, G. AN INNOVATIVE CLEANING TOOL FOR UNDERWATER SOFT CLEANING OPERATIONS ...... 1326 Gundogdu, H. T. ; Dede, M. I. C. ; Taner, B. ; Ridolfi, A. ; Costanzi, R. ; Allotta, B. AN UNDERWATER STEREO VISION SYSTEM: FROM DESIGN TO DEPLOYMENT AND DATASET ACQUISITION ...... 1334 Oleari, F. ; Kallasi, F. ; Rizzini, D. L. ; Aleotti, J. ; Caselli, S. ON THE USE OF INFORMATION-CARRYING BASED ROUTE PROTOCOL IN REAL UWSN DEPLOYMENTS WITH HIGH TRAFFIC LOAD ...... 1340 Lie, A. ; Trandem, O. ; Knudsen, F. T. ; Reinen, T. A. ; Alvsaaker, M. COMPUTER VISION IN UNDERWATER ENVIRONMENTS: A MULTISCALE GRAPH SEGMENTATION APPROACH ...... 1350 Kallasi, F. ; Rizzini, D. L. ; Oleari, F. ; Aleotti, J. OPTIMIZATION OF SURVEILLANCE VESSEL NETWORK PLANNING IN MARITIME COMMAND AND CONTROL SYSTEMS BY FUSING METOC & AIS VESSEL TRAFFIC INFORMATION ...... 1356 Fabbri, T. ; Vicen-Bueno, R. ; Grasso, R. ; Pallotta, G. ; Millefiori, L. M. ; Cazzanti, L. PROACTIVE MARINE INFORMATION SYSTEM FOR ENVIRONMENTAL MONITORING ...... 1363 Moroni, D. ; Pieri, G. ; Salvetti, O. ; Tampucci, M. MODEL SCALE INVESTIGATION OF THE EFFECT OF DIFFERENT SPEED REDUCTION STRATEGIES ON CAVITATING PROPELLER RADIATED NOISE ...... 1368 Tani, G. ; Viviani, M. ; Rizzuto, E. ENABLING FAULT RECOVERY AND ADAPTATION IN MINE-COUNTERMEASURES MISSIONS USING ONTOLOGIES ...... 1376 Papadimitriou, G. ; Saigol, Z. ; Lane, D. M. DESIGN OF WAVE ENERGY CONVERTER (WEC): A PROTOTYPE INSTALLED IN SICILY ...... 1383 Viola, A. ; Franzitta, V. ; Curto, D. ; Trapanese, M. ; Di Dio, V. ; Cipriani, G. ; Boscaino, V. ; Corpora, M. ; Raimondi, F. M. HIGH RESOLUTION, THREE DIMENSIONAL MODELING OF THE CIRCULATION IN THE GULF OF LA SPEZIA (NORTHWESTERN MEDITERRANEAN) ...... 1388 Porciello, L. ; Magaldi, M. G. ; Griffa, A. ; Borghini, M. ; Barbolini, M. ; Ferro, F. ADAPTIVE THRESHOLD AND SUB-LOOK PROCESSING IN SHIP DETECTION BY SAR ...... 1396 Renga, A. ; Daniela Graziano, M. ; Moccia, A. ; D'Errico, M. A SHIPPING NOISE PREDICTION TOOL ...... 1404 Soares, C. ; Zabel, F. ; Jesus, S. M. BARENTS SEA MONITORING WITH A SEA EXPLORER GLIDER ...... 1411 Field, M. ; Beguery, L. ; Oziel, L. ; Gascard, J. C. SENSORIZED BUOY FOR OIL SPILL EARLY DETECTION ...... 1416 Moroni, D. ; Pieri, G. ; Salvetti, O. ; Tampucci, M. ; Domenici, C. ; Tonacci, A. AZIMUTH AMBIGUITY SPATIAL CORRELATION COMPOSITE (ASCC): A NOVEL METHOD FOR GHOST ENHANCEMENT IN SAR IMAGES ...... 1421 Gemme, L. ; Dellepiane, S. ; Vernazza, G. ROS MULTI-AGENT STRUCTURE FOR AUTONOMOUS SURFACE VEHICLES ...... 1426 Conte, G. ; Scaradozzi, D. ; Sorbi, L. ; Panebianco, L. ; Mannocchi, D. SPATIO-TEMPORAL DATA MINING FOR MARITIME SITUATIONAL AWARENESS ...... 1432 Fernandez Arguedas, V. ; Mazzarella, F. ; Vespe, M. POSITIONING OF SUBSEA MODULES USING AN AUTOMATED ROV ...... 1440 Henriksen, E. H. ; Gjersvik, T. B. ; Thorkildsen, B. 3D REAL-TIME TRACKING, FOLLOWING AND IMAGING OF WHITE SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE ...... 1448 Kukulya, A. L. ; Stokey, R. ; Littlefield, R. ; Jaffre, F. ; Hoyos Padilla, E. M. ; Skomal, G. CATCHMENT APPROACH TO PASSIVE SAMPLING OF IRISH WATERS ...... 1454 Jones, L. ; Ronan, J. ; McGovern, E. ; McHugh, B. ; Regan, F. EUROPEAN MARINE OBSERVATION DATA NETWORK — EMODNET PHYSICS ...... 1461 Novellino, A. ; D'Angelo, P. ; Benedetti, G. ; Manzella, G. ; Schaap, D. ; Gorringe, P. ; Pouliquen, S. ; Rickards, L. DISTRIBUTED MULTI-AUV COOPERATION METHODS FOR UNDERWATER ARCHAEOLOGY ...... 1467 Tsiogkas, N. ; Saigol, Z. ; Lane, D. MODELING COLORED IMPULSIVE NOISE BY MARKOV CHAINS AND ALPHA-STABLE PROCESSES ...... 1472 Mahmood, A. ; Chitre, M. FISHING GEAR RECOGNITION FROM VMS DATA TO IDENTIFY ILLEGAL FISHING ACTIVITIES IN INDONESIA ...... 1479 Marzuki, M. I. ; Garello, R. ; Fablet, R. ; Kerbaol, V. ; Gaspar, P. EXPERIMENTAL PERFORMANCE EVALUATION AND VALIDATION OF DYNAMICAL CONTACT MODELS OF THE OCEAN GRAZER ...... 1484 Van Rooij, M. ; Meijer, H. ; Prins, W. A. ; Vakis, A. I. INFORMATION FUSION IN NETWORKED UNDERWATER TARGET DETECTION ...... 1490 Yangze Dong ; Gangqiang Zhang ; Xudong He ; Jiansheng Tang LOW COST STEREO SYSTEM FOR IMAGING AND 3D RECONSTRUCTION OF UNDERWATER ORGANISMS ...... 1494 Mazzei, L. ; Corgnati, L. ; Marini, S. ; Ottaviani, E. ; Isoppo, B. MINING MARITIME VESSEL TRAFFIC: PROMISES, CHALLENGES, TECHNIQUES ...... 1498 Cazzanti, L. ; Pallotta, G. VISUAL DIVER DETECTION USING MULTI-DESCRIPTOR NEAREST-CLASS-MEAN RANDOM FORESTS IN THE CONTEXT OF UNDERWATER HUMAN INTERACTION (HRI) ...... 1504 Gomez Chavez, A. ; Pfingsthorn, M. ; Birk, A. ; Rendulic, I. ; Miskovic, N. WEATHER ROUTING FOR A WIND DRIVEN HYBRID MERCHANT VESSEL ...... 1511 Walther, L. ; Jahn, C. ; Lade, T. QUADRATIC CHIRP MODULATION FOR UNDERWATER ACOUSTIC DIGITAL COMMUNICATIONS ...... 1518 Pecci, A. C. ; Laot, C. ; Bourre, A. EVOLUTION AND PROSPECTS OF UNDERWATER IN JAPAN ...... 1525 Arima, M. ; Ishii, K. ; Ura, T. ; Maki, T. ; Kondo, H. FP7-OCEAN-2013 — SCHEMA: INTEGRATED IN SITU CHEMICAL MAPPING PROBES ...... 1531 Tercier Waeber, M.-L. ; Bakker, E. ; Nardin, C. ; Mongin, S. ; Prado, E. ; Cuartero Botia, M. ; Mazaikoff, B. ; Luxenburger, F. ; Klimant, I. ; Mistlberger, G. ; Mueller, B. ; Van Der Val, P. ; Fighera, M. ; Fernandez Sanchez, J. ; Medina Castillo, A. L. ; Navarro, A. V. ; Schaefer, J. ; Abdou, M. ; Novellino, A. ; D'Angelo, P. ; Confalonieri, F. ; Castellano, M. ; Magi, E. ; Massa, F. ; Povero, P. UNDERWATER PLACE RECOGNITION IN NOISY STEREO DATA USING FAB-MAP WITH A MULTIMODAL VOCABULARY FROM 2D TEXTURE AND 3D SURFACE DESCRIPTORS ...... 1536 Enchev, I. ; Pfingsthorn, M. ; Luczynski, T. ; Sokolovski, I. ; Birk, A. ; Tietjen, D. INFLUENCE OF TEMPERATURE ON SIGNAL ATTENUATION AT MICROWAVES FREQUENCIES UNDERWATER ...... 1544 Reyes-Guerrero, J. C. ; Ciamulski, T. MULTI-ROBOT EXPLORATION WITH AUVS ON CLIFFS AND OTHER 3D STRUCTURES WITH A PREDOMINANT ORIENTATION ...... 1548 Rathnam, R. ; Birk, A. STRUCTURED LIGHT SYSTEM FOR UNDERWATER INSPECTION OPERATIONS ...... 1555 Lopes, F. ; Silva, H. ; Almeida, J. M. ; Martins, A. ; Silva, E. VALIDATION OF THE ORNSTEIN-UHLENBECK ROUTE PROPAGATION MODEL IN THE MEDITERRANEAN SEA ...... 1561 Millefiori, L. M. ; Pallotta, G. ; Braca, P. ; Horn, S. ; Bryan, K. EVALUATION OF DETECTION BASED ON STATISTICS AND TEMPLATE MATCHING CLASSIFICATION ON SAS AUV DATA ...... 1567 Jonsson, M. ; Esteki, H. USING GSTREAMER FOR ACOUSTIC SIGNAL PROCESSING IN DEPLOYABLE SENSOR NODES ...... 1574 Otnes, R. ; Eastwood, J. ; Colin, M. E. G. D. REQUIREMENTS AND DESIGN OF HIGHLY ACCURATE POSITION CONTROL SYSTEM FOR UNDERWATER VISUAL INSPECTION ...... 1580 Hyun-Taek Choi ; Jinwoo Choi ; Yeongjun Lee NARROWBAND DETECTION OF UNDERWATER ACOUSTIC SIGNAL UNDER NOISE UNCERTAINTIES ...... 1585 Gurugopinath, S. ; Anand, G. V. DUAL-TREE COMPLEX WAVELET TRANSFORMATION BASED SAND RIPPLE SUPPRESSION ...... 1590 Klemm, R. ; Lehmann, B. ; Kraus, D. HARDWARE IN THE LOOP SIMULATION OF A DIELECTRIC ELASTOMER GENERATOR FOR OSCILLATING WATER COLUMN WAVE ENERGY CONVERTERS ...... 1596 Moretti, G. ; Papini Rosati, G. P. ; Fontana, M. ; Vertechy, R. NEURAL DYNAMICS AND SLIDING MODE INTEGRATION FOR THE GUIDANCE OF UNMANNED SURFACE VEHICLES ...... 1603 Di Lecce, N. ; Laschi, C. ; Bibuli, M. ; Bruzzone, G. ; Zereik, E. PASSIVE ACOUSTIC SURVEILLANCE OF SURFACE VESSELS USING TRIDIMENSIONAL ARRAY ON AN UNDERWATER GLIDER ...... 1609 Tesei, A. ; Been, R. ; Williams, D. ; Cardeira, B. ; Galletti, D. ; Cecchi, D. ; Garau, B. ; Maguer, A. INVESTIGATION ON THE EFFECTS OF A SAILING SHIP MOTION BY TSUNAMI ...... 1617 Shiotani, S. ; Xinzhu Liu ; Chen Chen UNDERWATER 3D RECONSTRUCTION USING BLUEVIEW IMAGING SONAR ...... 1622 Guerneve, T. ; Petillot, Y. A MODULAR AND SCALABLE CONTROL ARCHITECTURE FOR NAVIGATION OF AUTONOMOUS UNDERWATER VEHICLES ...... 1629 Lastra, F. J. ; Velasco, F. J. ; Revestido Herrero, E. ; Trujillo Medina, J. A. ; Vega, L. M. ONLINE DATA SUMMARIES FOR SEMANTIC MAPPING AND ANOMALY DETECTION WITH AUTONOMOUS UNDERWATER VEHICLES ...... 1635 Kaeli, J. W. ; Singh, H. DEVELOPMENT OF THE “SEATRAC” MINIATURE ACOUSTIC MODEM AND USBL POSITIONING UNITS FOR SUBSEA ROBOTICS AND DIVER APPLICATIONS ...... 1642 Neasham, J. A. ; Goodfellow, G. ; Sharphouse, R. OBSERVATIONS OF AMBIENT NOISES INDUCED BY THE INTERNAL SOLITARY WAVES ON THE CONTINENTAL SLOPE OF THE NORTHERN SOUTH CHINA SEA:: AMBIENT NOISES BY ISW IN SCS ...... 1650 Yiing Jang Yang ; Ramp, S. R. ; Ching-Sang Chiu ; Reeder, D. B. ; Wu, J. C.-H. ; Chi-Fang Chen ; Wen-Der Liang A RADAR CROSS SECTION AND RADAR PERFORMANCE EVALUATION TOOL FOR THE EARLY STAGE SHIP DESIGN (ESSD) PHASE ...... 1654 Cerruti, M. ; Pastorino, M. ; Randazzo, A. ; Perra, F. ; Guagnano, A. SHADOWING-ANALYSIS-BASED MEASUREMENT FROM SHIP-BORNE X- BAND NAUTICAL RADAR IMAGES ...... 1659 Xinlong Liu ; Weimin Huang ; Gill, E. W. USING DIRECT-TOUCH INTERACTION FOR THE VISUAL EXPLORATION OF PROFILING SENSOR DATA ...... 1663 Ruth, T. ; Audersch, S. ; Huber, L. ; Von Lukas, U. F. ; Zabel, J. A BAYESIAN MARINE DEBRIS DETECTOR USING EXISTING HYDROGRAPHIC DATA PRODUCTS ...... 1671 Masetti, G. ; Calder, B. R. SYSTEM OF DETECTING UNDERWATER THREATS IN SIDE SCAN SONAR IMAGES ...... 1681 Matsuda, Y. ; Ogawa, M. ; Yano, M. NEXOS SMART ELECTRONIC INTERFACE FOR SENSOR INTEROPERABILITY ...... 1685 Toma, D. M. ; Del Rio, J. ; Jirka, S. ; Delory, E. ; Pearlman, J. ; Waldmann, C. MULTI-BEAM TERRAIN/OBJECT CLASSIFICATION FOR UNDERWATER NAVIGATION CORRECTION ...... 1690 Palomer, A. ; Ridao, P. ; Ribas, D. ; Vallicrosa, G. ON THE PERFORMANCE OF WIDELY LINEAR SC-FDE SYSTEMS FOR UNDERWATER ACOUSTIC COMMUNICATION ...... 1695 Chang, B. S. ; Souza, R. D. ; Pellenz, M. E. STATISTICAL METHOD FOR CYCLONE PROBABILISTIC ASSESSMENT ...... 1699 De Masi, G. ; Mattioli, M. ; Drago, M. INVESTIGATING THE MEDITERRANEAN BY SEAFLOOR OBSERVATIONS: THE EASTERN BRANCH OF THE EMSO LIGURIAN SEA NODE ...... 1706 Locritani, M. ; Beranzoli, L. ; Carmisciano, C. ; Embriaco, D. ; Muccini, F. ; Favali, P. ; Aguzzi, J. ; Benedetti, A. ; Liggieri, L. ; Ciuffardi, T. ; Cocito, S. ; Delfanti, R. ; Fanelli, E. ; Peirano, A. ; Coelho, E. F. ; Stoner, R. ; Dialti, L. ; Pizzeghello, N. ; Marini, D. ; Martinelli, A. ; Stroobant, M. ; Marini, S. ; Vetrano, A. ; Povero, P. ; Stifani, M. SYNTHETIC METOCEAN TIME SERIES GENERATION FOR OFFSHORE OPERABILITY AND DESIGN BASED ON MULTIVARIATE MARKOV MODEL ...... 1712 De Masi, G. ; Bruschi, R. ; Drago, M. MACHINE LEARNING APPROACH TO CORROSION ASSESSMENT IN SUBSEA PIPELINES ...... 1718 De Masi, G. ; Gentile, M. ; Vichi, R. ; Bruschi, R. ; Gabetta, G. UNDERWATER STEREO CALIBRATION UTILIZING VIRTUAL OBJECT POINTS ...... 1724 Dolereit, T. ; Von Lukas, U. F. ; Kuijper, A. METRICS OF AUTONOMOUS UNDERWATER VEHICLE STUDENT COMPETITIONS ...... 1731 Curtin, T. B. A INNOVATIVE SEMI-IMMERGIBLE USV (SI-USV) DRONE FOR MARINE AND LAKES OPERATIONS WITH INSTRUMENTAL TELEMETRY AND ACOUSTIC DATA ACQUISITION CAPABILITY ...... 1741 Raimondi, F. M. ; Trapanese, M. ; Franzitta, V. ; Viola, A. ; Colucci, A. TEMPORAL AND SPATIAL BENTHIC DATA COLLECTION VIA MOBILE ROBOTS: PRESENT AND FUTURE APPLICATIONS ...... 1751 Thomsen, L. ; Purser, A. ; Schwendner, J. ; Duda, A. ; Flogen, S. ; Kwasnitschka, T. ; Pfannkuche, O. ; Wilde, D. ; Rosta, R. ELECTROMECHANICAL DEVICES FOR SUPPORTING THE RESTORATION OF UNDERWATER ARCHAEOLOGICAL ARTEFACTS ...... 1756 Bruno, F. ; Muzzupappa, M. ; Gallo, A. ; Barbieri, L. ; Galati, D. ; Spadafora, F. ; Davidde Petriaggi, B. ; Petriaggi, R. A INNOVATIVE LATERALS HYDRO FLOATING TILTING SYSTEMS FOR USV OR SURFACE NAUTICAL VEHICLES ...... 1761 Raimondi, F. M. ; Scibilia, N. ; Franzitta, V. ; Viola, A. UNDERWATER ENERGY HARVESTING SYSTEM BASED ON PLUCKED-DRIVEN PIEZOELECTRICS ...... 1770 Toma, D. M. ; Del Rio, J. ; Carbonell-Ventura, M. ; Masalles, J. M. A INNOVATIVE MONITORING UNDERWATER BUOY SYSTEMS (MUNBUS) FOR MARINE AND RIVERS INSTALLATION WITH IR-CAM, INSTRUMENTAL TELEMETRY AND ACOUSTIC DATA ACQUISITION CAPABILITY ...... 1775 Raimondi, F. M. ; Trapanese, M. ; Franzitta, V. ; Viola, A. CALIBRATION METHOD FOR UNDERWATER VISUAL GROUND-TRUTH SYSTEM ...... 1782 Faria, A. ; Almeida, J. ; Dias, A. ; Martins, A. ; Silva, E. A ROV FOR SUPPORTING THE PLANNED MAINTENANCE IN UNDERWATER ARCHAEOLOGICAL SITES ...... 1788 Bruno, F. ; Muzzupappa, M. ; Lagudi, A. ; Gallo, A. ; Spadafora, F. ; Ritacco, G. ; Angilica, A. ; Barbieri, L. ; Di Lecce, N. ; Saviozzi, G. ; Laschi, C. ; Guida, R. ; Di Stefano, G. THE FIRST-ORDER BISTATIC HIGH FREQUENCY RADAR SCATTERING CROSS SECTION OF THE OCEAN SURFACE FOR THE CASE OF A FLOATING PLATFORM ...... 1795 Yue Ma ; Gill, E. W. ; Weimin Huang FOREIGN SCIENTIFIC RESEARCH VESSELS IN WATERS UNDER PORTUGUESE SOVEREIGNTY OR JURISDICTION ...... 1799 Ferreira Da Silva, J. ITERATIVE ADAPTIVE APPROACH TO DOA ESTIMATION WITH ACOUSTIC VECTOR SENSORS ...... 1805 Agarwal, A. ; Kumar, A. ; Agrawal, M. EMSO EUROPEAN RESEARCH INFRASTRUCTURE: TOWARDS AN INTEGRATED STRATEGY FOR THE OBSERVATION OF THE SEAFLOOR AND THE WATER COLUMN ...... 1813 Favali, P. ; Beranzoli, L. ; Materia, P. ; Picard, J. B. ; Best, M. M. R. ; Rolin, J.-F. ; Cannat, M. ; Waldmann, C. ; Gillooly, M. ; Hall, P. O. J. ; Lykousis, V. ; Ruhl, H. A. ; Ferre, B. ; Mienert, J. ; De Miranda, J. M. A. ; Namik Cagatay, M. ; De Stigter, H. ; Danobeitia, J. J. ; Delory, E. ; Oaie, G. ; Radulescu, V. A NOVEL DOUBLE-SIDED LINEAR GENERATOR FOR WAVE ENERGY CONVERSION ...... 1815 Curcic, M. ; Quaicoe, J. E. ; Bachmayer, R. THE DYNAMIC COMPACT CONTROL LANGUAGE VERSION 3 ...... 1822 Schneider, T. ; Petillo, S. ; Schmidt, H. ; Murphy, C. LEARNING MULTIPLE STRATEGIES TO PERFORM A VALVE TURNING WITH UNDERWATER CURRENTS USING AN I-AUV ...... 1829 Carrera, A. ; Palomeras, N. ; Hurtos, N. ; Kormushev, P. ; Carreras, M. AN IN-SITU, REAL-TIME DEVICE FOR HG MONITORING IN DEEP WATERS ...... 1837 Saviozzi, G. ; Bartaloni, F. ; Fornai, F. ; Laschi, C. ; Dario, P. ; Pacini, F. ; Mashyanov, N. ; Sholupov, S. ; Pogarev, S. ; Volpi, L. ; Teti, G. IMPROVED RANGE ESTIMATION AND UNDERWATER IMAGE ENHANCEMENT UNDER TURBIDITY BY OPTI-ACOUSTIC STEREO IMAGING ...... 1842 Babaee, M. ; Negahdaripour, S. IMPROVEMENT OF BLIND MULTICHANNEL RECEIVERS FOR UNDERWATER ACOUSTIC COMMUNICATIONS BY DELAY-BASED EQUALIZER INITIALIZATION ...... 1849 Schulz, F. COMMUNICATION AND COLLABORATION OF HETEROGENEOUS UNMANNED SYSTEMS USING THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMS (JAUS) STANDARDS ...... 1856 Incze, M. L. ; Sideleau, S. R. ; Gagner, C. ; Pippin, C. A. DEVELOPMENT OF AN AUTONOMOUS BUOY SYSTEM FOR AUV ...... 1862 Nishida, Y. ; Kojima, J. ; Ito, Y. ; Tamura, K. ; Sugimatsu, H. ; Kangsoo Kim ; Sudo, T. ; Ura, T. THE GENERALIZED SINUSOIDAL FREQUENCY MODULATED WAVEFORM FOR CONTINUOUS ACTIVE SONAR ...... 1868 Hague, D. A. ; Buck, J. R. AUTONOMOUS & ADAPTIVE OCEANOGRAPHIC FRONT TRACKING ON BOARD AUTONOMOUS UNDERWATER VEHICLES ...... 1876 Petillo, S. ; Schmidt, H. ; Lermusiaux, P. ; Yoerger, D. ; Balasuriya, A. MIMO SONAR SYSTEMS FOR HARBOUR SURVEILLANCE ...... 1886 Pailhas, Y. ; Petillot, Y. SPARSITY-DRIVEN PASSIVE TRACKING OF UNDERWATER ACOUSTIC SOURCES ...... 1892 Forero, P. A. ; Baxley, P. ; Straatemeier, L. REINFORCEMENT LEARNING IN A BEHAVIOUR-BASED CONTROL ARCHITECTURE FOR MARINE ARCHAEOLOGY ...... 1898 Frost, G. ; Maurelli, F. ; Lane, D. M. EXTRACTION OF STRIATIONS FROM CONTINUOUS ACTIVE SONAR (CAS) DATA ...... 1903 Schecklman, S. ; Zurk, L. M. AUTONOMOUS VEHICLES FOR REMOTE SAMPLE COLLECTION: ENABLING MARINE RESEARCH ...... 1910 Bennett, A. ; Barrett, D. ; Preston, V. ; Woo, J. ; Chandra, S. ; Diggins, D. ; Chapman, R. ; Wee, A. ; Zhecan Wang ; Rush, M. ; Kerr, I. OCEAN MONITORING WITH SAR: AN OVERVIEW ...... 1918 Di Martino, G. ; Iodice, A. ; Riccio, D. ; Ruello, G. MODELING 2-D FORWARD-SCAN SONAR IMAGERY FOR DIFFUSE REFLECTORS ...... 1923 Aykin, M. D. ; Negahdaripour, S. REALISTIC EXTENDED TARGET MODEL FOR TRACK BEFORE DETECT IN MARITIME SURVEILLANCE ...... 1931 Errasti-Alcala, B. ; Fuscaldo, W. ; Braca, P. ; Vivone, G. ELECTROMAGNETIC SCATTERING MODELS FOR OCEAN REMOTE SENSING: OVERVIEW AND GUIDE TO USE ...... 1940 Di Martino, G. ; Iodice, A. ; Riccio, D. ; Ruello, G. UNDERWATER RADIO FREQUENCY BASED LOCALIZATION AND IMAGE TRANSMISSION SYSTEM, INCLUDING SPECIFIC COMPRESSION TECHNIQUES, FOR AUTONOMOUS MANIPULATION ...... 1944 Centelles, D. ; Rubino, E. ; Soler, M. ; Marti, J. V. ; Sales, J. ; Marin, R. ; Sanz, P. J. ON 3-D TARGET RECONSTRUCTION FROM MULTIPLE 2-D FORWARD-SCAN SONAR VIEWS ...... 1949 Aykin, M. D. ; Negahdaripour, S. PERFORMANCE OF AN AUTONOMOUS UNDERWATER VEHICLE BORNE ACOUSTIC DOPPLER CURRENT PROFILER ...... 1959 Cusi, S. ; Rodriguez, P. ; Roque, D. FEELING THE PULSE OF PUBLIC PERCEPTION OF SCIENCE: DOES RESEARCH MAKE OUR HEARTS BEAT FASTER? ...... 1965 Locritani, M. ; Batzu, I. ; Carmisciano, C. ; Muccini, F. ; Talamoni, R. ; La Tassa, H. ; Stroobant, M. ; Guccinelli, G. ; Benvenuti, L. ; Abbate, M. ; Furia, S. ; Benedetti, A. ; Bernardini, M. I. ; Centi, R. ; Casale, L. ; Vannucci, C. ; Giacomazzi, F. ; Marini, C. ; Tosi, D. ; Merlino, S. ; Mioni, E. ; Nacini, F. EXTENDED TARGET TRACKING APPLIED TO X-BAND MARINE RADAR DATA ...... 1973 Vivone, G. ; Braca, P. ; Errasti-Alcala, B. INTELLIGENT PLANNING WITH PERFORMANCE ASSESSMENT FOR AUTONOMOUS SURFACE VEHICLES ...... 1979 Izzo, P. ; Veres, S. M. MULTI-TARGET BEARING TRACKING WITH A SINGLE ACOUSTIC VECTOR SENSOR BASED ON MULTI-BERNOULLI FILTER ...... 1985 Gunes, A. ; Guldogan, M. B. FACILITATING MULTI-AUV COLLABORATION FOR MARINE ARCHAEOLOGY ...... 1990 Tsiogkas, N. ; Frost, G. ; Monni, N. ; Lane, D. CALIBRATION OF THE SAMPLING JITTER EFFECT ON WIND DIRECTION MEASUREMENT FROM PLATFORM-BASED HF RADAR ...... 1994 Wei Wang ; Gill, E. W. AUTONOMOUS, RETRIEVABLE, DEEP SEA MICROBIAL FUEL CELL ...... 2000 Richter, K. E. ; George, R. ; Hardy, K. EXPERIMENTAL DEMONSTRATION OF TIME WARPING TO INVERT FOR ARRAY TILT AND MODE SHAPE ON A VERTICAL ARRAY IN A SHALLOW ARCTIC ENVIRONMENT ...... 2005 Thode, A. M. ; Bonnel, J. ADJUSTABLE WAVE CHAMBER FOR BETTER OCEAN WAVE ENERGY HARVESTING ...... 2012 Sateriale, M. ; Sadaat, Y. ; Ghorbani, R. HIGH DUTY CYCLE (HDC) SONAR PROCESSING INTERVAL AND BANDWIDTH EFFECTS FOR THE TREX'13 DATASET ...... 2019 Plate, R. ; Grimmett, D. WAVE ENERGY RESOURCE ASSESSMENT AND RECOVERABLE WAVE ENERGY IN PUERTO RICO AND THE US VIRGIN ISLANDS ...... 2029 Garcia, C. ; Canals, M. THE SECOND GENERATION OF AUTONOMOUS SURFACE VESSELS: OPTIMIZED PERFORMANCE FOR AUVS ASSISTANCE AT SEA ...... 2034 Brizzolara, S. LONG-TERM PERFORMANCE OF SEGMENTED BENTHIC MICROBIAL FUEL CELLS ...... 2042 Arias-Thode, Y. M. ; Hsu, L. ; Kagan, J. A. ; Chadwick, D. B. ACTUATION OF WIND-LOADING TORQUE ON VERTICAL AXIS TURBINES AT MODEL SCALE ...... 2047 Koukina, E. ; Kanner, S. ; Yeung, R. W. ROBUST HIERARCHICAL CONTROL STRATEGY FOR HEAVING WAVE ENERGY CONVERTERS ...... 2055 Wahyudie, A. ; Jama, M. A. ; Saed, O. VARIABLE STRUCTURE INTERACTING MULTIPLE MODEL ALGORITHM FOR SHIP TRACKING USING HF SURFACE WAVE RADAR DATA ...... 2060 Vivone, G. ; Braca, P. ; Horstmann, J. VIRTUAL DECOMPOSITION CONTROL FOR AN UNDERWATER VEHICLE CARRYING A N- DOF MANIPULATOR ...... 2068 Antonelli, G. ; Cataldi, E. ROBUST SPARSE UNDERWATER ACOUSTIC CHANNEL ESTIMATION METHOD VIA PROJECTED l1-l2 OPTIMIZATION ...... 2077 Yongwei Wang ; Yixin Yang ; Lingji Xu ; Xiaohui Bai INTEGRATED APPROACH FOR OCEAN OBSERVATION SYSTEMS WITH DEVELOPMENT, IMPLEMENTATION, TRAINING AND EDUCATION ...... 2082 Sivadas, T. K. STUDY ON THE NUCLEAR POWER PLANTS COASTAL DEFENSE AGAINST EXTREME SEA HAZARDS ATTACKS ...... 2091 Liu Defu ; Liu Guilin ; Yu Yifa ; Wang Fengqing A NEW APPROACH FOR ANALYZING THE VIBRO-ACOUSTIC CHARACTERISTICS OF A SEMI-SUBMERGED CYLINDRICAL SHELL ...... 2101 Wang, P. ; Li, T. Y. ; Zhu, X. ; Ye, W. B. AUV BASED FLUSHED AND BURIED OBJECT DETECTION ...... 2106 Nikolovska, A. ASSESSMENT OF UNDERWATER RADIATED NOISE, CAVITATION AND FUEL EFFICIENCY FOR A CHEMICAL TANKER - INFLUENCE OF CPP CONTROL ...... 2111 Hallander, J. ; Karlsson, R. ; Johansson, A. T. SMALL-SIZE ROV LAUNCHED FROM UNDERWATER TV SYSTEM FOR OBSERVATION IN SCIENTIFIC DRILLINGS ...... 2120 Inoue, T. ; Suzuki, H. ; Ishiwata, J. ; Obiki, M. ; Takasu, K. COMPUTATIONAL AND EXPERIMENTAL PREDICTION OF PROPELLER CAVITATION NOISE ...... 2125 Lafeber, F. H. ; Bosschers, J. ; Van Wijngaarden, E. ROBUST PASSIVE DIVER DETECTION IN SHALLOW OCEAN ...... 2134 Hari, V. N. ; Chitre, M. ; Yuen Min Too ; Pallayil, V. O2A: A GENERIC FRAMEWORK FOR ENABLING THE FLOW OF SENSOR OBSERVATIONS TO ARCHIVES AND PUBLICATIONS ...... 2140 Koppe, R. ; Gerchow, P. ; Macario, A. ; Haas, A. ; Schafer-Neth, C. ; Pfeiffenberger, H. REAL-TIME CONTINUOUS ACTIVE SONAR PROCESSING ...... 2146 Canepa, G. ; Munafo, A. ; Micheli, M. ; Morlando, L. ; Murphy, S. DISTRIBUTED UNDERWATER GLIDER NETWORK WITH CONSENSUS KALMAN FILTER FOR ENVIRONMENTAL FIELD ESTIMATION ...... 2152 Grasso, R. ; Braca, P. ; Fortunati, S. ; Gini, F. ; Greco, M. S. AN INNOVATIVE LOW COST HYDROKINETIC SITE SELECTION TECHNIQUE FOR COLD CLIMATE REGIONS ...... 2159 Birjandi, A. H. ; D'Auteuil, S. ; Ridd, C. ; Bibeau, E. L. OCEANOGRAPHY OUTREACH AND EDUCATION IN INFORMAL AND NON-FORMAL LEARNING ENVIRONMENTS ...... 2163 Merlino, S. ; Bianucci, M. ; Evangelista, R. ; Fieschi, R. ; Mantovani, C. ACOUSTIC DETECTION IMPROVEMENT BY PHASE STUDY OF THE ANALYTICAL CROSS- CORRELATION SIGNAL ...... 2170 Ollivier, B. ; Maussang, F. ; Sintes, C. ; Garello, R. ; Uzan, L. DYNAMIC PLACEMENT OF A CONSTELLATION OF SURFACE BUOYS FOR ENHANCED UNDERWATER POSITIONING ...... 2175 Munafo, A. ; Sliwka, J. ; Alves, J. REAL-TIME CLOCK SYNCHRONISATION IN UNDERWATER ACOUSTIC NETWORKS ...... 2181 Vermeij, A. ; Munafo, A. MULTI-SENSOR ISAR TECHNIQUE FOR TRANSLATIONAL MOTION ESTIMATION ...... 2187 Bucciarelli, M. ; Pastina, D. ; Errasti-Alcala, B. ; Braca, P. “BLUE PATHS” AND SEACLEANER: ENSURING LONG-TERM COMMITMENT OF CITIZENS IN ENVIRONMENTAL MONITORING AND SCIENTIFIC RESEARCH ...... 2192 Mioni, E. ; Merlino, S. ; Locritani, M. ; Strada, S. ; Giovacchini, A. ; Stroobant, M. ; Traverso, R. AN INTRODUCTION TO THE NATIONAL ENERGY PROGRAM — GAS HYDRATE EXPLORATION IN TAIWAN ...... 2201 Chau-Chang Wang ; Hsin-Hung Chen ; Song-Chuen Chen ; Yunshuen Wang ADVANCED CFD ANALYSES FOR OFFSHORE WIND POWER INSTALLATIONS ...... 2207 Bertram, V. A LOW FIDELITY MATHEMATICAL MODEL OF A BIOMIMETIC AUV FOR MULTI- VEHICLE COOPERATION ...... 2212 McColgan, J. ; McGookin, E. W. ; Mazlan, A. N. A. AUV FOR DIVER ASSISTANCE AND SAFETY — DESIGN AND IMPLEMENTATION ...... 2222 Stilinovic, N. ; Nad, D. ; Miskovic, N. ASSESSMENT OF UNDERWATER ACOUSTIC CHANNEL DURING PAYLOAD DATA EXCHANGE WITH HYDRO-ACOUSTIC MODEMS OF THE S2C SERIES ...... 2226 Kebkal, K. G. ; Kebkal, O. G. ; Petroccia, R. INNOVATIVE ANTENNA ARRAYS FOR NEXT GENERATION RADAR SYSTEM ...... 2231 Poli, L. ; Carlin, M. ; Rocca, P. ; Oliveri, G. ; Massa, A. HIGH-ACCURACY LOW-COST RTK-GPS FOR AN UNMANNNED SURFACE VEHICLE ...... 2236 Matias, B. ; Oliveira, H. ; Almeida, J. ; Dias, A. ; Ferreira, H. ; Martins, A. ; Silva, E. A MODELING STUDY ON RESIDENCE TIME IN THE YOUNGSAN RIVER ESTUARY, KOREA ...... 2240 Chang-Woo Cho ; Yong-Sik Song MEASUREMENTS AND ANALYSIS OF UNDERWATER ACOUSTIC NOISE OF FISHING VESSELS ...... 2245 Hovem, J. M. ; Vagsholm, R. ; Sorheim, H. ; Haukebo, B. THE IMPACT OF ON HF SURFACE-WAVE RADAR SHIP DETECTION AND TRACKING PERFORMANCES ...... 2251 Maresca, S. ; Braca, P. ; Grasso, R. ; Horstmann, J. METOC-DRIVEN VESSEL INTERDICTION SYSTEM (MVIS): SUPPORTING DECISION MAKING IN COMMAND AND CONTROL (C2) SYSTEMS ...... 2256 Loeches, J. ; Vicen-Bueno, R. ; Mentaschi, L. MARINE LIFE OBSERVATION USING CLASSIFICATION ALGORITHMS ON OCEAN SURFACE PHOTOGRAPHS ...... 2262 Maussang, F. ; Guelton, L. ; Garello, R. ; Chevallier, A. ENVIRONMENTAL IMPACT ASSESSMENT (EIA) OF WAVE ENERGY CONVERTER (WEC) ...... 2266 Viola, A. ; Franzitta, V. ; Curto, D. ; Di Dio, V. ; Milone, D. ; Rodono, G. UTILIZATION OF VESSEL AUTOMATIC IDENTIFICATION SYSTEM (AIS) TO ESTIMATE THE EMISSION OF AIR POLLUTANT FROM MERCHANT VESSELS IN A PORT AREA ...... 2270 Ta-Kang Liu ; Haw-Yang Sheu ; Yen-Ting Chen A COMPARISON BETWEEN EKF-BASED AND UKF-BASED NAVIGATION ALGORITHMS FOR AUVS LOCALIZATION ...... 2275 Allotta, B. ; Chisci, L. ; Costanzi, R. ; Fanelli, F. ; Fantacci, C. ; Meli, E. ; Ridolfi, A. ; Caiti, A. ; Di Corato, F. ; Fenucci, D. FIRST SEA TRIALS OF HROV THE NEW HYBRID VEHICLE DEVELOPED BY IFREMER ...... 2280 Brignone, L. ; Raugel, E. ; Opderbecke, J. ; Rigaud, V. ; Piasco, R. ; Ragot, S. COASTAL FOG DETECTION USING VISUAL SENSING ...... 2287 Dian Zhang ; Sullivan, T. ; O'Connor, N. E. ; Gillespie, R. ; Regan, F. OBSERVABILITY ANALYSIS FOR SINGLE RANGE LOCALIZATION ...... 2292 Arrichiello, F. ; De Palma, D. ; Indiveri, G. ; Parlangeli, G. UNDERWATER COMMUNICATIONS RESEARCH AND DEVELOPMENT AT CMRE ...... 2302 Alves, J. ; Lepage, K. ; Guerrini, P. ; Potter, J. ; Zappa, G. ; Furfaro, T. ; Munafo, A. ; Vermeij, A. LINEAR SLIDING WAVE ENERGY CONVERTER ...... 2309 Chen, H. M. ; Delbalzo, D. R. COGNITIVE AUTONOMOUS DIVING BUDDY (CADDY): AUV DESIGN REQUIREMENTS FOR DIVERS SAFETY ...... 2315 Egi, S. M. ; Balestra, C. ; Pieri, M. ; Cialoni, D. ; Thomas, G. ; Marroni, A. THE WIDELY SCALABLE MOBILE UNDERWATER SONAR TECHNOLOGY (WIMUST) PROJECT: AN OVERVIEW ...... 2320 Al-Khatib, H. ; Antonelli, G. ; Caffaz, A. ; Caiti, A. ; Casalino, G. ; Bielic De Jong, I. ; Duarte, H. ; Indiveri, G. ; Jesus, S. ; Kebkal, K. ; Pascoal, A. ; Polani, D. A HYBRID FVTD-PO APPROACH FOR THE CHARACTERIZATION OF ANTENNAS ON LARGE PLATFORMS IN NAVAL APPLICATIONS ...... 2325 Cerruti, M. ; Pastorino, M. ; Randazzo, A. “BREAKING THE SURFACE” — INTERNATIONAL INTERDISCIPLINARY FIELD-TRAINING FOR EXPERTS, END-USERS AND STUDENTS ...... 2330 Vukic, Z. ; Miskovic, N. ; Vasilijevic, A. DEXROV: ENABLING EFFECTIVE DEXTEROUS ROV OPERATIONS IN PRESENCE OF COMMUNICATION LATENCY ...... 2334 Gancet, J. ; Urbina, D. ; Letier, P. ; Ilzkovitz, M. ; Weiss, P. ; Gauch, F. ; Chemisky, B. ; Antonelli, G. ; Casalino, G. ; Indiveri, G. ; Birk, A. ; Pfingsthorn, M. F. ; Calinon, S. ; Turetta, A. ; Walen, C. ; Guilpain, L. HEAT TRANSFER CHARACTERISTIC OF A HYDROTHERMAL ENERGY CONVERTER ...... 2340 Yu Xie ; Shi-Jun Wu ; Can-Jun Yang ; Shuang-Shuang Fan VESSELS TRAFFIC ESTIMATION THROUGH IMAGE PROCESSING APPLIED TO ACQUISITIONS BY HYDROPHONES ...... 2345 Petroni, A. ; Biagi, M. ; Colonnese, S. ; Cusani, R. ; Scarano, G. NEMO: AN ARCHITECTURE FOR SOFTWARE COMMUNICATIONS RESEARCH IN THE MARITIME DOMAIN ...... 2349 Vermeij, A. ; Furfaro, T. C. ; Alves, J. PROPERTIES OF CIRCULAR SPARSE ARRAYS FOR UNDERWATER, BROADBAND, HIGH FREQUENCY SOURCE LOCALIZATION ...... 2355 Vettori, G. ; Ussi, P. INTEGRATING EXPERT SYSTEM CLIPS INTO DUNE FOR AUV CONTROL ...... 2364 Teubler, T. ; Liang Shuang ; Hellbruck, H. COOPERATIVE FORMATION CONTROL IN THE SCOPE OF THE EC MORPH PROJECT: THEORY AND EXPERIMENTS ...... 2370 Caldeira Abreu, P. ; Bayat, M. ; Botelho, J. ; Gois, P. ; Gomes, J. ; Pascoal, A. ; Ribeiro, J. ; Ribeiro, M. ; Rufino, M. ; Sebastiao, L. ; Silva, H. INDIAN NATIONAL STUDENT AUV COMPETITION: A SUCCESS STORY ...... 2377 Atmanand, M. A. ; Venkatesan, R. ; Sundar, R. ; Kadiyam, J. MULTI-PURPOSE OFFSHORE PLATFORMS ENVIRONMENTAL MONITORING, SAFETY AND SECURITY, A JOINT STRATEGY FROM THE FP7 TROPOS, NEXOS AND PERSEUS PROJECTS ...... 2383 Delory, E. ; Quevedo, E. ; Alcaraz Real-Arce, D. ; Barrera, C. ; Hernandez, J. ; Llinas, O. ; Lockhart, T. ; Gadel, M. COOPERATION BETWEEN AUTONOMOUS UNDERWATER VEHICLE MANIPULATIONS SYSTEMS WITH MINIMAL INFORMATION EXCHANGE ...... 2387 Simetti, E. ; Casalino, G. ; Manerikar, N. ; Sperinde, A. ; Torelli, S. ; Wanderlingh, F. DESIGN OF A SOFTWARE STRUCTURE AND A MISSION HANDLER FOR COOPERATIVE MARINE ROBOTS ...... 2393 Eckstein, S. ; Glotzbach, T. ; Ament, C. EXPERIMENTAL RESULTS OF DELAY-TOLERANT NETWORKING IN UNDERWATER ACOUSTIC CHANNEL USING S2C MODEMS WITH EMBEDDED SANDBOX ON-BOARD ...... 2399 Kebkal, V. ; Kebkal, K. ; Kebkal, O. ; Komar, M. UNDERWATER HYPERSPECTRAL IMAGING FOR ENVIRONMENTAL MAPPING AND MONITORING OF SEABED HABITATS ...... 2405 Tegdan, J. ; Ekehaug, S. ; Hansen, I. M. ; Sandvik Aas, L. M. ; Steen, K. J. ; Pettersen, R. ; Beuchel, F. ; Camus, L. GUARD1: AN AUTONOMOUS SYSTEM FOR GELATINOUS ZOOPLANKTON IMAGE-BASED RECOGNITION ...... 2411 Marini, S. ; Corgnati, L. ; Mazzei, L. ; Ottaviano, E. ; Isoppo, B. ; Aliani, S. ; Conversi, A. ; Griffa, A. RANGE, VELOCITY AND IMMERSION ESTIMATION OF A MOVING TARGET IN A WATER- FILLED TANK WITH AN ACTIVE SONAR SYSTEM ...... 2418 Mours, A. ; Mars, J. I. ; Ioana, C. ; Josso, N. F. ; Doisy, Y. ; Roux, P. CONTROL SYSTEM FOR LONG-RANGE SURVEY HYBRID-DRIVEN UNDERWATER GLIDER ...... 2424 Zhier Chen ; Jiancheng Yu ; Aiqun Zhang ; Sanming Song LOCALIZATION OF UNDERWATER TONE NOISE SOURCES BY A SMALL APERTURE CIRCULAR ARRAY ...... 2430 Lingji Xu ; Yixin Yang ; Yongwei Wang ; Hu Yang THE DEBUT OF AEOLUS, THE AUTONOMOUS MODEL SAILBOAT OF ETH ZURICH ...... 2434 Tranzatto, M. ; Liniger, A. ; Grammatico, S. ; Landi, A. SEABED CLASSIFICATION USING A SINGLE BEAM ECHOSOUNDER ...... 2440 Ferretti, R. ; Fumagalli, E. ; Caccia, M. ; Bruzzone, G. GESTURE-BASED LANGUAGE FOR DIVER-ROBOT UNDERWATER INTERACTION ...... 2445 Chiarella, D. ; Bibuli, M. ; Bruzzone, G. ; Caccia, M. ; Ranieri, A. ; Zereik, E. ; Marconi, L. ; Cutugno, P. COOPERATIVE CONTROL AND NAVIGATION IN THE SCOPE OF THE EC CADDY PROJECT ...... 2454 Abreu, P. ; Bayat, M. ; Botelho, J. ; Gois, P. ; Pascoal, A. ; Ribeiro, J. ; Ribeiro, M. ; Rufino, M. ; Sebastiao, L. ; Silva, H. BEHAVIOUR ANALYSIS OF DEEP OCEAN WATER DISCHARGED IN A SMALL PORT ...... 2459 Tabeta, S. ; Kato, T. ; Arii, Y. ; Iseki, K. ; Kurahashi, M. ; Ouchi, K. ; Shibuya, M. OPTICAL MAPPING WITH THE ARIANE HROV AT IFREMER: THE MATISSE PROCESSING TOOL ...... 2464 Arnaubec, A. ; Opderbecke, J. ; Allais, A.-G. ; Brignone, L. THE MORPH PROJECT: ACTUAL RESULTS ...... 2470 Kalwa, J. ; Carreiro-Silva, M. ; Fontes, J. ; Brignone, L. ; Ridao, P. ; Birk, A. ; Glotzbach, T. ; Caccia, M. ; Alves, J. ; Pascoal, A. BIOFOULING PROTECTION BY ELECTRO-CHLORINATION ON OPTICAL WINDOWS FOR OCEANOGRAPHIC SENSORS AND IMAGING DEVICES ...... 2478 Laurent, D. ; Kada, B. ; Karenn, B. ; Jean-Yves, C. ; Mathieu, D. ; Bertrand, F. ; Celia, G. ; Gerard, G. ; Yves, L. B. ; Michel, P. ; Emmanuel, R. DESIGN OF AN OBSTACLE DETECTION SYSTEM FOR MARINE AUTONOMOUS VEHICLES ...... 2488 Sorbara, A. ; Odetti, A. ; Bibuli, M. ; Zereik, E. ; Bruzzone, G. A NOVEL TACTILE SENSOR FOR UNDERWATER APPLICATIONS: LIMITS AND PERSPECTIVES ...... 2496 Muscolo, G. G. ; Cannata, G. A MULTI-DEPTH SENSORISED MICRO SAMPLING SYSTEM ...... 2503 Saviozzi, G. ; Buselli, E. ; Stefanini, C. ; Laschi, C. ; Dario, P. AUV-BASED CHARACTERIZATION OF EMF EMISSIONS FROM SUBMERGED POWER CABLES ...... 2510 Dhanak, M. ; An, E. ; Coulson, R. ; Frankenfield, J. ; Ravenna, S. ; Pugsley, D. ; Valdes, G. ; Venezia, W. AUTOMATED MICRO LOOP FLOW REACTOR TECHNOLOGY TO MEASURE NUTRIENTS IN COASTAL WATER: STATE OF THE ART AND FIELD APPLICATION ...... 2516 Bodini, S. ; Sanfilippo, L. ; Savino, E. ; Moscetta, P. SEAMODEM: A LOW-COST UNDERWATER ACOUSTIC MODEM FOR SHALLOW WATER COMMUNICATION ...... 2523 Cario, G. ; Casavola, A. ; Lupia, M. ; Rosace, C. BEAMFORMING WITH NONSINUSOIDAL SIGNAL FOR GRATING LOBES SUPPRESSION IN UNDERWATER ACOUSTIC IMAGING ...... 2529 Hu Yang ; Hang Chen ; Lingji Xu A PROCEDURE TO ENSURE A GOOD QUALITY OF SIGNALS RECORDED BY MULTIDISCIPLINARY SEAFLOOR OBSERVATORIES ...... 2534 Embriaco, D. ; Giovanetti, G. ; De Caro, M. ; Monna, S. ; Marinaro, G. ; Beranzoli, L. ; Favali, P. ; Iafolla, V. A NONLINEAR COMPLEMENTARY FILTER FOR UNDERWATER NAVIGATION USING INERTIAL MEASUREMENTS ...... 2539 Di Corato, F. ; Caiti, A. ; Fenucci, D. ; Grechi, S. ; Novi, M. ; Pacini, F. ; Paoli, G. OPTIMAL AIDED INERTIAL NAVIGATION, AUGMENTED WITH INTER-SENSORS SELF- CALIBRATION ...... 2545 Di Corato, F. ; Novi, M. ; Pacini, F. ; Paoli, G. ; Caiti, A. ; Fenucci, D. ; Grechi, S. WHITE SHARK STRIKE ON A LONG-RANGE AUV IN MONTEREY BAY ...... 2551 Stanway, M. J. ; Kieft, B. ; Hoover, T. ; Hobson, B. ; Klimov, D. ; Erickson, J. ; Raanan, B. Y. ; Ebert, D. A. ; Bellingham, J. PASSIVE SYNTHETIC APERTURE ARRAY TO IMPROVE NOISE MAPPING OF A MOVING SHIP ...... 2558 Oudompheng, B. ; Nicolas, B. ; Lamotte, L. UNDERWATER VEHICLES FOR ENVIRONMENTAL MANAGEMENT IN COASTAL AREAS ...... 2564 Ludvigsen, M. ; Thorsnes, T. ; Hansen, R. E. ; Sorensen, A. J. ; Johnsen, G. ; Lagstad, P. A. ; Odegard, O. ; Candeloro, M. ; Nornes, S. M. ; Malmquist, C. DEAIS PROJECT: DETECTION OF AIS SPOOFING AND RESULTING RISKS ...... 2570 Ray, C. ; Iphar, C. ; Napoli, A. ; Gallen, R. ; Bouju, A. RELATIONSHIPS AMONG VERNIER-METHOD AND OTHER DIRECTION-OF-ARRIVAL ESTIMATORS ...... 2576 Sintes, C. ; Foote, K. G. ; Llort-Pujol, G. AN TURBINE SYSTEM WITH INDUCTION GENERATOR AND POWER ELECTRONIC CONTROL ...... 2582 Xiros, N. I. ; Vanzwieten, J. H. ; Sultan, C. ; Tzelepis, V. PERFORMANCE VERIFICATION OF THE ALTERNATING LANDMARK NAVIGATION BY MULTIPLE AUVS THROUGH SEA EXPERIMENTS ...... 2592 Matsuda, T. ; Maki, T. ; Sato, Y. ; Sakamaki, T. DATA ANALYSIS OF SIMULATED HYDROFOIL OSCILLATIONS IN A STEADY FLOW FIELD USING INTELLIGENT HIGHER-ORDER STATISTICAL PROCESSING ...... 2601 Belibassakis, K. A. ; Politis, G. K. ; Xiros, N. I. ; Tsarsitalidis, V. ; Aktosun, E. PERFORMANCE OF MICRO-MODEM PSK SIGNALING WITH A MOBILE TRANSMITTER DURING THE 2010 MACE EXPERIMENT ...... 2610 Freitag, L. ; Singh, S. SECFUN: SECURITY FRAMEWORK FOR UNDERWATER ACOUSTIC SENSOR NETWORKS ...... 2617 Ateniese, G. ; Capossele, A. ; Gjanci, P. ; Petrioli, C. ; Spaccini, D. NUMERICAL MODELLING OF CONTROL STRATEGIES AND ACCUMULATOR EFFECT OF A HYDRAULIC POWER TAKE-OFF SYSTEM ...... 2626 Verbrugghe, T. ; Kortenhaus, A. ; De Rouck, J. A CRITICAL SURVEY ON MARSUPIAL ROBOTIC TEAMS FOR ENVIRONMENTAL MONITORING OF WATER BODIES ...... 2636 Marques, F. ; Lourenco, A. ; Mendonca, R. ; Pinto, E. ; Rodrigues, P. ; Santana, P. ; Barata, J. NEURAL NETWORKS FOR THE LOCALIZATION OF BIOLOGICAL AND ANTHROPOGENIC SOURCE AT NEUTRINO DEEP SEA TELESCOPE ...... 2642 Houegnigan, L. ; Van Der Schaar, M. ; Pla Caro, P. ; Solsona Berga, A. ; Sole Carbonell, M. ; Andre, M. SPARSE CHANNEL ESTIMATION AND EQUALIZATION FOR UNDERWATER FILTERED MULTITONE ...... 2652 Silva, L. ; Gomes, J. FIRST IN-FIELD EXPERIMENTS WITH A “BILINGUAL” UNDERWATER ACOUSTIC MODEM SUPPORTING THE JANUS STANDARD ...... 2660 Petroccia, R. ; Cario, G. ; Lupia, M. ; Djapic, V. ; Petrioli, C. SEAPERCH: HOW A START-UP HANDS-ON ROBOTICS ACTIVITY GREW INTO A NATIONAL PROGRAM ...... 2667 Nelson, S. G. ; Cooper, K. B. ; Djapic, V. WAKE MEASUREMENT BEHIND A LOADED VERTICAL AXIS HYDROKINETIC TURBINE IN FIELD TEST ...... 2670 Birjandi, A. H. ; Shahsavarifard, M. ; Hamta, A. ; Bibeau, E. L. ; Neufeld, D. TOWARDS REAL-TIME QUANTIFICATION OF SEAWATER COMPOSITION USING LASER- INDUCED BREAKDOWN SPECTROSCOPY ...... 2674 Sato, T. ; Thornton, B. ; Takahashi, T. ; Sakka, T. ; Ohki, T. ; Ohki, K. UNDERWATER IMAGE STITCHING BASED ON SIFT AND WAVELET FUSION ...... 2681 Meimei Chen ; Rui Nian ; Bo He ; Shuqi Qiu ; Xuefei Liu ; Tianhong Yan IOOS-CARICOOS: PAST, PRESENT AND FUTURE OF A TROPICAL COASTAL OCEAN OBSERVING SYSTEM ...... 2685 Morell, J. M. ; Canals, M. F. ; Capella, J. E. ; Aponte, L. D. ; Corredor, J. E. ; Watlington, R. ; Garcia, C. COMPARISON OF OFDM AND SINGLE-CARRIER SCHEMES FOR DOPPLER TOLERANT ACOUSTIC COMMUNICATIONS ...... 2689 Arikan, T. ; Riedl, T. ; Singer, A. ; Younce, J. SOUND TRANSMISSION LOSS CORRECTION DUE TO HYDROPHONE FLUCTUATION WITH PROPAGATION MODEL ...... 2696 Yang Wu ; Hangfang Zhao ; Wen Xu MOTION CONTROL OF DOCKING AUV IN CURRENTS ...... 2702 Shuangshuang Fan ; Yuanxin Xu ; Bo Li ; Chenzhan Liu ; Wen Xu A UNIFIED FRAMEWORK FOR MULTIPLE-INPUT MULTIPLE-OUTPUT AND BISTATIC SYNTHETIC APERTURE SONAR PROCESSING ...... 2709 Wen Xu ; Feng Sun ; Shuangshuang Fan ; Xiang Pan A RESEARCH COORDINATION NETWORK FOR ...... 2713 Pearlman, J. ; Chavez, F. ; Wiliams, A. ; Houtman, B. ; Simmons, S. ENABLING PERSISTENT AUTONOMY FOR UNDERWATER GLIDERS THROUGH TERRAIN BASED NAVIGATION ...... 2717 Stuntz, A. ; Liebel, D. ; Smith, R. N. DESIGN ANALYSIS OF A SELF STABILIZING UNDERWATER SUB-SURFACE INSPECTION ROBOT USING HYDRODYNAMIC GROUND EFFECT ...... 2727 Bhattacharyya, S. ; Asada, H. H. ; Triantafyllou, M. S. REMOTE PIPELINE INTEGRITY ASSESSMENT AND FLOW ASSURANCE USING WIDEBAND SONAR TECHNOLOGY ...... 2734 Pailhas, Y. ; Brown, K. ; Valeyrie, N. ; Capus, C. EVALUATION OF POSITION ESTIMATION OF AUV TRI-TON 2 IN REAL SEA EXPERIMENTS ...... 2738 Sato, Y. ; Maki, T. ; Mizushima, H. ; Matsuda, T. ; Sakamaki, T. ENHANCING AUTONOMY: FAULT DETECTION, IDENTIFICATION AND OPTIMAL REACTION FOR OVER — ACTUATED AUVS ...... 2744 Caiti, A. ; Di Corato, F. ; Fabiani, F. ; Fenucci, D. ; Grechi, S. ; Pacini, F. UNDERWATER ACOUSTIC MODEM WITH STREAMING VIDEO CAPABILITIES ...... 2750 Martins, M. S. ; Cabral, J. ; Lopes, G. ; Ribeiro, F. AUTONOMOUS ROBOTIC EXPLORATION OF CORAL REEFS USING A VISUAL ATTENTION-DRIVEN STRATEGY FOR DETECTING AND TRACKING REGIONS OF INTEREST ...... 2757 Maldonado-Ramirez, A. ; Abril Torres-Mendez, L. 3D-BELIEF SPACE PLANNING FOR UNDERWATER MOBILE GRASPING ...... 2762 Zereik, E. ; Gagliardi, F. ; Bibuli, M. ; Bruzzone, G. ; Caccia, M. ; Bonsignorio, F. DEEPRULER: DESIGN, EXECUTE AND EVALUATE PATH-FOLLOWING FOR ROBOTIC UNMANNED VEHICLES AND EXPERIMENT REPEATABILITY ...... 2768 Sorbara, A. ; Ranieri, A. ; Zereik, E. ; Bibuli, M. ; Bruzzone, G. ; Caccia, M. THE ITALIAN CONTRIBUTION TO THE EMSO LIGURIAN SEA NODE: THE ROLE OF THE LIGURIA CLUSTER OF MARINE TECHNOLOGIES ...... 2775 Grossi, L. ; Martinelli, A. ; Marini, D. ; Stroobant, M. ; Lescio, D. ; Beranzoli, L. ; Favali, P. ; Carmisciano, C. EXPERIMENTS IN MULTI-VEHICLE OPERATIONS: THE RAPID ENVIRONMENTAL PICTURE ATLANTIC EXERCISE 2014 ...... 2780 Borges De Sousa, J. ; Pereira, J. ; Alves, J. ; Galocha, M. ; Pereira, B. ; Lourenco, C. NEXT-GENERATION TECHNOLOGY FOR OCEAN RESOURCES EXPLORATION (ZIPANGU- IN-THE-OCEAN) PROJECT IN JAPAN ...... 2787 Urabe, T. ; Tsujimoto, T. ; Ura, T. ; Hotta, H. A METHOD FOR EVALUATING THE SHIP EQUILIBRIUM POINT USING 3D MESHES DEVELOPED FOR EMBEDDED DEVICE ...... 2792 Calabrese, F. ; Cataldo, M. ; De Pascalis, A. ; Mancarella, L. ; Ostuni, L. ; Zizzari, A. A. SEACONDITIONS: PRESENT AND FUTURE SEA CONDITIONS FOR SAFER NAVIGATION (WWW.SEA-CONDITIONS.COM) ...... 2798 Lecci, R. ; Coppini, G. ; Creti, S. ; Turrisi, G. ; D'Anca, A. ; Palazzo, C. ; Aloisio, G. ; Fiore, S. ; Bonaduce, A. ; Mannarini, G. ; Kumkar, Y. ; Ciliberti, S. A. ; Federico, I. ; Agostini, P. ; Bonarelli, R. ; Martinelli, S. ; Marra, P. ; Scalas, M. ; Tedesco, L. ; Rollo, D. ; Cavallo, A. ; Tumolo, A. ; Monacizzo, T. ; Spagnulo, M. ; Pinardi, N. ; Fazioli, L. ; Olita, A. ; Cucco, A. ; Sorgente, R. ; Tonani, M. ; Drudi, M. EFFICIENT SEAFLOOR CLASSIFICATION AND CABLE ROUTE DESIGN USING AN AUV ...... 2804 Sheng-Wei Huang ; Chen, E. ; Jen-Hwa Guo RECENT R&D ACTIVITIES ON UNDERWATER VEHICLES IN KOREA FOR AND OBSERVATION ...... 2812 Pan-Mook Lee ; Bong-Huan Jun ; Phil-Yeob Lee ; Woong-Seo Kim ; Son-Cheol Yu THE WORLD ROBOTIC SAILING CHAMPIONSHIP, A COMPETITION TO STIMULATE THE DEVELOPMENT OF AUTONOMOUS SAILBOATS ...... 2820 Le Bars, F. ; Jaulin, L. EVINS: A FRAMEWORK FOR DEVELOPMENT OF UNDERWATER ACOUSTIC SENSOR NETWORKS AND POSITIONING SYSTEMS ...... 2825 Kebkal, O. ; Kebkal, V. ; Kebkal, K. NOISE MITIGATION WITH BALLOON ARRAYS DURING PILE DRIVING ACTIVITIES IN THE UNDERWATER ENVIRONMENT ...... 2831 Yu-Hang Wu ; Tien-Siang Ling ; Wei-Shien Hwang ; Chi-Fang Chen ESTABLISHMENT OF A ROBUST UNDERWATER ACOUSTIC REPEATER WITH APPLICATIONS IN UNDERWATER ACOUSTIC TRANSMISSION AND DETECTION ...... 2835 Chi-Fang Chen ; Kai-Jen Hsiao ; Sheng-Yu Chuang ; Chia-Lu Hu FULL SCALE MEASUREMENT OF UNDERWATER RADIATED NOISE FROM A COASTAL TANKER ...... 2840 Johansson, A. T. ; Hallander, J. ; Karlsson, R. ; Langstrom, A. ; Turesson, M. IMPROVED CAPABILITY, RELIABILITY, AND PRODUCTIVITY FOR UNDERWATER GEOPHYSICAL MAPPING OF UNEXPLODED ORDNANCE ...... 2850 Foley, J. ; Jennings, D. ; Fonda, R. ; Jacobson, J. ; Miele, M. THE IEEE OCEANIC ENGINEERING SOCIETY (OES) AND PROMOTION OF OCEANIC STEM SPORT COMPETITIONS ...... 2856 Collins, J. S. INTERFERENCE SUPPRESSION IN CONGESTED UNDERSEA ENVIRONMENTS ...... 2859 McGee, J. ; Catipovic, J. ; Schoenecker, S. ; Swaszek, P. UNDERSEA REMOTE SENSING WITH ACOUSTIC COMMUNICATIONS WAVEFORMS ...... 2867 Meyer, M. G. ; Rotker, N. A. DEVELOPING A MODEL FOR HORIZONTAL ARRAY COHERENCE IN THE PRESENCE OF RANDOM LINEAR INTERNAL WAVES ...... 2873 Rouseff, D. ; Lunkov, A. A. AUTONOMOUS NETWORKED ANTI-SUBMARINE WARFARE RESEARCH AND DEVELOPMENT AT CMRE ...... 2877 Lepage, K. D. ; Goldhahn, R. ; Alves, J. ; Strode, C. ; Braca, P. ; Ferri, G. ; Munafo, A. ; Oddone, M. ; Sildam, J. ; Baralli, F. ; Biagini, S. ; Canepa, G. ; Colombo, M. ; Grandi, V. ; Grenon, G. ; Mazzi, M. ; Micheli, M. ; Parisi, G. ; Saia, P. ; Vermeij, A. ; Zappa, G. USING MULTIBEAM ECHOSOUNDER DATAFOR A GIS-READY SEAFLOOR CHARACTERIZATION IN THE ADRIATIC SEA ...... 2883 Tassetti, A. N. ; Malaspina, S. ; Punzo, E. ; Fabi, G. ; Mancini, A. Author Index IEEE Xplore Abstract - From the seafloor to the sea surface: A technical solution for th ... Pagina 1 di 2

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From the seafloor to the sea surface: Full Text A technical solution for the cabled Sign-In or Purchase EMSO-SN1 observatory in the Western Ionian Sea

Stefania Sparnocchia ; Ist. di Sci. Marine, La Spezia, Italy ; Mireno Borghini ; Sara Durante ; Virna Meccia 6 more authors Author(s)

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The SN1 observatory is a cabled deep-sea observatory operating in real-time since 2005 in Southern Italy (East Sicily), at 2100 m water depth, 25 km from the harbor of the city of Catania. A structural enhancement of the SN1 observatory is undergoing in the framework of the Italian EMSO MedIT project, including the implementation of a multi-parametric monitoring system for observation in the water column dialoguing with the junction box in SN1. The new system is an inductive mooring collecting data from four water depths, and has been installed in its location on March 18, 2015. Coupling inductive modem, acoustic and fiber optic telemetries, this implementation is innovative and very challenging. The monitoring system of the water column is presented and its expected contribution to the knowledge of the deployment area is highlighted.

Published in: OCEANS 2015 - Genova Date of Conference: 18-21 May 2015

Page(s): Conference Location : 1 - 5 Genoa

INSPEC Accession Number: DOI: 15473430 10.1109/OCEANS- Genova.2015.7271527

Publisher: IEEE

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