Underwater Acoustic Modeling and Simulation, Fourth Edition continues to provide the most authoritative overview of currently available propagation, noise, reverberation, and sonar-performance models. This fourth edition of a bestseller discusses the fundamental processes involved in simulating the performance of underwater acoustic systems and emphasizes the importance of applying the proper modeling resources to simulate the behavior of sound in virtual ocean environments. New to the Fourth Edition Extensive new material that addresses recent advances in inverse techniques and marine-mammal protection Problem sets in each chapter Updated and expanded inventories of available models Designed for readers with an understanding of underwater acoustics but who are unfamiliar with the various aspects of modeling, the book includes sufficient mathematical derivations to demonstrate model formulations and provides guidelines for selecting and using the models. Examples of each type of model illustrate model formulations, model assumptions, and algorithm efficiency. Simulation case studies are also included to demonstrate practical applications. Providing a thorough source of information on modeling resources, this book examines the translation of our physical understanding of sound in the sea into mathematical models that simulate acoustic propagation, noise, and reverberation in the ocean. The text shows how these models are used to predict and diagnose the performance of complex sonar systems operating in the undersea environment.

Large scale optical mapping methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost ROVs usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This book contributes to the state-of-art in large area image mosaicing methods for underwater surveys using low-cost vehicles equipped with a very limited sensor suite. The main focus has been on global alignment and fast topology estimation, which are the most challenging steps in creating large area image mosaics. This book is intended to emphasise the importance of the topology estimation problem and to present different solutions using interdisciplinary approaches opening a way to further develop new strategies and methodologies.

This thesis proposes a new raft-type wave-powered desalination device that can convert wave power into hydraulic energy and use reverse osmosis (RO) to directly desalinate seawater. Both analytical and numerical methods are used to study the hydrodynamic characteristics of the device. Further, the thesis investigates the maximum power extraction and multiple parameter effects on power absorption and averaged permeate water flux. Lastly, it proposes and assesses two power extraction enhancing strategies. The thesis offers a valuable and important reference guide to ocean-wave-and-structure interaction and wave-powered seawater desalination for scientists and engineers alike.

The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

This is the second volume of a two-volume guide to designing, conducting and interpreting laboratory and field experiments in a broad range of topics associated with hydraulic engineering. Specific guidance is provided on methods and instruments currently used in experimental hydraulics, with emphasis on new and emerging measurement technologies and methods of analysis. Additionally, this book offers a concise outline of essential background theory, underscoring the intrinsic connection between theory and experiments. This book is much needed, as experimental hydraulicians have had to refer to guidance scattered in scientific papers or specialized monographs on essential aspects of laboratory and fieldwork practice. The book is the result of the first substantial effort in the community of hydraulic engineering to describe in one place all the components of experimental hydraulics. Included is the work of a team of more than 45 professional experimentalists, who explore innovative approaches to the vast array of experiments of differing complexity encountered by today’s hydraulic engineer, from laboratory to field, from simple but well-conceived to complex and well-instrumented. The style of this book is intentionally succinct, making frequent use of convenient summaries, tables and examples to present information. All researchers, practitioners, and students conducting or evaluating experiments in hydraulics will find this book useful.

This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.

A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.