WHOI Theses

Permanent URI for this collection

https://hdl.handle.net/1912/1172

WHOI's educational role, at the graduate level, was formalized in 1968 with a change in its charter and the signing of an agreement with the Massachusetts Institute of Technology for a Joint Program leading to doctoral (Ph.D. or Sc.D.) or engineer's degrees. Joint master's degrees are also offered in selected areas of the program. Woods Hole Oceanographic Institution is also authorized to grant doctoral degrees independently.

New theses are added as they are published.

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Browsing WHOI Theses by Title

  • Thesis
    A 2 1/2 dimensional thermohaline circulation model with boundary mixing
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2000-04) Ru, Hua
    A simple quasi-two dimensional dynamical model of Thermohaline circulation (THC) is developed, assuming that the mixing only occurs near western and eastern boundary layers. When the surface density is prescribed, the climatically important quantities, such as the strength of overturning and meridional heat transport, are related to the zonal integral over the vigorously mixing regions and scaled as (KvΔx )2/3. The numerical results suggest that the density difference between eastern and western boundaries play an important role in the meridional overturning. The eastern boundary is characterized by the upwelling on top of downwelling. The western boundary layer is featured by the universal upwelling. The inefficiency of diffusion heat transport accounts for the narrowness of sinking region and shallowness of overturning cell in one-hemisphere. The experiments with other surface boundary conditions are also explored. The circulation patterns obtained are similar under various surface temperature distributions, suggesting these are very robust features of THC. The role of boundary mixing is further explored in global ocean. The 2 1/2 dynamical model is extended to two-hemisphere ocean. Additional dynamics such as Rayleigh friction and abyssal water properties are taken into account. A set of complicated governing equations are derived and numerically solved to obtain steady state solution. The basic circulation features are revealed in our dynamical model. An equtorially asymmetric meridional circulation is observed due to small perturbation at the surface temperature in the high latitude. The density differences between eastern and western boundaries are distinct in both hemispheres. This is achieved during the spin-up process. Although the dynamical model results agree well with OGCM results in one-hemisphere, several important dynamics are lacking and exposed in two-hemisphere experiments. We need to consider horizontal advection terms which will effectively advect positive density anomalies across the equator and form the deep water for the entire system.
  • Thesis
    Abrupt climate change in the Atlantic Ocean during the last 20,000 years : insights from multi-element analysis of benthic and planktic foraminifera and a coupled OA-GCM
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-09) Came, Rosemarie E.
    Minor and trace element records from planktic and benthic foraminifera from Atlantic sediment cores, as well as outputfrom a coupled OA·GCM, were used to investigate the magnitude and distribution of the oceanic response to abrupt Climate events.of the past 20,000 years. The study addressed three major questions: 1) What is the magnitude of high-latitude sea surface temperature and salinity variability during abrupt climate events? 2) Does intermediate depth ventilation change in conjunction with high-latitude climate variability? 3) Are the paleoclimate data consistent with the response of a coupled OAGCM to a freshwater perturbation? To address these questions, analytical methods were implemented for the simultaneous measurement of Mg/Ca, Zn/Ca, Cd/Ca, Mn/Ca and All Ca in foraminiferal samples using inductively-coupled plasma mass spectrometry. Paired records of planktic foraminiferal ()IRO and Mg/Ca from the subpolar North Atlantic reveal trends of increasing temperatures (-3°C) and salinities over the course of the Holocene. The records provide the first evidence of open':'ocean cooling (nearly 2°C) and freshening during the 8.2 kyr event, and suggest similar conditions at 9.3 ka. Benthic foraminiferal Cd/Ca results from an intermediate depth, western South Atlantic core (l,268 ni) are consistent with reduced export into the South Atlantic of North Atlantic Intermediate Water during the Younger Dryas. Paired records. of benthic foraminiferal Mg/Ca and bIRO from two intermediate depth low latitude western Atlantic sites - one from the Florida Current (751 m) and one from the Little Bahama Bank (l,057 m) - provicie insights into the spatial distribution of intermediate depth temperature and sii!.inity variability during" the Younger Dryas. The intermediate depth paleoceanographic temperature and salinity data are consistent with the results of a GFDL R30 freshwater forced model simulation, suggesting that freshwater forcing is a possible driver or amplifier for B011ing-Aller0d to Younger Dryas climate variability. Benthic foraminiferal Cd/Ca results from an intermediate depth Florida Current core (751 m) are consistent with a decrease in the northward penetration of southern source waters within the return flow of the Atlantic meridional overturning circulation (MOC) and an increase in the influence of intermediate depth northern source waters during the Younger Dryas.
  • Thesis
    Absarokites from the Western Mexican Volcanic Belt : constraints on mantle wedge conditions
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2002-08) Hesse, Marc
    We have investigated the near liquidus phase relations of a primitive absarokite from the Mascota region in Western Mexico. Sample M.102 was chosen because it has high MgO contents, a high Mg# and F090 olivine phenocrysts, indicating it is primitive mantle melt. High-pressure experiments on a synthetic analogue of the absarokite composition with a H2O content of either -1 7 wt% or -5.1 wt% were cared out in a piston cylinder apparatus. The composition with -1.7 wt% H2O is multiply saturated with olivine and orthopyroxene as liquidus phases at 1.6 GPa and 1400°C. At the same pressure clinopyroxene appears 30°C below the liquidus. With a H2O content of -5.1 wt% composition M.102 is multiply saturated with olivine and orthopyroxene on the liquidus at 1.7 GPa and 1300°C. Assuming batch melting, we suggest that absarokite M.102 segregated from a depleted lherzolite or harburgite residue at depth -50 km depth in the mantle wedge. Unlike most lavas in the region, the absarokite has not ponded and fractionated at the crust mantle interface (-35-40 km), and the temperatures of multiple saturation indicate that the mantle wedge beneath the Jalisco block is hotter than previously thought. The low degree batch melting of an original metasomatised harzburgite source, can produce the observed trace element abundances. The liquidus phase relations are not consistent with the presence of non-peridotitic veins at the depth of last equilibration. Therefore, we propose that the Mascota absarokites segregated at an apparent melt fraction of less than 5% from a depleted peridotitic source. They initially formed by a small degree of melting of a metasomatised original source at greater depth.
  • Thesis
    Abyssal mixing from bottom boundary effects in Mid-Atlantic Ridge flank canyons
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2010-06) Dell, Rebecca Walsh
    This paper begins to explore a previously neglected mechanism for abyssal ocean mixing using bottom boundary layer dynamics. Abyssal mixing and the associated upward buoyancy fluxes are necessary to balance the sinking of dense waters at high latitudes and to close the global overturning circulation. Previous studies have concentrated on the hypothesis that the primary mechanism for this mixing is breaking internal waves generated by tidal flows over rough topography. However, intriguing observations, particularly from the Brazil Basin Tracer Release Experiment, suggest that mixing in the flank canyons of the Mid-Atlantic Ridge generated when strong mean flows interact with the many sills and constrictions within the canyons may represent a dynamically important amount of abyssal mixing. The energy pathways and mechanisms of this mixing are much less clear than in the case of breaking internal waves. This study attempts to clarify this by suggesting an analogy with an idealized diffusive boundary layer over a sloping bottom. This boundary layer is characterized by up-slope flows powered by the buoyancy flux in the fluid far from the boundary. Here we explore the energy budget of the boundary layer, and find that the diffusive boundary layer provides flows that are generally consistent with those observed in submarine canyons. In addition, we derive the vertical velocity in the far-field fluid, analogous to an Ekman pumping velocity, that these boundary layers can induce when the bottom slope is not constant. Finally, we present both theoretical and numerical models of exchange flows between the bottom boundary and the far-field flow when the bottom slope is not constant. These exchange flows provide a mechanism by which boundary-driven mixing can affect the overall stratification and buoyancy fluxes of the basin interior.
  • Thesis
    Accelerated settling of particulate matter by ’marine snow’ aggregates
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1985-12) Asper, Vernon L.
    Samples from time-series sediment traps deployed in three distinct oceanographic settings (North Pacific, Panama Basin, and Black Sea) provide strong evidence for rapid settling of marine particles by aggregates. Particle water column residence times were determined by measuring the time lag between the interception of a flux event in a shallow trap and the interception of the same event in a deeper trap at the same site. Effective sinking speeds were determined by dividing the vertical offset of the traps (meters) by the interception lag time (days). At station Papa in the North Pacific, all particles settle at 175 m day-1, regardless of their composition, indicating that all types of material may be settling in common packages. Evidence from the other two sites (Panama Basin and Black Sea) shows that particle transport may be vertical, lateral, or a combination of directions, with much of the Black Sea flux signal being dominated by lateral input. In order to ascertain whether marine snow aggregates represent viable transport packages, surveys were conducted of the abundance of these aggregates at several stations in the eastern North Atlantic and Panama Basin using a photographic technique. Marine snow aggregates were found in concentrations ranging from ~1 mm3 liter-1 to more than 500 mm3 liter-1. In open ocean environments, abundances are higher near the surface (production) and decline with depth (decomposition). However, in areas near sources of deep input of resuspended material, concentrations reach mid-water maxima, reflecting lateral transport. A model is proposed to relate the observed aggregate abundances, time series sediment flux and inferred circulation. In this model, depthwise variations in sediment flux and aggregate abundance result from suspension from the sea floor and lateral transport of suspended aggregates which were produced or modified on the sea floor. Temporal changes in sediment flux result from variations in the input of fast-sinking material which falls from the surface, intercepts the suspended aggregates, and transports them to the sea floor. A new combination sediment trap and camera system was built and deployed in the Panama Basin with the intent of measuring the flux of marine snow aggregates. This device consists of a cylindrical tube which is open at the top and sealed at the bottom by a clear plate. Material lying on the bottom plate is illuminated by strobe lights mounted in the wall of the cylinder and photographed by a camera which is positioned below the bottom plate. Flux is determined as the number of aggregates arriving during the time interval between photographic frames (# area-1 time-1). Results show that essentially all material arrives in the form of aggregates with minor contributions of fecal pellets and solitary particles. Sinking speeds (m day-1), calculated by dividing the flux of aggregates (# m-2 day-1) by their abundance (# m-3), indicate that the larger (4-5mm) aggregates are flocculent and sink slowly (~1m day-1) while the smaller aggregates (1-2.5mm) are more compact and sink more quickly (~36m day-1). These large, slow-sinking aggregates may have been re-suspended from the sediment water interface at nearby basin margins.
  • Thesis
    Accuracy bounds for normal-incidence acoustic structure estimation
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1977-08) Theriault, Kenneth B.
    Determnation of the structure of a medium from normal-incidence acoustic reflection data is a basic problem in fields as diverse as medical technology and the earth sciences; this research examines the accuracy with which quantitative structure estimates can be made from noise-corrupted measurements of reflected energy. Two classes of simple physical models, which exclude geometrical spreading and attenuation, are developed: one in which the properties of the medium change continuously with depth, and one in which they change discretely. Given these reasonable models, estimation accuracy is studied by computing a statistical lower bound on estimator performance, the Cramer-Rao bound, for three cases of interest. (1) The bound is computed for the estimation of unknown, nonrandom reflection coefficients in a medium containing only discrete reflectors; special attention is given to the one- and two-reflector situations. The bound's ability to predict estimator performance is demonstrated, as is the inadequacy of a particular ad-hoc estimdtion method based on the Wiener- Levinson algorithm of stochastic filtering theory. (2) The bound is developed for estimation in a continuous medium whose structure (acoustic impedance, for exaiple) parametrized by a set of unknown, non-random coefficients, and for which the reflection response may be computed in closed form. The problem of estimating the parameters of a single, isogradient velocity layer of known depth is studied in detail. It is demonstrated that one can identify the parameters of such a layer from normal-incidence measurements given an appropriate source and experimenc geometry. (3) A unique extension of some known results in random process estimation is used to derive a pointwise bound for estimation in a continuous medium whose structure (reflection coefficient density) is a random process. Again we give special consideration to the problem of identifying a single isolated layer structure. We demonstrate that for a weakly scattering structure, estimation accuracy is independent of the mean or nominal structure.
  • Thesis
    Acoustic classification of zooplankton
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1998-02) Martin Traykovski, Linda V.
    Work on the forward problem in zooplankton bioacoustics has resulted in the identification of three categories of acoustic scatterers: elastic-shelled (e.g. pteropods), fluid-like (e.g. euphausiids), and gas-bearing (e.g. siphonophores). The relationship between backscattered energy and animal biomass has been shown to vary by a factor of —19,000 across these categories, so that to make accurate estimates of zooplankton biomass from acoustic backscatter measurements of the ocean, the acoustic characteristics of the species of interest must be well-understood. This thesis describes the development of both feature based and model based classification techniques to invert broadband acoustic echoes from individual zooplankton for scatterer type, as well as for particular parameters such as animal orientation. The feature based Empirical Orthogonal Function Classifier (EOFC) discriminates scatterer types by identifying characteristic modes of variability in the echo spectra, exploiting only the inherent characteristic structure of the acoustic signatures. The model based Model Parameterisation Classifier (MPC) classifies based on correlation of observed echo spectra with simplified parameterisations of theoretical scattering models for the three classes. The Covariance Mean Variance Classifiers (CMVC) are a set of advanced model based techniques which exploit the full complexity of the theoretical models by searching the entire physical model parameter space without employing simplifying parameterisations. Three different CMVC algorithms were developed: the Integrated Score Classifier (ISC), the Pairwise Score Classifier (PSC) and the Bayesian Probability Classifier (BPC); these classifiers assign observations to a class based on similarities in covariance, mean, and variance, while accounting for model ambiguity and validity. These feature based and model based inversion techniques were successfully applied to several thousand echoes acquired from broadband (-350 kHz - 750 kHz) insonifications of live zooplankton collected on Georges Bank and the Gulf of Maine to determine scatterer class. CMVC techniques were also applied to echoes from fluid-like zooplankton (Antarctic krill) to invert for angle of orientation using generic and animal-specific theoretical and empirical models. Application of these inversion techniques in situ will allow correct apportionment of backscattered energy to animal biomass, significantly improving estimates of zooplankton biomass based on acoustic surveys.
  • Thesis
    Acoustic communication in the North Atlantic right whale (Eubalaena glacialis)
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2003-09) Parks, Susan E.
    The focus of this thesis is the use of sound for communication by the North Atlantic right whale (Eubalaena glacialis). The surface active group (SAG) is the predominant social interaction in this species for which use of sound has been documented. Different group compositions in SAGs indicate that both potentially reproductive and non-reproductive groups have been combined under one labeL. Sound production in SAGs suggests that females form and maintain the groups by producing Scream calls. Males produce Upcalls to advertise their presence as they come into a group or when the female is on a dive. Males may use Gunshot sounds as threat signals to other males in the group or potentially as reproductive advertisement signals to the female. Some calves produce Warble sounds in SAGs. This may be limited to female calves. This description of acoustic activity in the groups adds to the picture of the SAGs as complex interactions between individuals, rather than simple groups with only one whale producing all the sounds to attract other whales to the group. Playback experiments demonstrate that right whales can use sounds from SAGs to locate the groups. Male right whales approached both North Atlantic and Southern right whale SAG playbacks. Female right whales only approached Southern right whale playbacks. Anatomical modeling resulted in a frequency range of hearing for the right whale (10 Hz - 22 kHz) that is consistent with the sounds that they produce and overlaps the frequency range of most anthropogenic noise sources. This combination of research provides a thorough description how North Atlantic right whales use sound in SAGs and how increasing levels of noise in the oceans may impact right whales in these groups.
  • Thesis
    Acoustic diffraction from a semi-infinite elastic plate under arbitrary fluid loading with application to scattering from Arctic ice leads
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1989-05) Dahl, Peter H.
    The problem of a low-frequency acoustic plane wave incident upon a free surface coupled to a semi-infinite elastic plate surface, is solved using an analytic approach based on the Wiener-Hopf method. By low-frequency it is meant that the elastic properties of the plate are adequately described by the thin plate equation (kH ≲ 1). The diffraction problem relates to issues in long range sound propagation through partially ice-covered Arctic waters, where open leads or polynya on the surface represent features from which acoustic energy can be diffracted or scattered. This work focusses on ice as the material for the elastic plate surface, and, though the solution methods presented here have applicability to general edge diffraction problems, the results and conclusions are directed toward the ice lead diffraction process. The work begins with the derivation of an exact solution to a canonical problem: a plane wave incident upon a free surface (Dirichlet boundary condition) coupled to a perfectly rigid surface (Neumann boundary condition). Important features of the general edge diffraction problem are included here, with the solution serving as a guideline to the more complicated solutions presented later involving material properties of the boundary. The ice material properties are first addressed using the locally reacting approximation for the input impedance of an ice plate, wherein the effects of elasticity are ignored. This is followed by use of the thin plate equation to describe the input impedance, which incorporates elements of elastic wave propagation. An important issue in working with the thin plate equation is the fluid loading pertaining to sea ice and low-frequency acoustics, which cannot be characterized by simplifying heavy or light fluid loading limits. An approximation to the exact kernel of the Wiener-Hopf functional equation is used here, which is valid in this mid-range fluid loading regime. Use of this approximate kernel allows one to proceed to a complete and readily interpretable solution for the far field diffracted pressure, which includes a subsonic flexural wave in the ice plate. By using Green's theorem, in conjunction with the behavior of the diffracted field along the two-part planar boundary, the functional dependence of ∏D (total diffracted power) in terms of k (wavenumber), H (ice thickness), α (grazing angle) and the combined elastic properties of the ice sheet and ambient medium, is determined. A means to convert ∏D into an estimate of dB loss per bounce is developed using ray theoretical methods, in order to demonstrate a mechanism for acoustic propagation loss attributed directly to ice lead diffraction effects. Data from the 1984 MIZEX (Marginal Ice Zone Experiments) narrow-band acoustic transmission experiments are presented and discussed in this context.
  • Thesis
    Acoustic minimization of Ocean Twilight Zone Vehicle, Mesobot
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2023-09) Davis, Cameron J. ; Yoerger, Dana R.
    The OTZ is defined as the region of the water column between 200 and 1,000 meters in depth. It plays a vital role in the global carbon cycle, pushing carbon from the surface layer into the deep ocean. It has a very diverse population of fauna, known and unknown, that migrate up and down the water column to feed and reproduce. The migration pattern occurs based on the amount of radiated sunlight into the water column. The mid-water column vehicle, Mesobot, was designed to mimic the migration patterns of mesopelagic organisms. Unmanned Underwater Vehicles (UUVs) have become a staple of ocean exploration for years, going where man is not able to. Although much quieter than noise from shipping traffic, the noise radiated from Mesobot could present potential for error in observation, tracking, and sampling. In this thesis, I have analyzed the effect of commutation methods and propeller design on the acoustic noise radiated from a single BlueRobotics T200 thruster. The propeller design choices are a standard three-blade propeller and a three-blade toroidal propeller. The commutation methods analyzed are trapezoidal control and field-oriented control. After analyzing four different alternatives, quantitative evidence was found to recommend using field-oriented control as the commutation scheme to minimize the radiated noise from the thrusters on Mesobot. The radiated noise from the thurster was dominated by motor noise, and no conclusive evidence was found to recommend the three-blade propeller over the toroidal propeller.
  • Thesis
    Acoustic mode coherence in the Arctic Ocean
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1986-05) Polcari, John J.
    The dual issues of modal decomposition for tonal sound fields and the temporal coherence of the modal amplitudes are investigated for the case of the central Arctic sound channel at very low frequencies (15-80 Hz). A detailed study of the Arctic modal structure for these frequencies reveals the central role played by the strong Arctic surface duct. The performance of each of four different modal beamforming algorithms when applied to the vertical array deployed during the FRAM IV Arctic Acoustic Experiment is analyzed. A multiple beam (or decoupled beam) least squares processor produces the most acceptable results for Arctic conditions. The modal decomposition is sensitive to vertical array tilt caused by hydrodynamic drag; a technique for its estimation from the acoustie data is developed. Tonal data taken from both the horizontal and vertical arrays deployed during FRAM IV is analyzed. Horizontal array results confirm the modal amplitudes generated from vertical array data. The rough surface scattering from the ice canopy places an upper limit of 40 Hz on efficient surface duct propagation. Attenuation measurements for the first mode show excellent agreement with predictions made for ice scattering using the method of small perturbations and experimental ice statistics. The high levels of coherence observed (O.95 to 0.99) show that tonal signal propagation in the Arctic channel is essentially deterministic for time periods well in excess of one hour. The various modes may then be considered to maintain a constant phase relationship over time.
  • Thesis
    Acoustic scattering by axisymmetric finite-length bodies with application to fish : measurement and modeling
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2002-06) Reeder, D. Benjamin
    This thesis investigates the complexities of acoustic scattering by finite bodies in general and by fish in particular through the development of an advanced acoustic scattering model and detailed laboratory acoustic measurements. A general acoustic scattering model is developed that is accurate and numerically effcient for a wide range of frequencies, angles of orientation, irregular axisymmetric shapes and boundary conditions. The model presented is an extension of a two-dimensional conformal mapping approach to scattering by irregular, finite-length bodies of revolution. An extensive series of broadband acoustic backscattering measurements has been conducted involving alewife fish (Alosa pseudoharengus), which are morphologically similar to the Atlantic herring (Clupea harengus). A greater-than-octave bandwidth (40-95 kHz), shaped, linearly swept, frequency modulated signal was used to insonify live, adult alewife that were tethered while being rotated in 1-degree increments over all angles of orientation in two planes of rotation (lateral and dorsal/ventral). Spectral analysis correlates frequency dependencies to morphology and orientation. Pulse compression processing temporally resolves multiple returns from each individual which show good correlation with size and orientation, and demonstrate that there exists more than one significant scattering feature in the animaL. Imaging technologies used to exactly measure the morphology of the scattering features of fish include very highresolution Phase Contrast X-rays (PCX) and Computerized Tomography (CT) scans, which are used for morphological evaluation and incorporation into the scattering modeL. Studies such as this one, which combine scattering models with high-resolution morphological information and high-quality laboratory data, are crucial to the quantitative use of acoustics in the ocean.
  • Thesis
    Acoustic scattering from sand dollars (Dendraster excentricus) : modeling as high aspect ratio oblate objects and comparison to experiment
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2008-09) Dietzen, Gregory C.
    Benthic shells can contribute greatly to the scattering variability of the ocean bottom, particularly at low grazing angles. Among the effects of shell aggregates are increased scattering strength and potential subcritical angle penetration of the seafloor. Sand dollars (Dendraster excentricus) occur commonly in the ocean and have been shown to be significant scatters of sound. In order to understand more fully the scattering mechanisms of these organisms, the scattering from individual sand dollars was studied using several methods. Using an approximation to the Helmholtz-Kirchhoff integral, the Kirchhoff method gives an analytic integral expression to the backscattering from an object. This integral was first solved analytically for a disk and a spherical cap, two high aspect ratio oblate shapes which simplify the shape of an individual sand dollar. A method for solving the Kirchhoff integral numerically was then developed. An exact three dimensional model of a sand dollar test was created from computed tomography scans. The Kirchhoff integral was then solved numerically for this model of the sand dollar. The finite element method, a numerical technique for approximating the solutions to partial differential equations and integral equations, was used to model the scattering from an individual sand dollar as well. COMSOL Multiphysics was used for the implementation of the finite element method. Modeling results were compared with published laboratory experimental data from the free field scattering of both an aluminum disk and a sand dollar. Insight on the scattering mechanisms of individual sand dollar, including elastic behavior and diffraction effects, was gained from these comparisons.
  • Thesis
    Acoustic scattering of broadband echolocation signals from prey of Blainville's beaked whales : modeling and analysis
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2006-09) Jones, Benjamin A.
    Blainville's beaked whales (Mesoplodon densirostris) use broadband, ultrasonic echolocation signals (27 to 57 kHz) to search for, localize, and approach prey that generally consist of mid-water and deep-water fishes and squid. Although it is well known that the spectral characteristics of broadband echoes from marine organisms are a strong function of size, shape, orientation and anatomical group, little is known as to whether or not these or other toothed whales use spectral cues in discriminating between prey and non-prey. In order to study the prey-classification process, a stereo acoustic tag was mounted on a Blainville's beaked whale so that emitted clicks and corresponding echoes from prey could be recorded. A comparison of echoes from prey selected by the whale and those from randomly chosen scatterers suggests that the whale may have, indeed, discriminated between echoes using spectral features and target strengths. Specifically, the whale appears to have favored prey with one or more deep nulls in the echo spectra as well as ones with higher target strength. A three-dimensional, acoustic scattering model is also developed to simulate broadband scattering from squid, a likely prey of the beaked whale. This model applies the distorted wave Born approximation (DWBA) to a weakly-scattering, inhomogeneous body using a combined ray trace and volume integration approach. Scatterer features are represented with volume elements that are small (less than 1/12th of the wavelength) for the frequency range of interest (0 to 120 kHz). Ranges of validity with respect to material properties and numerical considerations are explored using benchmark computations with simpler geometries such as fluid-filled spherical and cylindrical fluid shells. Modeling predictions are compared with published data from live, freely swimming squid. These results, as well as previously published studies, are used in the analysis of the echo spectra of the whale's ensonified targets.
  • Thesis
    Acoustic tomography in the Straits of Florida
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1989-09) Chester, David B.
    Variability of the Florida Current has been monitored via acoustic tomography. A reciprocal tomography experiment was conducted in the eastern half of the Florida Straits during mid October and November, 1983. A triangular array of transceivers, with leg separations of approximately 45 kilometers, was deployed at 27°N. The presence of a surface mixed layer in the region allowed for the ducted propagation of acoustic energy in the surface layer. A deeper layer was sampled by an unresolved group of refracted, bottom reflected ray arrivals. Incorporating the complete set of arrivals, we are able to obtain depth dependent estimates of the temperature field, current velocity, and relative vorticity. The oceanography of the region has been shown to be dominated by the lateral shifting of the surface and subsurface core of the Florida Current. The influx of westward flowing water through the Northwest Providence Channel at 26°N also appears as a large scale signal in the eastern Florida Straits. Low frequency fluctuations of temperature, current velocity, and vorticity occur at periods ranging from several days to nearly two weeks, and are intimately related to meandering of the Florida Current system.
  • Thesis
    Acoustic travel time perturbations due to an internal tide and internal wave field in the Barents Sea
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1993-08) Ray, Douglas S.
    Travel time perturbations of adiabatic normal modes due to an internal tide and internal mode field in the Barents Sea are examined. A formalism for the travel time perturbation due to a change in sound speed is presented. Internal tide and internal wave amplitude spectra are calculated from Brancker temperature loggers which were deployed on moorings in the Barents Sea during the August 1992 Barents Sea Polar Front Experiment. In particular, the first three internal wave mode amplitudes are estimated from the four Brancker temperature loggers on the southwest mooring of the array. Modal perturbations in acoustic pulse travel time and the travel time covariance are calculated and compared for consistency to a simple ray model. These perturbations are small for the modal arrivals that the vertical acoustic array which was deployed is expected to resolve. The third internal wave mode has the largest impact on the acoustic arrivals, per unit amplitude, but the first internal wave mode dominates the scattering due to having a much larger amplitude overall.
  • Thesis
    Adaptive AUV-assisted diver navigation for loosely-coupled teaming in undersea operations
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2023-09) O’Neill, Brendan ; Leonard, John J.
    Human divers face immense challenges in the undersea domain due to constraints on life support, sensory input, and mobility. Due to these challenges, even simple tasks are difficult, and navigation between points of interest is key among them. However, humans have progressively utilized creativity, innovation, and research to explore the Earth’s oceans at greater depths and with increased spatial and temporal detail. Autonomous underwater vehicles often lack the tools, dexterity, or flexibility to manage specific tasks or unforeseen circumstances. However, advances in inertial navigation, computation, and acoustic communication enable autonomous underwater vehicles to perform tasks outside human capability. Acoustic modem technology allows for flexible and reliable communication over an acoustic link. We propose algorithms for cooperative navigation between a diver and an autonomous underwater vehicle as a pathway toward complex undersea human-robot teams. This thesis identifies the communication, software, and algorithmic tools to enable loosely-coupled cooperative navigation between an autonomous underwater vehicle and a diver without a surface presence. Divers present new challenges for cooperative navigation based on their unique motion profile and variable pace from diver to diver. By leveraging the vehicle’s sensor suite, acoustic modem technology, and nonlinear least-squares state estimation, we enable enhanced diver localization and navigation without a surface presence. Adaptation to environmental impacts is explored through measured ocean currents as well as updates to the diver’s motion model based on state estimation analysis. These adaptations produce more efficient diver transits with fewer heading changes. In addition, maneuvering strategies for autonomous underwater vehicles are explored to assess their impact on diver localization accuracy. Experimental validation is shown through surface platforms as proxies for the autonomous underwater vehicle and diver, demonstrating the localization accuracy within a few meters for experiments under various operating conditions. These contributions provide a foundation for undersea human-robot teams to engage in complex tasks with greater efficiency through their combined strengths.
  • Thesis
    Adaptive error estimation in linearized ocean general circulation models
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1999-06) Chechelnitsky, Michael Y.
    Data assimilation methods, such as the Kalman filter, are routinely used in oceanography. The statistics of the model and measurement errors need to be specified a priori. In this study we address the problem of estimating model and measurement error statistics from observations. We start by testing the Myers and Tapley (1976, MT) method of adaptive error estimation with low-dimensional models. We then apply the MT method in the North Pacific (5°-60° N, 132°-252° E) to TOPEX/POSEIDON sea level anomaly data, acoustic tomography data from the ATOC project, and the MIT General Circulation Model (GCM). A reduced state linear model that describes large scale internal (baroclinic) error dynamics is used. The MT method, closely related to the maximum likelihood methods of Belanger (1974) and Dee (1995), is shown to be sensitive to the initial guess for the error statistics and the type of observations. It does not provide information about the uncertainty of the estimates nor does it provide information about which structures of the error statistics can be estimated and which cannot. A new off-line approach is developed, the covariance matching approach (CMA), where covariance matrices of model-data residuals are "matched" to their theoretical expectations using familiar least squares methods. This method uses observations directly instead of the innovations sequence and is shown to be related to the MT method and the method of Fu et al. (1993). The CMA is both a powerful diagnostic tool for addressing theoretical questions and an efficient estimator for real data assimilation studies. It can be extended to estimate other statistics of the errors, trends, annual cycles, etc. Twin experiments using the same linearized MIT GCM suggest that altimetric data are ill-suited to the estimation of internal GCM errors, but that such estimates can in theory be obtained using acoustic data. After removal of trends and annual cycles, the low frequency /wavenumber (periods> 2 months, wavelengths> 16°) TOPEX/POSEIDON sea level anomaly is of the order 6 cm2. The GCM explains about 40% of that variance. By covariance matching, it is estimated that 60% of the GCM-TOPEX/POSEIDON residual variance is consistent with the reduced state linear model. The CMA is then applied to TOPEX/POSEIDON sea level anomaly data and a linearization of a global GFDL GCM. The linearization, done in Fukumori et al.(1999), uses two vertical mode, the barotropic and the first baroclinic modes. We show that the CMA method can be used with a global model and a global data set, and that the estimates of the error statistics are robust. We show that the fraction of the GCMTOPEX/ POSEIDON residual variance explained by the model error is larger than that derived in Fukumori et al.(1999) with the method of Fu et al.(1993). Most of the model error is explained by the barotropic mode. However, we find that impact of the change in the error statistics on the data assimilation estimates is very small. This is explained by the large representation error, i.e. the dominance of the mesoscale eddies in the TIP signal, which are not part of the 20 by 10 GCM. Therefore, the impact of the observations on the assimilation is very small even after the adjustment of the error statistics. This work demonstrates that simultaneous estimation of the model and measurement error statistics for data assimilation with global ocean data sets and linearized GCMs is possible. However, the error covariance estimation problem is in general highly underdetermined, much more so than the state estimation problem. In other words there exist a very large number of statistical models that can be made consistent with the available data. Therefore, methods for obtaining quantitative error estimates, powerful though they may be, cannot replace physical insight. Used in the right context, as a tool for guiding the choice of a small number of model error parameters, covariance matching can be a useful addition to the repertory of tools available to oceanographers.
  • Thesis
    Adaptive estimation of acoustic normal modes
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1994-09) Wage, Kathleen E.
    Normal mode theory provides an efficient description of signals which propagate axially in the SOFAR channel and are detectable at long ranges. Mode amplitudes and their second order statistics are useful in studies of long-range acoustic propagation and for applications such as Matched Mode Processing (MMP) and Matched Field Tomography (MFT). The purpose of this research is to investigate techniques for estimating the average power in the modes of a signal given pressure measurements from a vertical line array. This thesis develops the problem of mode estimation within a general array processing framework which includes both deterministic and stochastic characterizations of the modal structure. A review of conventional modal beamforming indicates that these methods provide poor resolution in low signal-to-noise ratio environments. This is not surprising since standard estimation techniques rely on minimizing a squared error criterion without regard to the ambient noise. The primary contribution of this thesis is an adaptive estimator for coherent modes that is based on a method suggested by Ferrara and Parks for array processing using diversely-polarized antennas. Two formulations of the adaptive method are investigated using a combination of analytical techniques and numerical simulations. The performance evaluation considers the following issues: (i) power level of the noise, (ii) orthogonality of the sampled modeshapes, (iii) number of data snapshots, and (iv) coherence of the signal. The new approach is fundamentally different from other modal estimators such as those used in MMP because it is data-adaptive and maximizes the received power instead of minimizing the squared error. As a result, the new methods perform significantly better than least squares in high noise environments. Specifically, the Ferrara/Parks formulations are able to maintain nulls in the modal spectrum since they do not suffer the bias error that significantly affects the least squares processor. A second contribution of the thesis is an extension of the coherent estimator to facilitate estimation of phase-randomized modes. Although the results of this work are preliminary, the extended formulation appears to offer several advantages over least squares in certain cases.
  • Thesis
    Adaptive matched field processing in an uncertain propagation environment
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1992-01) Preisig, James C.
    Adaptive array processing algorithms have achieved widespread use because they are very effective at rejecting unwanted signals (i.e., controlling sidelobe levels) and in general have very good resolution (i.e., have narrow mainlobes). However, many adaptive high-resolution array processing algorithms suffer a significant degradation in performance in the presence of environmental mismatch. This sensitivity to environmental mismatch is of particular concern in problems such as long-range acoustic array processing in the ocean where the array processor's knowledge of the propagation characteristics of the ocean is imperfect. An Adaptive Minmax Matched Field Processor has been developed which combines adaptive matched field processing and minmax approximation techniques to achieve the effective interference rejection characteristic of adaptive processors while limiting the sensitivity of the processor to environmental mismatch. The derivation of the algorithm is carried out within the framework of minmax signal processing. The optimal array weights are those which minimize the maximum conditional mean squared estimation error at the output of a linear weight-and-sum beamformer. The error is conditioned on the propagation characteristics of the environment and the maximum is evaluated over the range of environmental conditions in which the processor is expected to operate. The theorems developed using this framework characterize the solutions to the minmax array weight problem, and relate the optimal minmax array weights to the solution to a particular type of Wiener filtering problem. This relationship makes possible the development of an efficient algorithm for calculating the optimal minmax array weights and the associated estimate of the signal power emitted by a source at the array focal point. An important feature of this algorithm is that it is guarenteed to converge to an exact solution for the array weights and estimated signal power in a finite number of iterations. The Adaptive Minmax Matched Field Processor can also be interpreted as a two-stage Minimum Variance Distortionless Response (MVDR) Matched Field Processor. The first stage of this processor generates an estimate of the replica vector of the signal emitted by a source at the array focal point, and the second stage is a traditional MVDR Matched Field Processor implemented using the estimate of the signal replica vector. Computer simulations using several environmental models and types of environmental uncertainty have shown that the resolution and interference rejection capability of the Adaptive Minmax Matched Field Processor is close to that of a traditional MVDR Matched Field Processor which has perfect knowledge of the characteristics of the propagation environment and far exceeds that of the Bartlett Matched Field Processor. In addition, the simulations show that the Adaptive Minmax Matched Field Processor is able to maintain it's accuracy, resolution and interference rejection capability when it's knowledge of the environment is only approximate, and is therefore much less sensitive to environmental mismatch than is the traditional MVDR Matched Field Processor.