CO-participants:

The Minerals, Metals, Society of Exploration American Geophysical

and Materials Society Geophysicists Union

The Women’s The Coasts, Oceans, Ports The American The Oceanography
Aquatic Network and Rivers Institute Meteorological Society Society
 OCEANS 2001 MTSllEEE
CONFERENCE PROCEEDINGS

PUBLISHED BY:
OCEANS 2001 MTSAEEE
CONFERENCE COMMITTEE

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 Volume Four
Exhibitors .......................................................................................... v
Author’s Index ................................................................................. ix

Table of Contents / Sessions ........................................................ XXlll

...

Papers

Volume One ........................................................................... 1 - 671

Volume Two .................................................................... 672 - 1347

Volume Three................................................................ 1348 - 2042

Volume Four ................................................................. 2043 - 2644

Student Papers ......................................................... 2645 - 2714

 Volume One The INTIFANTE’OO Sea Trial:
Preliminary Source Localization and
Session 1
Ocean Tomography Data Analysis 40 .........................
S.M. Jesus, C. Soares, and C. Lopes, SiPLAB-FCT,
Acoustic Imaging Universidade do Algarve, Faro, Portugal;
Session Co-chair ....................... John lmpagliauo E. Coelho and J. Onofre, lnstituto Hidrografico,
NUWC, Newport, RI Lisboa, Portugal; P. Picco, ENEA, S. Teresa, La
Spezia, Italy.
Acoustical Imaging with Compact
Sensors for Mine Countermeasures Model Experiments on Sound
Applications ................................................................ 1 Propagation in the Southwestern
Bruce M. Johnson and Andy Pedersen, Naval Atlantic Ocean .......................................................... 46
Explosive Ordinance Disposal (EOD) Technology S. Haniotis, C.M. Martinez, and C.A. Negreira,
Division, Indian Head, MD Facultad de Ciencias, Montevideo, Uruguay

Object Identification with

Acoustic Lenses .........................................................
6 Session 2
Edward Belcher, Applied Physics Laboratory Very Shallow Water Mine
University of Washington, Seattle, WA; Counter Measures
Brian Matsuyama, Space and Naval Warfare Session Co-chair ...............Jody L. Wood-Putnam
Systems Center, San Diego, CA; Office of Naval Research,
Gary Trimble, Lockheed Martin Perry Technologies, Coastal Systems Station, Dahlgren Division,
Sunnyvale, CA Naval Surface Warfare Center,
Panama City, FL
AMI: A 3-D Imaging Sonar For Mine
Identification in Turbid Waters ............................... 12 Session Co-chair .....................
Dr. Thomas Swean
Robert Vesetas and Graeme Manzie, Thomson Office of Naval Research,
Marconi Sonar Pty, Rydalmere, Australia Coastal Systems Station, Dahlgren Division,
Naval Surface Warfare Center,
Imaging with a 2 MHz Sparse Panama City, FL
Broadband Planar Array ..........................................
22
John lmpagliauo and Michael Medeiros Magnetic Detection of Underwater
Naval Undersea Warfare Center, Division Targets in Very Shallow Water For
Newport, Newport, RI; Steven Kay, Signal Processing Searches at High Speeds ........................................
50
Systems, Middletown, RI T.R. Clem, D.J. Overway, J.W. Purpura, and
J.T. Bono, Coastal Systems Station, Panama City, FL
Recent Advances in 1-3 Piezoelectric
Polymer Composite Transducer Sub-critical lsonification of Buried
Technology for AUVlUUV Acoustic Elastic Targets .......................................................... 59
Imaging Applications ............................................... 26 lrena Veljkovic, Joseph R. Edwards, and
Kim C. Benjamin, Naval Sea Systems Command Henrik Schmidt, Massachusetts Institute of
Division, Newport, RI Technology, MA

Rapid Estimation of the Range-Doppler Mitigation of Platform Generated

Scattering Function .................................................
34 Magnetic Noise Impressed on a
Steven M. Kay, University of Rhode Island Magnetic Sensor Mounted in an
Department of Electrical and Computer Engineering, Autonomous Underwater Vehicle 63 ...........................
Kingston, RI; George 1. Allen and Michael Wynn, Naval Surface
S. Bradford Doyle, Naval Undersea Warfare Center Warfare Center, Dahlgren Division, Coastal Systems
Division Newport, RI Station, Panama City, FL; Robert Matthews, Quantum
Magnetics Inc, San Diego, CA

xxiii
Acoustic Detection of Targets Hunting for Mines with REMUS: A High
Buried at Steep and Subcritical Performance, Affordable, Free Swimming
Grazing Angles .........................................................
72 Underwater Robot ..................................................
117
J.L. Lopes, Coastal Systems Station, Panama City, Christopher von Alt, Ben Allen, Thomas Austin,
FL; D.L. Folds, Ultra-Acoustics, Inc., Woodstock, GA; Ned Forrester, Robert Goldsborough, Michael
I.C. Paustian, Coastal Systems Station, Panama City, Purcell, and Roger Stokey, Woods Hole
FL; J.L. Wood-Putnam, Coastal System Station, Oceanographic Institution, Woods Hole, MA
Panama City, FL
Operational Testing of the Battlespace
Reacquisition and Imaging of Mine-Like Preparation AUV in the Shallow Water
Targets in Very Shallow Water Using the Regime ....................................................................
123
Cetusll AUV and MIRE High-Resolution Jeff W. Rish, 111, NSWC/DD Coastal Systems Station,
Sonar .........................................................................
79 Modeling and Prediction Branch, Panama City, FL;
G.M. Trimble, MARE Laboratory, Lockheed Martin Scott Willcox, Robert Grieve, Ian Montieth, and
Perry Technologies, Sunnyvale, CA; Jerome Vaganay, Bluefin Robotics Corporation,
E.O. Belcher, Applied Physics Laboratory, University of Cambridge, MA
Washington, Seattle, WA
Algorithm Fusion for Automated Sea
Defining Surf Zone Crawler Mine Detection and Classification 130 ........................
Search Strategies for Minefield Gerald J. Dobeck, Naval Surface Warfare Center,
Reconnaissance .......................................................
85 Coastal Systems Station, Dahlgren Division, Panama
Lawrence R. Howell, BAE Systems, Panama City City, FL
Beach, FL; William C. Littlejohn, Carmen Guastella,
and Nelky Rodriguez-Casanova, Naval Surface Fusion of Adaptive Algorithms for the
Warfare Center Dahlgren Division, Coastal Systems Classification of Sea Mines Using High
Station, Panama City, FL Resolution Side Scan Sonar in Very
Shallow Water .........................................................
135
Bottom Crawling Synthetic Aperture Tom Aridgides and Manuel Fernandez, Lockheed
Sonar for Very Shallow Water Mine Martin, Naval Electronics and Surveillance Systems,
Countermeasures .....................................................
97 Syracuse, NY; Gerald Dobeck, Naval Surface Warfare
A. Putney, L A . Savidge, S.H.Chang, and R.E. Center, Coastal Systems Station, Dahlgren Division,
Chatham, Dynamics Technology, Inc., Torrance, CA Panama City, FL

Fluorescence Imaging Laser Line Scan Motion Model Development for Very
(FILLS) for Very Shallow Water Mine Shallow WaterlSurf Zone Crawler 143 .........................
Countermeasures ................................................... 102 W. C. Littlejohn, Naval Surface Warfare Center
Michael Strand, Naval Surface Warfare Center, Dahlgren Division, Coastal Systems Station, Panama
Coastal Systems Station, Panama City, FL City, FL

Partial Polarization Signature Results from the Very Shallow Water Mine Countermeasures Using
Field Testing of the SHallow water Real-time the REMUS AUV A Practical Approach Yielding
Imaging Polarimeter (SHRIMP) 107............................. Accurate Results ....................................................
149
J.S. Taylor Jr., Naval Surface Warfare Center Roger Stokey, Tom Austin, Ben Allen, Ned
Dahlgren Division, Coastal Systems Station, Panama Forrester, Eric Gifford, Rob Goldsborough, Greg
City, FL ; L.B. Wolff, Equinox Corporation, New York, Packard, Mike Purcell, and Chris von Alt,
NY Oceanographic Systems Laboratory, Woods Hole
Oceanographic Institution, Woods Hole, MA

xxiv
Session 3 The Reverberation for a Broadband Synthetic
Broadband Synthetic Aperture Sonar Aperture Sonar .......................................................
202
Session Chair .................Dr. Kerry W. Commander R.J. Wyber, Midspar Systems Pty Ltd, Oyster Bay,
Acoustical Sensing Branch, NSW, Australia
Coastal Systems Station,
Panama City, FL Synthetic Aperture Sonar Processing
for WidebeamlBroadband Data 208 .............................
Session Co-chair ...........................
Bruce Johnson Kieffer Warman, Kenneth Chick, and Eric Chang,
Acoustical Sensing Branch, Dynamics Technology, Inc., Torrance, CA
Coastal Systems Station,
Panama City, FL
Session 4
Noncoherent Autofocus of Detection of Buried Objects Using
Single-Receiver Broad-Band
Synthetic Aperture Sonar Imagery 157 ....................... Synthetic Aperture Sonar
H.J. Callow, M.P. Hayes, and P.T. Gough, Acoustics
Session Chair .................
Dr. Kerry W. Commander
Aperture Sonar Acoustical Sensing Branch,
Research Group, University of Canterbury,
Coastal Systems Station,
Christchurch, New Zealand
Panama City, FL
Statistical Autofocus of Synthetic
Session Co-chair ........................... Bruce Johnson
Aperture Sonar Images Using Image
Aperture Sonar Acoustical Sensing Branch,
Contrast Optimization ...........................................
163
Coastal Systems Station,
S.A. Fortune, M.P. Hayes, and P.T. Gough, Acoustics
Panama City, FL
Research Group, University of Canterbury,
Christchurch, New Zealand
Detection and Classification of Buried
Using the CLEAN Algorithm to Objects With an Adaptive Acoustic
Restore Undersampled Synthetic
Mine-hunting System .............................................
212
Daniel D. Sternlicht, David W. Lemonds, and R.
Aperture Sonar Images ..........................................
170
David Dikeman, ORINCON Corporation, San Diego,
Kenneth M. Chick and Kieffer Warman, Dynamics
CA; Marc Ericksen, Sea Engineering Inc.;
Technology, Inc., Torrance, CA Steven G. Schock, Ocean Engineering Dept., Florida
Atlantic University, Boca Raton, FL
lnSAS'00: Interferometric SAS and
INS Aided SAS Imaging .........................................
179 Buried Target Detection with a Synthetic Aperture
L. Wang, A. Bellettini, R. Hollett, A. Tesei, and M.
Pinto, NATO SACLANT Undersea Research Centre, La
Sonar .......................................................................
220
John E. Piper, Coastal Systems Station, NAVSEA,
Spezia, Italy; S. Chapman, QinetiQ, Bincleaves, UK; Panama City, FL
K. Gade, FFI, Kjeller, Norway
Synthetic Aperture Sonar Point Response for
Broadbeam Multi-Aspect Synthetic
Aperture Sonar ....................................................... 188
Buried Objects ........................................................
225
M.D. Tinkle and Enson Chang, Dynamics Technology,
Daniel A. Cook, James T. Christoff, and Jose E. Inc., Torrance, CA
Fernandez, Naval Surface Warfare Center, Coastal
Systems Station, Dalhgren Division, Panama City, FL Multiple Experimental Investigations
Into Buried Mines Detection and
Coherence of Pulsed Signal and Classification with SAS ......................................... 234
Implications to Synthetic Aperture A. Hetet, L. Pigois, and A. Salaun, Groupe d' Etudes
Sonar Processing ................................................... 193 Sous-Marines I' Atlantique (GESMA), BREST Naval,
Enson Chang and Mark D. Tinkle, Dynamics France; 1. N. Goh, C. K. Lim, and C. S. Chia, DSO
Technology, Inc., Torrance, CA National Laboratories, Singapore
Suppressing Reverberation by Remote Sensing and Acoustic
Multipath Separation for Improved Telemetry ................................................................
264
Buried Object Detection ........................................
236 Dale Green, Benthos Inc., North Falmouth, MA;
I.P. Kirsteins, John Fay, and James Kelly, Naval Truong Nguyen, UCSD - ECE Dept., San Diego CA
Undersea Warfare Center, Newport, RI
Real-Time Deepwater Current
Profiling System ..................................................... 269
Session 5 Michael Vogel, Shell Global Solutions (US);
Real Time Measurement Systems Darryl Symonds, RD Instruments;
Session Chair ............................ Dr. Gary McMurtry Ning Xiao, LinkQuest Inc.;
Oceanography SOEST Tim Cook, Flotation Technologies, Inc.;
University of Hawaii Charles Abbott, Evans-Hamilton, Inc.

Development of Extreme A Video-Based Stereoscopic Imaging

Environment Systems For Seeking and Measurement System (SIMS)
out Extremophiles ...............................
See Session 52 for Undersea Applications .................................... 275
Arthur L. Lane, Observational Instruments Div., Jet H.-T. Liu, QUEST Integrated, Inc., Kent, WA
Propulsion Laboratory, Pasadena, CA; Frank D.
Carsey, Gindi D. French, Lloyd C. French, and The Environmental Sample Processor (ESP)
Alberto Behar, Jet Propulsion Laboratory, Pasadena, Software Design: Software for Detection and
CA; Hermann Engelhardt, Geological and Planetary Quantification of Microorganisms 287 ........................
Sciences Div., California Institute of Technology, Danelle E. Cline, Thomas C. O’Reilly,
Pasadena, CA Timothy Meese, Brent Roman, and Duane R.
Edgington, Monterey Bay Aquarium Research Institute
New Seafloor Observatory Networks in Support of Moss Landing, CA
Ocean Science Research .......................................
245
H.L. Clark. National Science Foundation
Session 6
Tracing Groundwater Discharge Marine Debris
Into the Ocean via Continuous
Radon-222 Measurements..................................... 251
Session Chair ......................... Christine Woolaway
Sea GranUSOEST
William C. Burnett, Michael Lambert, and Henrieta University of Hawaii
Dulaiova, Department of Oceanography, Florida State
University, Tallahassee, FL
A Comprehensive Guide to Shipboard Waste
Field Chemical Analysis Using
Management Options ............................................ 295
Lara B. Hutto, Oceanit, Honolulu, HI
Real-Time In-Water Mass
Spectrometry ..........................................................
256
R.T. Short, D.P. Fries, G.P.G. Kibelka, M.L. Kerr, S.K.
Toler, P.G. Wenner, and R. H. Byrne, College of
Marine Science, Center for Ocean Technology,
University of South Florida, St. Petersburg, FL

Mass SURFER: a Low-Power Underwater

Mass Spectrometer for Monitoring
Dissolved Gas, Solutes and Large
Organic Compounds .............................................
259
Gary M. McMurtry, SOEST, University of Hawaii,
Honolulu, HI, and Pacific Environmental Technologies,
Honolulu, HI; Steven J. Smith, Jet Propulsion
Laboratory, California Institute of Technology,
Pasadena, CA

xxvi
Session 7 Restoration Success Criteria ................................
327
Marine Habitat Restoration Part A Russell Joe Bellmer, NOAA Fisheries, Silver Spring,
Session Chair ...................Dr. Russell Joe Bellmer MD
Marine Ecologist,
NOAA Fisheries,
Office of Habitat Conservation, Session 8
Silver Spring, MD Modeling, Simulation and Visualization
Marine Habitat Restoration Part B Session Chair ....................................
Dr. Ed Gough
Session Chair .....................................
Jim Burgess University of Washington,
Director of the NOAA Restoration Center,
N O M Fisheries, Session Co-chair ...........................
James Barbera
Office of Habitat Conservation, Consultant,
Silver Spring, MD Applied Physics Laboratory,
Bellevue, WA
Florida Keys National Marine Sanctuary
Looe Key Coral Reef Restoration Visual Basic Environment Yields
Project of 1999 ........................................................
302 Advanced Navigation Simulation 331 .........................
Richard H. Spadoni and Craig J. Kruempel, Coastal Chris Holt and John Fumo, Trisys Incorporated,
Planning & Engineering, Inc., Boca Raton, FL Phoenix, AZ

Coral Reef Mitigation and Restoration Propagation and Scattering in

Techniques Employed in the Pacific Very Shallow Water ................................................
337
Islands: I. Overview ...............................................
306 Gary Steven Sammelmann, United States Navy,
John Naughton, Pacific Islands Area Office, National Coastal Systems Station, Panama City, FL
Marine Fisheries Service, Honolulu, HI;
Paul L. Jokiel, Hawaii Coral Reef Assessment and Range Dependent Effect on Ray Propagation in the
Monitoring Program (CRAMP), University of Hawaii, North Eastern Atlantic ........................................... 345
Hawaii Institute of Marine Biology, Kaneohe, HI B. Faure, D. Mauuary, and S. Bausson, LIS-ENSIEG,
France
Coral Reef Mitigation and Restoration
Techniques Employed in the Pacific Autonomous Littoral Warfare Systems
Islands: II. Guidelines ............................................
313 Evaluator-Engineering Simulation
Paul L. Jokiel, Hawaii Coral Reef Assessment and (ALWSE-ES) ............................................................
349
Monitoring Program (CRAMP), University of Hawaii, J. Marc Eadie, Coastal Systems Station, Panama City,
Hawaii Institute of Marine Biology, Kaneohe, HI, FL; Russell D. Mace, BAE Systems, Panama City
John Naughton, Pacific Islands Area Office, National Beach, FL
Marine Fisheries Service, Honolulu, HI
Design of FIRAIR Lattice Filters Using the Circulant
NOAA Restoration Center: Restoring Matrix Factorization ...............................................
354
Living Marine Resource Habitats ......................... 317 Jinho Bae, Taekshik Jeong, and Beobmo Gu,
James P. Burgess, NoAA Restoration Center; Technical Research Institute, Daeyang Electric Co.,
Elizabeth 1. Jones, NOAA, Silver Spring, MD Ltd., Pusan, South Korea; Joohwan Chun, Scientific
Computing Laboratory, Department of EECS, Korea
Restoration of American Shad Advanced Institute of Science and Technology, Taejon,
Alosa sapidissima Populations South Korea; Sang Tae Kim, Korea Institute of
in the Susquehanna and Delaware Industrial Technology Evaluation & Planning, Seoul,
Rivers, USA .............................................................
321 South Korea
J. Jed Brown, U. S. Fish & Wildlife Service, Smyrna,
DE; Richard A. St. Pierre, U. S. Fish & Wildlife
Service, Harrisburg, PA

xxvii
 . .-, . . . . . . .- . ,~
. . .

. ,
. . . . . . .

Development of an Autonomous Navigation Algorithm for Autonomous

Underwater Vehicle Maneuvering Underwater Vehicle Considering
Simulator ................................................................ 361 Cruising Mission Using a Side Scanning
E. Kobayashi, T. Maeda, K. Hirokawa, T. Ichikawa, T. SONAR in Disturbance ..........................................
403
Saitou, S. Miyamoto, S. Iwasaki, and H. Kobayashi, Hiroshi Kawano and Tamaki Ura, Underwater
Mitsubishi Heavy Industries, Ltd.; T. Aoki, Japan Technology Research Center, Institute of Industrial
Marine Science and Technology Center Science, The University of Tokyo, Tokyo, Japan
Nagasaki, Japan
Navigation of Autonomous Underwater
Vehicles based on Artificial Underwater
Session 9 Landmarks .............................................................. 409
Son-Cheol Yu, Tamaki Ura, Teruo Fujii, and Hayato
Unmanned Underwater Vehicles Kondo, Institute of Industrial Science, University of
Session Chair ........................... Claude P. Brancart Tokyo
IEEElOES
Route Keeping Control of AUV Under
Development of a Micro Autonomous
Current by using Dynamics Model via
Underwater Vehicle For Complex CFD Analysis ..........................................................
417
3-D Sensing ......................................... See Session 53 Kangsoo Kim and Tamaki Ura, Institute of Industrial
Brett Hobson, Bryan Schulz, Jason Janet, Mathieu Science, University of Tokyo, Tokyo, Japan;
Kemp, Ryan Moody, Chuck Pell, and Heather Pinnix Taku Sutoh, Ishikawajima-Harima Heavy Ind., Co.
Nekton Research, LLC, Durham, NC
Ltd., Tokyo, Japan; Takashi Obara, Mitsui Engineering
& Shipbuilding, Co. Ltd., Okayama, Japan
Seabed Following for Small
Autonomous Underwater Vehicles 369 ....................... A Miniature Low-Cost Autonomous Underwater
V. Creuze, B. Jouvencel, and P. Baccou, Laboratoire
d’lnformatique, de Robotique et de Microelectronique Vehicle .....................................................................
423
de Montpellier, Montpellier, France Carl E. Wick and Daniel J. Stilwell, Systems
Engineering Department, United States Naval
Autonomous Underwater Vehicle Navigation by Academy, Annapolis, MD
Means Of a Bottom Imaging Sonar ...................... 375
A. Duguet, Thomson Marconi Sonar, Brest cedex, Depth and Heading Control for Autonomous
France Underwater Vehicle Using Estimated Hydrodynamic
Coefficients ............................................................. 429
Concurrent Mapping and Localization Joonyoung Kim, Kihun Kim, Hang S. Choi, Woojae
and Map Matching on Autonomous Seong, and Kyu-Yeul Lee, Department of Naval
Underwater Vehicles ..............................................
380 Architecture & Ocean Engineering, Seoul National
University, Seoul, Korea
R. N. Carpenter and M. R. Medeiros, Naval Undersea
Warfare Center, Newport, RI
C-SCOUT Maneuverability -
Object Observation in Detail by the AUV A Study in Sensitivity ............................................
436
“Tri-Dog 1” with Laser Pointers 390........................... D.E. Perrault, T. Curtis, N. Bose, and S. O’Young,
Memorial University of Newfoundland, Faculty of
Hayato Kondo, Soncheol Yu and Tamaki Ura,
Underwater Technology Research Center, Institute of Engineering, St. John’s NF, Canada;
Industrial Science (IIS), University of Tokyo, Tokyo, C. Williams, National Research Council of Canada,
Japan Institute for Marine Dynamics, St. John’s, NF, Canada

Adaptive DO6 Control of Underwater High Fidelity Hardware-ln-the-Loop

Robotic Vehicles ....................................................
397 Simulation Development for an
Autonomous Underwater Vehicle 444 .........................
S. Zhao, J. Yuh, and H. T. Choi, Autonomous
Systems Laboratory, University of Hawaii, Honolulu, HI Feijun Song, Andres Folleco, and Edgar An, Ocean
Engineering Department, Florida Atlantic University,
Dania, FL

xxviii
Development of a Six-Degree of Chemical Plume Mapping With an
Freedom Simulation Model for the Autonomous Underwater Vehicle ......................... 508
REMUS Autonomous Underwater Barbara Fletcher, Space and Naval Warfare Systems
Vehicle ..................................................................... 450 Center San Diego, San Diego, CA
Timothy Prestero, MlTNVHOl Joint Program in
Oceanographic Engineering Magneto-Inductive (MI)
Communications .................................................... 513
Exploration of Teisi Knoll by Autonomous John J. Sojdehei, Coastal Systems Station;
Underwater Vehicle "R-One Robot" .................... 456 Paul N. Wrathall and Donald F. Dinn, Magneto-
Tamaki Ura, Institute of Industrial Science, University Inductive Systems Limited
of Tokyo, Tokyo, Japan; Takashi Obara, Mitsui
Engineering and Shipbuilding Co., Ltd., Okayama, Docking Techniques and Evaluation Trials
Japan; Shinichi Takagawa, Japan Marine Science and of the SWIMMER AUV An Autonomous
Technology Center, Kanagawa, Japan; Deployment AUV for Workclass ROVs .................520
Toshitaka Gamo, Hokkaido University, Sapporo, Japan J.C. Evans, K.M. Keller, and J.S. Smith, Department
of Electrical Engineering and Electronics, The
Sea Trial of AUV "URASHIMA" with University of Liverpool, Liverpool, UK; P. Marty,
Lithium-ion Rechargeable Battery ........................ 462 Cybernetix, Marseille Cedex, France; V. Rigaud and
Takashi Murashima, Taro Aoki, Toshiaki Nakamura, IFREMER, La Seyne sur Mer, France
Hiroshi Ochi, Satoshi Tsukioka, Hidehiko Nakajoh,
Tadahiro Hyakudome, and Tadahiko Ida, Japan Identification and Control of the
Marine Science and Technology Center (JAMSTEC) Phantom 500 Body Motion .................................... 529
Kanagawa, Japan Jean-Pierre Folcher and Maria-JoHo Rendas,
Laboratoire d'lnformatique, Signaux et Systemes de
AUVlUUV Mission Planning and Real Time Control Sophia Antipolis, Cedex, France
with the HUGIN Operator System 468 .........................
Per Espen Hagen, Norwegian Defence Research Image Segmentation 'by Unsupervised
Establishment (FFI), Kjeller, Norway Adaptive Clustering in the Distribution
Space for AUV Guidance Along Sea-bed
Adaptive Control of Marine Boundaries Using Vision ...................................... 536
Thrusters. ................................................................ 474 Albert Tenas, Maria-JoHo Rendas, and Jean-Pierre
Alexander Leonessa and Ronald Poirrier, Folcher, Laboratoire d'lnformatique, Signaux et
Department of Ocean Engineering, Florida Atlantic Systemes de Sophia Antipolis, Cedex, France
University, FL
Applying AUV Lessons and
Maneuvering Control System Design for Technologies to Autonomous Surface
Autonomous Underwater Vehicle ......................... 482 Craft Development .................................................
545
S. Miyamoto, T. Maeda, K. Hirokawa, T. Ichikawa, T. J. Manley, J. Curran, B. Lockyer, J. Morash, and
Saitou, H. Kobayashi, E. Kobayashi, and S. Iwasaki, C. Chryssostomidis, Massachusetts Institute of
Mitsubishi Heavy Industries, Ltd., Nagasaki, Japan; Technology, AUV Lab, Sea Grant College Program
T. Aoki, Japan Marine Science and Technology Center Cambridge, MA

An Intelligent Control For a Crawling Unmanned A Cocoon-Based Shipboard Launch

Vehicle ..................................................................... 490 and Recovery System for Large
Kwang Hwa Lee, Department of the Navy Autonomous Underwater Vehicles ....................... 550
Naval Surface Warfare Center, Dahlgren Division K. Sharp, D. Cronin, D. Small, and R. Swanson,
Coastal System Station (CSS), Panama City, FL Naval Oceanographic Office, Stennis Space Center,
MS; T. Augustus, Space and Naval Warfare Systems
Nonlinear Identification of Marine Center, San Diego, CA
Thruster Dynamics ................................................. 501
Alexander Leonessa and Dapeng Luo, Department
of Ocean Engineering, Florida Atlantic University, FL

xxix
New Archaeological Uses of Autonomous The Open Sea Tests of The Offshore Floating
Underwater Vehicles ..............................................
555 Type Wave Power Device “Mighty Whale”
David Mindell and Brian Bingham, Deep Sea -Characteristics of Wave Energy Absorption
Archaeology Research Group, Massachusetts Institute and Power Generation ...........................................
579
of Technology, MA Yukihisa Washio, Hiroyuki Osawa, and Teruhisa
Ogata, Japan Marine Science and Technology Center,
Yokosuka, Japan
Session 10
Marine Geodesy
Session Chair ..................................
Dr. Patrick Fell Session 12
Naval Surface Warfare Center, Marine Education
Dahlgren, VA Session Chair ............................. Sharon H. Walker
Gulf Coast Research Laboratory,
Accurate Navigation of Airborne Image Ocean Springs, MS
Sequences for Rapid Surveys of Water
Depths and Currents ..............................................
559 Requirement Standards for Qualified
John Dugan and Cindy Piotrowski, AretJ Associates, Submarine Cable Technicians .............................. 586
Arlington, VA; Alan Evans and Udayan Bhapkar, Martin Greska, Oceaneering International, Inc.,
Naval Surface Warfare Center Dahlgren Division, Advanced Technologies Division
Dahlgren, VA
Web-Enabled Collaborative
RTK Height Measurements show Team Training for Deep
Gradient on Sea Surface? ..................................... 565 Submersible Vehicles ............................................
591
John-Morten Godhavn and Edgar Johansen, R.J. Barton, 111 and L. Miguel Encarancao,
Research & Development, Kongsberg Seatex AS Fraunhofer CRCG, Inc., Providence, RI; D. Foster,
Pirsenteret, Trondheim, Norway Woods Hole Oceanographic Institute, Woods Hole, MA
Preliminary Comparisons of the An Interdisciplinary Marine Research
WGS84(EGM 96) Geoid with National Programme, How to Promote Generative
Vertical Datums ...................................................... 571 Interaction Between Marine Scientists,
Patrick Fell and Mark Tanenbaum, NAVSEA, Surface
Warfare Center Division, Dahlgren, Virginia
Modellers and Engineers ...................................... 595
Oyvind T. Odegaard, Bjarrn Sortland, Ingrid
Ellingsen, Dag Slagstad, Geir Johnsen, and Egil
Sakshaug, Norwegian University of Science and
Session 11 Technology, Trondheim, Norway
Ocean Energy
Session Chair .........Dr. Sathish Balasubramanian Promoting Awareness of Marine
Senior Naval Architect, Technology: An ROV Building
Band, Lavis & Associates, Inc., Competition for High School and
A CDI Marine Group Company College Students ....................................................
603
Jill Zande, Saundra Butcher, and Deidre Sullivan,
Recent Developments and Forecasts for Marine Advanced Technology Education (MATE)
Renewable Ocean Energy Systems 575 ...................... Center, Monterey Peninsula College, Monterey, CA;
A.T. Jones, oceanUS Management LLC, San Drew Michel, TSC Holdings, Inc., Houston, TX
Francisco, CA; W. Rowley, Douglas-WestwoodLtd.,
Canterbury, UK Ocean Engineering Design Experience
at the U.S. Naval Academy ....................................
608
David L. Kriebel and W. Scott Finlayson, Ocean
Engineering Program, United States Naval Academy,
Annapolis, MD

XXX
Gulf of Maine Ocean Observing System Monitoring Our Oceans and Climate
(GoMOOS): An Institutional Arrangement by Satellite .............................................................. 631
in Support of Coastal Ocean Research 613 ............... Deborah J. Shaw and Philippe Roques, Service
Evan D. Richert, Director, Maine State Planning Argos, Inc., Largo, MD
Office; President, GoMOOS; Philip S. Bogden, Chief
Executive Officer, GoMOOS, Portland, ME Estimation of Radio Refractivity Structure Using
Radar Clutter .......................................................... 636
Centers for Ocean Sciences Education Peter Gerstoft and William S. Hodgkiss, Marine
Excellence (COSEE) Priority Physical Laboratory, University of California San Diego,
Recommendations Document .............................. 617 La Jolla, CA; L. Ted Rogers and Lee J. Wagner,
Sharon H. Walker, Ph.D., Associate Dean for Atmospheric Propagation Branch, SPAWAR Systems
Outreach, College of Marine Sciences, The University Center, San Diego, CA
of Southern Mississippi, Biloxi, MS
Dr. Elizabeth Day, National Sea Grant Office HF Radar Wind Measurement Over the
Dr. Don Elthon, University of Texas at Houston Eastern China Sea .................................................. 642
Ms. Paula Keener-Chavis, College of Charleston Huang Wei-min, Wu Shi-cai, Wen Bi-yang, and Hou
Dr. Nancy Marcus, Florida State University Jie-chang, Department of Space Physics, Wuhan
Ms. Janice McDonald, Rutgers University University, Wuhan, P.R. China
Dr. George Matsumoto, Monterey Bay Aquarium
Research Institute Test of HF Ground Wave Radar
Dr. Ellen Prager, Rosenstiel School of Marine & OSMAR2000 at the Eastern China Sea 646 .................
Atmospheric Science Wu Shicai, Yang Zijie, Wen Biyang, Shi Zhenhua,
Dr. Debbie Smith, Woods Hole Oceanographic Tian Jiansheng, Gao Huotao, Wu Xiongbin, and Ke
Institute Hengyu, School of Electronic Information, Wuhan
Dr. Sharon Walker, COSEE Principal Investigator University, Wuhan, P.R. China
J.L. Scott, Marine Education Center & Aquarium
Dr. Duane Dale, Workshop Facilitator, DFD Associates
Session 14
Proposal for Formation of a Marine Cables and Connectors
Information Technology Industry- Session Chair ...................................
Tom Coughlin
Case Study of Marine Data Processing Vector Cable Company,
in JAPAN .................................................................
620 Sugar Land, TX
Naoki Nakazawa, Systems Engineering Associates,
Inc., Tokyo, Japan; Tamio Hashimoto, Oki Electric The Economic Advantages of
Industry Co., Ltd., Tokyo, Japan; Masao Kanetsuna, Jet-Assisted Plowing ............................................. 649
Japan Ocean Industries Association, Tokyo, Japan; Frank D. Messina, Jon B. Machin, Perry Slingsby
Takeo Kondo, Nihon University, Chiba, Japan Systems, Inc., Jupiter, FL; Jeffrey A. Hill, TyCom,
Baltimore, MD
Session 13 The Design of a Manned Vehicle for
Remote Sensing Subsea Pipelinelcable Inspection
Session Chair .........................
Dr. Richard L. Crout and Maintenance .................................................... 657
Planning Systems Incorporated, Lian Lian, Shanghai Jiao Tong University, Shanghai,
Slidell, LA P.R. China; Dongchang Sun, Shengli Oil Field,
Dongying, P.R. China; Tong Ge, Shanghai Jiao Tong
Improvement in Spacebased University, Shanghai, P.R. China
Scatterometers and Increased Scientific
Impact in the Past Decade. .................................... 626 Under Water Explosive Shock Testing
W. Timothy Liu and Xiaosu Xie, Jet Propulsion (UNDEX) of a Subsea Mateable Electrical
Laboratory, California Institute of Technology, Connector, the CM2000 ......................................... 661
Pasadena, CA Matt Christiansen, SEA CON / Brantner & Associates,
El Cajon, CA

xxxi
A Thin Fiber Cable Laying System for Estimation of Sediment Properties
Mobile Deep Seafloor Observation ...................... 667 Using Frequency Domain Identification
Katsuyoshi Kawaguchi, Japan Marine Science and and Marine Acoustics ............................................ 697
Technology Center, Deep Sea Research Department, S. Vandenplas, A.B. Temsamani, and L. Van Biesen,
Kanagawa, Japan; Takato Nishida and Shinichi Vrije Universiteit Brussel, Brussels, Belgium
Obana, Ocean Cable & Communications Corp., Tokyo,
Japan Bottom Parameter Extraction
from Long Range Reverberation
Volume Two Measurements ........................................................ 707
John R. Preston, Applied Research Laboratory,
The Pennsylvania State University, State College, PA
Session 15
Ropes and Tension Members Acoustic Propagation Anomalies
Session Chair .................................... John F. Flory Caused by Thin Geoacoustic Layers ...................715
Tension Technology International, Inc., Jens M. Hovem, Norwegian University of Science and
Morristown, NJ Technology, Trondheim, Norway and Forsvarets
Forskningsinstitutt, Horten, Norway;
Test Method for Determining the Connie-Elise Solberg and Dag Tollefsen, Forsvarets
Assured Residual Life Span (ARELIS) Forskningsinstitutt, Horten, Norway
of Polyester Mooring Ropes. ................................ 672
Rigo Bosman, Acordis Industrial Fibers, The The Fine Scale Geo-Acoustic Inversion of
Netherlands The Shallow Water Sub-Bottom
Using Chirp Signals ...............................................
723
Defining, Measuring and Calculating the W. Seong and C. Park, Department of Naval
Change-in-Length Properties of Architecture and Ocean Engineering, Seoul National
Synthetic Fiber Rope .............................................
679 University, Seoul, Korea
John F. Flory, Tension Technology International, Inc.,
Morristown, NJ A Geoacoustic Inversion Method
for Range-Dependent Environments
Creep as a Design Tool for HMPE Using a Towed Array ..............................................
731
Ropes in Long Term Marine and Martin Siderius, Science Applications International
Offshore Applications. .......................................... 685 Corporation, La Jolla, CA; Peter Nielsen, SACLANT
Paul Smeets, Martien Jacobs, and Marcel Mertens, Undersea Research Centre, La Spezia, Italy;
DSM High Performance Fibers, Heerlen, The Peter Gerstoft, Marine Physical Laboratory, University
Netherlands of California San Diego, La Jolla, CA

Geoacoustic Inversion
Session 16 Studies .................................................................... 737
Geoacoustic Inversion D.P. Knobles, R.A. Koch, and M.S. Haire, Applied
Session Chair ...................................... Alex Tolstoy Research Laboratories, The University of Texas at
A. Tolstoy Sciences, Austin, Austin, TX
Annandale, VA

Blind Marine Seismic Deconvolution Session 17

by a SEMlMPM Method: Application Applications of Signal Processing
to the ESSR4 Campaign. ....................................... 691 Session Chair .................................... Alex Tolstoy
B. Nsiri, 0. Rosec, and J.M. Boucher, ENST A. Tolstoy Sciences,
Bretagne, Brest Cedex, France; Annandale. VA
E. Menut and B. Marsset, IFREMER, Plouzane
Cedex, France Geoacoustic Inversion Using MFP ....................... 745
A. Tolstoy, A. Tolstoy Sciences, Annandale VA

xxxii
Direction of Arrival Estimation Using A Method for Robust Time-Reversal
Super-Resolution Algorithm ................................. 749 Focusing in a Fluctuating Ocean ......................... 793
Yi Xu, Wei Feng Feng, Jun Yan Hao, and H. K. Seongil Kim, W.A. Kuperman, W.S. Hodgkiss, H.C.
Hwang, Electrical and Computer Engineering, Song, and G.F. Edelmann, Scripps Institution of
California State Polytechnic University-Pomona, Oceanography, La Jolla, CA; T. Akal, SACLANT
Pomona, CA Undersea Research Centre, La Spezia, Italy;
R.P. Millane, Purdue University, West Lafayette, IN
Time-Frequency Analysis of Frequency-Coded D. Di lorio, University of Georgia, Athens, GA
Signals ....................................................................
756
Oleg A. Rogozovskyi, Signal Theory Group, Ruhr
University Bochum, Universitatstr., Bochum, Germany; Session 18
LJubiga Stankoviae and lgor Djurovia, NOAA's Undersea Research Program
Elektrotehnieki fakultet, University of Montenegro, Session Chair ..................................
Barbara Moore
Podgorica, Montenegro, Yu Director,
National Undersea Research Program, NOAA,
Adaptive Radar Clutter Silver Spring, MD
Suppression ........................................................... 762
Yi Xu, Wei Feng Feng, Jun Yan Hao, and H. K. Applications of Human Occupied Vehicles
Hwang, Electrical and Computer Engineering, at Hydrocarbon Seeps and Vents in the
California State Polytechnic University-Pomona, Gulf of Mexico ........................................................ 799
Pomona, CA Andrew N. Shepard, University of North Carolina at
Wilmington, National Undersea Research Center,
Model-Based Detection in a Shallow Water Ocean Wilmington, NC
Environment ...........................................................
769
James V. Candy, University of California, Lawrence New Research Directions and Enhanced
Livermore National Laboratory, Livermore, CA Potential at the Hawaii Undersea
Research Laboratory ............................................. 807
Broadband MFP: Coherent vs. Alexander Malahoff, John C. Wiltshire, Keith A.W.
Incoherent ...............................................................
776 Crook, Christopher D. Kelley, and John R. Smith,
S.M. Jesus and C. Soares, SiPLAB-FCT, Jr., Hawaii Undersea Research Laboratory, NOAA's
Universidade do Algarve, Campus de Gambelas, Faro, National Undersea Research Center for Hawaii and the
Portugal Western Pacific, University of Hawaii at Manoa,
Honolulu, HI
Gibbs Sampling Optimization in
Underwater Sound Problems ................................ 782 Fisheries and Fisheries Habitat
Zoi-Heleni Michalopoulou, Department of Investigations Using Undersea
Mathematical Sciences, New Jersey Institute of
Technology, Newark, NJ
Technology .............................................................
812
Jennifer R. Reynolds, Raymond C. Highsmith,
Brenda Konar, C. Geoffrey Wheat, and David
Model-Based Tracking for Doudna, West Coast & Polar Regions Undersea
Autonomous Arrays ...............................................
786 Research Center (NURP), University of Alaska
Michael B. Porter, Paul Hursky, and Christopher 0. Fairbanks, Fairbanks, AK
Tiemann, Science Applications International
Corporation, La Jolla, CA; Mark Stevenson, SPAWAR
Systems Center, San Diego, CA
Predictions of Underwater Weather 821 .....................
Michael P. De Luca, J. Frederick Grassle, and
Janice M. McDonnell, Institute of Marine and Coastal
Sciences, Rutgers - The State University of New
Jersey, New Brunswick, NJ

xxxiii
The Evolution and Development of the Mapping Submersible Observations
Small ROV as an Essential Experimental of Deepwater Snappers on 3-D
Tool in Limnological and Coastal Multibeam Images of a Bottomfish
Marine Research .....................................................
826 Habitat in Hawaii ....................................................
876
J.V. Klump and R.W. Paddock, University of Christopher D. Kelley, Hawaii Undersea Research
Wisconsin-Milwaukee, Great Lakes Wisconsin Aquatic Laboratory, NoAA's National Undersea Research
Technology & Environmental Research (WATER) Center for Hawaii and the Western Pacific, University
Institute, Milwaukee WI; I.G. Babb and P. J. Auster, of Hawaii at Manoa, Honolulu, HI
National Undersea Research Center, University of
Connecticut at Avery Point, Groton, CT
Session 20
Technical Diving in Support of Science
Session 19 Session Co-chair ............................... Richard Pyle
Deepwater Fisheries Bishop Museum
Session Chair ................................ Dr. Chris Kelley Honolulu, HI
HURUSOEST
Session Co-chair ............................
Forrest Young
New Data on Pacific Flatnose, Director,
Antimora Microlepis (Moridae) from Dynasty Marine Associates Inc.,
the Northwestern Pacific Ocean ........................... 833 FL
A.M. Orlov and A.A. Abramov, Russian Federal
Research Institute of Fisheries & Oceanography Power and Oxygen Sources for a
(VNIRO), Moscow, Russia Diver Propulsion Vehicle ....................................... 880
G.T. Reader, University of Windsor, Windsor, ON,
Feeding Habits of Some Deep-Benthic Canada; I.J. Potter, Alberta Research Council,
Skates (Rajidae) in the Western Bering Edmonton, AB, Canada; E. Clavelle, University of
Sea ...........................................................................
842 Calgary, AB, Canada
A.M. Orlov, Russian Federal Research Institute of
Fisheries & Oceanography (VNIRO), Moscow, Russia
Session 21
Some Biological Features of Roughscale Diving
Sole Clidoderma Asperrimum (Temminck et
Schlegel, 1846) in the Pacific Waters off the
Session Chair .................................... Dr. Bill Phoel
Phoel Associates, Inc.
Northern Kuril Islands and Southeastern Toms River, NJ
Kamchatka ..............................................................
856
A.M. Tokranov, Kamchatka Institute of Ecology and Diving .A Look Ahead to 2050 888 .............................
Use of Natural Resources, Petropavlovsk-Kamchatsky, Don Chandler, Undersea and Hyperbaric Medical
Russia; A.M. Orlov, Russian Federal Research Institute Society, Kensington, MD
of Fisheries and Oceanography, Moscow, Russia.
Acoustical Characteristics of Glass Wool
Rare Events of Cyclopia and Melanism Materials in Hyperbaric Helium-Air Using
Among Deep-Water Snailfishes (Liparidae,
Scorpaeniformes) ..................................................
.864
Transfer Function Method .....................................
892
T. Nakai and Y. Kawanishi, Faculty of Engineering,
A.M. Orlov, Russian Federal Research Institute of Shizuoka University, Hamamatsu, Japan;
Fisheries & Oceanography (VNIRO), Moscow, Russia H. Suzuki, Faculty of Science and Technology, Tohoku
Bunka Gakuen University, Sendai, Japan
Larval Vertical-Migration Strategy
of Japanese Eel ...................................................... 870
Kimiaki Kudo, Global Ocean Development Inc.,
Yokosuka, Japan

xxxiv
 . . . - -.. - ,. .-“I__-

The U.S. Navy Dive Computer 900 .............................. Multifrequency HF Radar Observations of
D.G. Southerland, Captain, Medical Corps, USN Navy Surface Currents: Measurements from
Experimental Diving Unit, Panama City, FL; Different Systems and Environments ..................942
F.K. Butler, Captain, Medical Corps, USN Naval John Vesecky, Jessica Drake and Michal Plume,
Special Warfare Command Detachment Pensacola, Electrical Engineering Dept., University of California at
Pensacola, FL Santa Cruz, Santa Cruz CA; Lorelle Meadows and
Yolanda Fernandez, Department of Naval Architecture
Warm Water Diving: Physiological Effect as a and Marine Engineering, University of Michigan, Ann
Function of Body Temperature 905 ............................. Arbor, MI; Calvin Teague, STAR Laboratory, Stanford
E.T. Long, Commander, Medical Corps, USN, Navy University, Stanford, CA; Ken Davidson and Jeff
Experimental Diving Unit, Panama City, FL Paduan, Department of Oceanography, Naval
PostgraduateSchool, Monterey, CA
Overview of the Use of Different Gas
Mixtures in Self-contained Diving ........................ 911 Results From the First Successful
R.W. Bill Hamilton, Hamilton Research, Ltd., Field Deployment of the McLane
Tarrytown, NY Moored Profiler ...................................................... 949
Archie T. Morrison, 111, McLane Research
Laboratories, Inc. and Woods Hole Oceanographic
Session 22 Institution; John M. Toole, Scott E. Worrilow, and
Current Measurements Part A Kenneth W. Doherty, Woods Hole Oceanographic
Session Chair ..................... Albert J. Williams, 3rd Institution; Roger Lukas, University of Hawaii at
Woods Hole Oceanographic Institution, Manoa, HI
Woods Hole. MA
The Effects of Marine Fouling on the Performance
of a Single-Point Acoustic Doppler
Current Measurements Part B Current Sensor Mounted on a
Session Chair ................Archie Todd Morrison, 111 TABS4 Spar Buoy .................................................
956
McLane Research Labs, Inc. J.N. Walpert, N.L. Guinasso, Jr., Leslie C. Bender,
East Falmouth, MA and Linwood L. Lee 111, Geochemical and
Environmental Research Group, Texas A&M University,
Acoustic Current Meter Zero College Station, TX; F.J. Kelly, Conrad Biucher
Offset Drift .............................................................. 916 Institute for Surveying and Science, Texas A&M
Albert J. Williams, 3rd~, Woods Hole Oceanographic University-CorpusChristi, Corpus Christi, TX
Institution, Woods Hole, MA
Detection of the Number of Signals in
Effects of Temporal and Vertical Super-Resolution Ocean Surface
Variability of Echo Amplitude on Current Algorithm for OSMAR2000 ...................... 962
ADCP Selection and Performance ........................ 922 Yang Shaolin, Ke Hengyu, Hou Jiechang, Wu
Diane E. DiMassa, U. Mass Dartmouth, North Xiongbin, Tian Jiansheng, and Wen Biyang, College
Dartmouth, MA; Bruce A. Magnell and John M. Lund, of Electronic Information, Wuhan University, Wuhan,
Woods Hole Group, Inc., East Falmouth, MA P.R. China

Super-Resolution Ocean Surface

Current Algorithm Based on MUSIC Session 23
for OSMAR2000 ......................................................
930 Oceanographic Ships
Yang Shaolin, Ke Hengyu, Hou Jiechang, Wu Session Chair .........................................
Jack Bash
Shicai, Yang Zijie, Wen Biyang, and Wu Xiongbin, University of Rhode Island, RI
College of Electronic information, Wuhan University,
Wuhan, P.R. China A Parametric Investigation of the
Influence of Seakeeping on Research
Vessel Design ......................................................... 967
A.D. Eisele and S. Balasubramanian, Band, Lavis 8,
Associates, Severna Park, MD

xxxv
New Survey Ships and Systems for the Synthetic Aperture Sonar Imaging
Royal Navy .............................................................
,973 Based on Auto-focusing Method 1001 ........................
Richard Labone, Vosper Thornycroft Ltd; Jia Xu and Xingzhou Jiang, Navy Engineering
Jan Haug Kristensen and Freddy Pshner, Kongsberg University, Wuhan, China; Jinsong Tang and Cunhua
Simrad AS Zhang, Acoustic Research Institute, Science Academy
of China, Beijing, China
A Low Cost Real-Time Link For a
Coastal Research Vessel .......................................
980
Alessandro Bocconcelli, John Murray, and Session 25
Christopher Powell, Center for Marine Science, UNC- Coral Reefs
Wilmington, Wilmington, NC Session Chair .................................
Dr. Tony Jones
Consulting Oceanographer,
Electronic Activated Pelican Hook ....................... 983 San Francisco, CA
George M. White and Rex Johnson, University of
Washington, School of Oceanography, Seattle, WA Image Classification of Coral
Reef Components from Underwater
Color Video ...........................................................
1008
Session 24 Maricor Soriano, Sheila Marcos, and Caesar
Broad Band Active Sonar Saloma, National Institute of Physics, University of the
Session Chair ............................ Dr. Dave Lemonds Philippines, Diliman Quezon City, Philippines;
ORINCON, Miledel Quibilan and Porfirio AliAo, Marine Science
Hawaii Institute, University of the Philippines, Diliman Quezon
City, Philippines
Session Co-chair ..............Dr. Daniel D. Sternlicht
Orincon Corporation, Simple Measurements of Small Scale
San Diego, CA Water Motion in Coral Reefs ...............................
1014
Yasuo Furushima and Mineo Okamoto, Japan
Two Dimensional and Three Marine Science and Technology Center (JAMSTEC),
Dimensional Imaging Results Japan; Teruhisa Komatsu, Ocean Research Institute,
Using Blazed Arrays ..............................................
985 University of Tokyo, Tokyo, Japan
R. Lee Thompson, Jason Seawall, and Tim
Josserand, Advanced Technology Laboratory Applied Development of Short Core Sampling
Research Laboratories, The University of Texas at Machine from Live Coral ..................................... 1020
Austin, Austin, TX M. Okamoto and H. Yamaguchi, JAMSTEC,
Yokosuka, Japan; S. Nojima, Kyushu University,
Synthesizing Wide-Band Sparse Kyushu, Japan
Arrays by Simulated Annealing 989 ............................
A. Trucco, Department of Biophysical and Electronic
Engineering (DIBE), University of Genoa, Genova, Italy
Session 26
The Research of Underwater Target Underwater Robotics
Imaging with High Moving Sonar Session Chair ......................................
Mark Brown
Based on Synthetic Aperture MBARI, Marine Technology Society,
Method ....................................................................
995 Monterey Bay Section Chairman
Monterey, CA
Jia Xu, Xingzhou Jiang, and Jingyuan Zhang, Navy
Engineering University, Wuhan; Jinsong Tang,
Acoustic Research Institute, CAS, Beijing; Relative Position Estimation for
Ling Lu, Wuhan Technology University, Wuhan, China Manipulation Tasks by Fusing Vision
and Inertial Measurements ..................................
1025
Andreas Huster and Stephen M. Rock, Aerospace
Robotics Lab, Stanford University, CA, and Monterey
Bay Aquarium Research Institute, Moss Landing, CA

xxxvi
 . -
L
- - , 1 1 . .
i..

. . .

New Capabilities of the REDERMOR STAR (Subsea Tools Application Research)

Unmanned Underwater Vehicle 1032 .......................... Design of a General Purpose Subsea
Norbert Toumelin and Jer6me Lemaire, Groupe Torque Tool for ROV or UUV 1073 ...............................
D'Etude Sous-Marine De L'Atlantique (GESMA), M. Fan, Y. B. Low, J. S. Smith, and J. C. Evans,
Underwater Robotics Department, Brest Naval, France Department of Electrical Engineering and Electronics,
The University of Liverpool, Liverpool, UK; J. Seim,
Development of an Intelligent NUI, Gravdalsveien, Bergen, Norway
Underwater Robotic Manipulator
System ..................................................................
1036
Chen-Chou Lin, Department of Mechanical and Marine Session 27
Engineering; Chung-Cheng Chang, Department of Remotely Operated Vehicles (ROVs)
Electrical Engineering; Mu-Der Jeng, Department of
Electrical Engineering; Jung-Hua Wang, Department of
Session Chair ...........................
Brock J. Rosenthal
Chair MTS San Diego Section,
Electrical Engineering, National Taiwan Ocean Ocean Innovations, La Jolla, CA
University, Keelung, Taiwan, R.0.C
Underwater Vision Method for
The Controller of the
REDERMOR II ....................................................... 1041
Low-Visibility Turbulent Conditions ..................1080
L. Botelho-Ribeiro, Industrial Electronics Dept.,
N. Toumelin, Groupe D'Etude Sous-Marine De Guimariies, Portugal
L'Atlantique (GESMA), Underwater Robotics
Department, Brest Naval, France A Methodological Framework for
Developing ROV-Manipulator
Controlling an Uninstrumented ROV Systems for Underwater Unmanned
Manipulator By Visual Servoing 1047 ......................... Intervention .......................................................... 1085
Eric Marchand, Franqois Chaumette, and Fabien B. Solvang, and Z. Deng, Narvik Institute of
Spindler, IRISA - INRIA Rennes, Campus de Technology, Narvik, Norway; T.K. Lien, Norwegian
Beaulieu, Cedex, France; Michel Perrier, lfremer University of Science and Technology, Norway
Toulon, Cedex, France
Structure of Underwater Intervention
The Study of Ultrasonic Distance Manipulators in Workspace Constraint
Measurement Device for an Environment and Architecture of their
Teleoperated Robotic Manipulator Control System ..................................................... 1092
System ..................................................................
1054 B. Solvang and Z. Deng, Narvik Institute of
Chung Cheng Chang, Jung Hwa Wang, Mu Der Technology, Narvik, Norway; T.K. Lien, Norwegian
Jeng, and Shih Ho Tseng, Department of Electrical
University of Science and Technology, Norway
Engineering, National Taiwan Ocean University,
Keelung, Taiwan; Chen Chou Lin, Department of
Mechanical and Marine Engineering, National Taiwan Deep Precision Deployment and
Ocean University, Keelung, Taiwan Heavy Package Recoveries by the
ROPOS R.O.V. System ......................................... 1100
Real-time Vision-based Station Keith Shepherd and Kim Wallace, Canadian Scientific
Keeping for Underwater Robots 1058 ......................... Submersible Facility, Institute of Ocean Sciences,
Sjoerd van der Zwaan and Jose Santos-Victor, Sidney, B.C., Canada
lnstituto de Sistemas e Robotica, lnstituto Superior
Tecnico, Lisboa, Portugal Toward Model Based Dynamic
Positioning of Underwater Robotic
A Simulation Environment for Vehicles .................................................................
1106
Unmanned Underwater Vehicles David A. Smallwood and Louis L. Whitcomb,
Development ......................................................... 1066 Department of Mechanical Engineering, The Johns
/
Ga. Bruuone, R. Bono, M. Caccia, and Hopkins University, Baltimore, MD
G. Veruggio, Consiglio Nazionale delle Ricerche,
lstituto Automazione Navale, Genova, Italy

xxxvii
The Man-machine Interface of Session 28
ROTIS R.O.V. System .......................................... 1115 Real Time Measurements /
G.B. Meo, B. Papalia, ENEA
Ocean Monitoring
An Automated Maneuver Control
Session Chair ..............................
Catherine Woody
National Data Buoy Center
Framework for a Remotely Operated
Vehicle ...................................................................
1121
Session Co-chair ............................ Rebecca Smith
Sergio L. Fragaand J o i o B. Sousa, Laboratorio de
Naval Oceanographic Office
Sistemas e Tecnologias Subaquatica, Faculdade de
Engenharia da Universidade do Porto, Porto, Portugal:
A Real Time Measurement System
Anouck Girard, Ocean Engineering Graduate Group,
for Red Tide Studies ............................................ 1151
The University Of California at Berkeley, Berkeley, CA;
I.H.Y. Lam and I.J. Hodgkiss, Department of Ecology
Alfredo Martins, Departamento de Engenharia
8, Biodiversity, The University of Hong Kong, Hong
Electrotecnica, lnstituto Superior de Engenharia do
Kong
Porto, Porto, Portugal
The West Florida Shelf
Integration and Sea Trials of ARAMIS
With the Romeo ROV ...........................................
1129 ECOHAB-ONR-COMPS (ENC)
M. Caccia, R. Bono, Ga. Bruuone, Gi. Bruuone, E.
Monitoring Array ..................................................
1158
Rick Cole, Oceanographic and Research Diving
Spirandelli, and G. Veruggio, Consiglio Nazionale
Operations, University of South Florida, College of
delle Ricerche, lstituto Automazione Navale, Genova,
Marine Science, Ocean Circulation Group, St.
Italy
Petersburg, FL
A Pilot-Aid for ROV Based Tracking of
South Florida Ocean Measurement
Gelatinous Animals in the Midwater 1137 .................. Center (SFOMC)
Jason Rife and Stephen M. Rock, Stanford University,
CA, and Monterey Bay Aquarium Research Institute,
“A Coastal Ocean Observatory” 1163 .........................
Garth Jensen, SFOMC Executive Director, Naval
Moss Landing, CA
Surface Warfare Center, Carderock Division, West
Bethesda, MD
High Voltage Testing of an ROV Electro- Optical
Tether Cable ..........................................................
1145
National Ocean Service Real-Time
Ed Mellinger, Monterey Bay Aquarium Research
Institute (MBARI), Moss Landing CA; Torben Aabo, Monitoring Infrastructure, Working For
Power Cable Consultants Inc., (PCC), Ballston Spa,
America’s Coasts .................................................
1171
Joseph M. Welch, U.S. Department of Commerce,
NY; Andrew Bowen and Robert A. Petitt, Jr., Woods
Hole Oceanographic Institution (WHOI), Woods Hole, National Oceanic and Atmospheric Administration,
MA; Carlos Katz, Cable Technology Laboratories, Inc. National Ocean Service Center for Operational
Oceanographic Products and Services, Silver Spring,
(CTL), New Brunswick, NJ
MD

Remote Internet Instrumentation for

Monitoring Ocean Data ........................................
1176
R.H. Cockrum, Senior Member, IEEE; D.L. Clark,
Member, IEEE; S.T. Kelly, Life Member, IEEE,
Electrical and Computer Engineering Department,
California State Polytechnic University, Pomona, CA

An Overview of the Coastal Ocean Monitoring

and Prediction System (COMPS) ........................ 1183
Clifford R. Merz, P.E., COMPS Program Director,
University of South Florida, College of Marine Science,
St. Petersburg, FL

xxxviii
A Real Time Environmental Data Monitoring, Acoustic Improvements For USNS
Management and Analysis System for the Pathfinder (T-AGS 60) Class
Coral Reefs Off the Coast of Belize 1188 .......... Oceanographic Ships ..........................................
1224
Thomas B. Opishinski, Interactive Oceanographics, Timothy A Gates, Mantech Systems Engineering
East Greenwich, RI; Malcolm L. Spaulding, Corporation, Bethesda, MD; Robert P. Herman,
Department of Ocean Engineering, University of Rhode Program Executive Office; Expeditionary Warfare,
Island, Narragansett, RI; Klaus Rutzler and Michael Washington DC
Carpenter, Caribbean Coral Reef Ecosystems,
Department of Systematic Biology, Smithsonian T-AGS 60 Class Bubble Sweepdown
Institution, Washington, DC Diverter Fence Design .........................................
1233
Robert L. Tutton, Sonar Self-Noise and Structureborne
Synoptic Data Collection and Products Signatures Assessment Branch, Naval Surface Warfare
at the Naval Oceanographic Office 1198 ..................... Center, Carderock Division, West Bethesda, MD;
Rebecca A. Smith, Lamar Russell, Bruce D. Timothy A. Gates, MANTECH Systems Engineering
McKenzie, and Deborah Toca Bird, Naval Corp., Bethesda, MD; Kenneth M. Forgach, Ship
Oceanographic Office, Stennis Space Center, MS Resistance and Powering Dept., Hydromechanics
Directorate, Naval Surface Warfare Center, West
A Multi-Agency Solution for Coastal Bethesda, MD
.
Surveys SHOALS in the Pacific ........................
1204
Scott Ebrite, Naval Oceanographic Office, Stennis Effects of Naturally Occurring Bubbles on
Space Center, MS; Bob Pope, Naval Oceanographic Multibeam Sonar Operations ..............................
1241
Office, Stennis Space Center, MS; W. Jeff Lillycrop, Susan M. Sebastian, Naval Oceanographic Office,
US Army Corps of Engineers, Mobile, AL Stennis Space Center, MS; Jerald W. Caruthers,
University of Southern Mississippi, Stennis Space
Center, MS
Session 29
Acoustics and Oceanographic Ships A Collaborative Effort to Meet
Session Chair ..........................................
Tim Gates New Zealand’s Mapping Requirements:
Vice President, Multibeam Echosounder Integration,
ManTech Advanced Systems International, Inc., Acceptance Testing, and Antarctic
Bethesda, MD Mapping Aboard the Research Vessel
Tangaroa ...............................................................
1248
Session Co-chair ...........................
Robert Herman Art Kleiner and Jim Chance, C & C Technologies,
NAVSEA Inc.; Neville Ching, John Mitchell, and Fred Smits,
National Institute of Water and Atmospheric Research
Fisheries Research Vessel Ltd, New Zealand; John Spittal and Robert Spillard,
Hydrodynamic Design Minimizing Land Information, New Zealand
Bubble Sweepdown .............................................
1212
Gabor Karafiath, Naval Architect, Resistance &
Powering Department, Naval Surface Warfare Center, Session 30
Carderock Division, West Bethesda, MD; John M. Operational Oceanography /
Hotaling, Deputy Program Manager, Research Vessel
Program, National Marine Fisheries Service, Silver
Information Processing
Spring, MD; James M. Meehan, Mission Manager, Session Chair ..................................
Dr. John Lever
Research Vessel Program, National Marine Fisheries Naval Oceanographic Office
Service, Silver Spring, MD
Proof of Concept Naval Oceanographic
Office Survey Operations Center 1257 ........................
Jerry M. Gathof, Naval Oceanographic Office, Stennis
Space Center, MS

xxxix
A Broadband Ship-to-Shore A New Mooring Controller Platform:
Communications Network for the An Evolution of the OASIS Instrument
Naval Oceanographic Office ...............................
1262 Controller Toward a Distributed Ocean
Stanley Raffa, Naval Oceanographic Office, Stennis Observing System ................................................
1296
Space Center, MS; Steven Douglas, Naval Surface Timothy Meese, Duane R. Edgington, Wayne
Warfare Center, Corona, CA Radochonski, Kent Headley, and Scott Jensen,
Monterey Bay Aquarium Research Institute, Moss
Production Management and Control for Landing, CA
Operational Oceanography .................................
1268
Christine M. Jarrett, John A. Lever, and William J. NEPTUNE Gigabit Ethernet Submarine
Moseley, Naval Oceanographic Office, Stennis Space Cable System ........................................................
1303
Center, MS A.R. Maffei, J. Bailey, A. Bradley, A.D. Chave, S.N.
White, S. Lerner; and D. Yoerger; Woods Hole
Implementation of the Meteorology and Oceanographic Institution, Woods Hole, MA; G.
Oceanography Geospatial Initiative at the Massion, Monterey Bay Aquarium Research Institute,
Naval Oceanographic Office ...............................
1272 Moss Landing, CA; H. Frarier, Dominet Systems, San
Dianne Edson, John A. Lever and Craig Kelly, Naval Jose, CA; R. Buddenberg, Naval Post Graduate
Oceanographic Office, Stennis Space Center, MS; Jim School, Monterey, CA
Goudeau, The Analytic Sciences Corporation, Stennis
Space Center, MS
Session 32
Coastal Ocean Nowcasting
Session 31 Session Chair ...........................
Dr. James K. Lewis
Observatory Communication Technology Senior Scientist,
Session Chair ...................Dr. Duane R. Edgington Systems Oceanography, Scientific Solutions, Inc.,
MBARI Kalaheo, HI
Monterey, CA
The Northern Gulf of Mexico
“Smart Network” Infrastructure for the MBARI Littoral Initiative ...................................................
1311
Ocean Observing System ....................................
1276 Suzanne N. Carroll, Planning Systems, Inc., Stennis
Thomas C. O’Reilly, Duane Edgington, Daniel Space Center, MS; Carl Szczechowski, Naval
Davis, Richard Henthorn, Michael P. McCann, Oceanographic Office, Stennis Space Center, MS
Timothy Meese, Wayne Radochonski, Michael Risi,
Brent Roman, and Rich Schramm, Monterey Bay Observing and Forecasting Coastal
Aquarium Research Institute, Moss Landing, CA Currents: Texas Automated Buoy
System (TABS) ...................................................... 1318
A Compact Coastal Ocean Norman L. Guinasso, Jr., Leslie C. Bender, 111,
Observing System ................................................
1283 Linwood L. Lee, Ill, and John N. Walpert,
Jason Gobat, Robert Welter, Bryan Way, and Jeffrey Geochemical and Environmental Research Group,
Lord, Department of Physical Oceanography, Woods Texas A&M University; Joseph Yip, Robert 0. Reid,
Hole Oceanographic Institution,Woods Hole, MA Matt Howard, David A. Brooks, and Robert D.
Hetland, Department of Oceanography, Texas A&M
A Multidisciplinary Deep Sea Long-Term University; Robert D. Martin, Texas General Land
Observatory in Japan ..........................................
1290 Office, Austin, TX
Andrew M. Clark, Maritime Communication Services,
Harris Corporation, Melbourne, FL; Hiroyuki Sekino,
Japan Drilling Co., Ltd.(JDC), Tokyo, Japan

xl
 ,,, , .
. .
~

........... ............... ....

~, -_-
,
_I
I
.._"_*

Simulation of Hurricane Waves with NEPTUNE Regional 0bservatory

Parametric Wind Fields .......................................
1323 System Design ..................................................... 1356
Christopher D. Martino, Pacific Missile Range Facility, D.H. Rodgers, P.M. Beauchamp, and H. Kirkham, Jet
Department of Defense, Kekaha, HI; Kwok Fai Propulsion Laboratory, Pasadena, CA; A.D. Chave and
Cheung and Amal C. Phadke, Department of Ocean & A. Maffei, Woods Hole Oceanographic Institution
Resources Engineering, University of Hawaii at Manoa, Woods Hole, MA; S. Gaudet, Canadian National
Honolulu, HI; Samuel H. Houston, Hurricane Research Research Council, Victoria, Canada; G. Massion,
Division, National Oceanic and Atmospheric Monterey Bay Aquarium Research Inst., Moss Landing,
Administration, Miami, FL CA; T. M. McGinnis, University of Washington, Applied
Physics Laboratory, Seattle, WA; W.S.D. Wilcock,
HICUP" Hurricane Induced Coastal University of Washington, School of Oceanography,
Inundation Program .............................................
1331 Seattle WA
Lawrence Brower, Elaine Tamaye, Brian Ishii,
Benson Kim, and Edward Noda, Edward K. Noda and NEPTUNE: An Interactive
Associates, Inc., Honolulu, HI; David Divoky, Submarine Laboratory Network at
Engineering Methods & Applications, Inc., Jacksonville, the Scale of a Tectonic Plate ............................... 1366
FL John Delaney, G. Ross Heath, and William Wilcock,
School of Oceanography, University of Washington,
Development of Aquatic Environment Seattle, WA; Alan Chave and Andrew Maffei, Woods
Measurement Systems of Estuaries Hole Oceanographic Institution, Woods Hole, MA;
and Coastal Lagoons. ..........................................
1342 Harold Kirkham and Patricia Beauchamp, Jet
Kiyokazu Nishimura, Institute for Marine Resource & Propulsion Laboratory, California Institute of
Environment, Geological Survey of Japan, AIST, Technology, Pasadena, CA; Bruce Howe, Applied
Ibaraki, Japan; Takao Tokuoka, Tokuoka Laboratory Physics Laboratory, University of Washington, Seattle,
for Study of Coastal Lagoon Environments, Shimane, WA
Japan; Yoshihiro Ueno, Tokuoka Laboratory for Study
of Coastal Lagoon Environments, Shimane, Japan; The Design of the NEPTUNE
Japan Advanced Institute of Science and Technology in Power System .......................................................
1374
Hokuriku, Ishikawa, Japan; Yoshikaru Sampei, Harold Kirkham, Vatche Vorperian, and Paul
Shimane University, Shimane, Japan; Satoshi Suzaki, Bowerman, California Institute of Technology,
Senbon Denki Co., Ltd., Shizuoka, Japan; Shigeo Pasadena, CA; Bruce M. Howe, Applied Physics
Matsuda, Clovertech Inc., Musashino, Tokyo, Japan; Laboratory, University of Washington, Seattle, WA
Syunsuke Kubota, OCC Corporation, Tokyo, Japan;
Shigenori Suzuki, Tsurumi Seiki Co., Ltd., Kanagawa,
Japan Session 34
Marine Mammals
Volume Three Session Chair ........................ Gregory D. Kaufman
Pacific Whale Foundation
Session 33
Regional Ocean Observatories Use of High Resolution Space Imagery
to Monitor the Abundance, Distribution,
Session Chair ........................... Dr. Paul Moersdorf
and Migration Patterns of Marine
NOAA
Mammal Populations ...........................................
1381
An Assessment of the Noise Field Near Ron Abileah, SRI International, Menlo Park, CA
the Sable Gully Area ............................................
1348
High Frequency Marine Mammal
Francine Desharnais and Nicole E.B. Collison,
Defence Research Establishment Atlantic, Dartmouth, Mitigation Active Sonar System ......................... 1388
Peter Stein, Jason Rudzinsky, and Mike Birmann,
Nova Scotia, Canada Scientific Solutions, Inc., Nashua, NH; William Ellison,
Marine Acoustics Inc., Litchfield, CT; Joseph Johnson,
Chief of Naval Operations, Arlington, VA

xli
Mapping Total Environmental Sound Video Transects and Their Use in the
Exposure of Bottlenose Dolphins, Environmental Assessment Of Deep
Tursiops Truncatus, in the Wilmington, Water Marine Disposal Sites ...............................
1424
North Carolina Intracoastal Waterway 1392 ............... Jacquelin N. Miller, Environmental Center, University
Genevieve M. Haviland, Laela S. Sayigh, of Hawaii; Roy H. Wilkens, Geology and Geophysics,
Christopher M. Powell, and Alessandro University of Hawaii; Peter Wathern, EIA Division,
Bocconcelli, University of North Carolina at University of Wales, Aberystwyth, UK
Wilmington, Center for Marine Science; Adam S.
Frankel, Marine Acoustics, Inc., Washington, DC;
Russell L. Herman, University of North Carolina at Session 36
Wilmington, Department of Mathematics Marine Law & Policy
Session Chair ................................... Casey Jarman
Automated Model-Based Localization of University of Hawaii,
Marine Mammals near Hawaii .............................
1395 Honolulu UH Law School
Christopher 0. Tiemann and Michael B. Porter,
Science Applications International Corporation, La Jolla, The Use of Science in Marine Resource
CA; L. Neil Frazer, Department of Geology & Management: Can We Reconcile the
Geophysics, University of Hawaii at Manoa, Honolulu, Paradigms of Science, Law and
HI Politics? ................................................................
1428
Richard Hildreth, University of Oregon School of Law;
M. Casey Jarman, University of Hawai’i School of Law
Session 35
Ocean Outfall Monitoring in Hawaii Ocean Partnerships .............................................
1436
Session Chair ...........................
James E.T. Nloncur Theodore J. Bennett, Jr. and Mitchell K. Shank, Jr.,
Director, Naval Oceanographic Office, Stennis Space Center,
Water Resources Research Center, MS
Professor of Economics,
University of Hawaii,
Honolulu, HI Session 37
Navy Issues in Electronic Navigation
Changes in Pollution Indicators at the
Sand Island Sewage Outfall ................................
1401
Session Chair ................................... Mr. Ray Godin
Chief of Naval Operations,
Julie H. Bailey-Brock, Zoology Department and Water
Washington, DC
Resources Research Center, University of Hawaii at
Manoa, Honolulu, HI; Brian Paavo, Brendan M.
Barrett, and Jennifer Dreyer, Water Resources U.S. Navy Issues in Electronic Navigation:
Transitioning from “Traditional” to
Research Center, University of Hawaii at Manoa,
Honolulu, HI
“Digital Navigation” ............................................
1441
Daniel Soper, Paul K. Heim, 11, and Robert Freeman,
Macrobenthos Monitoring Near the Sand Navigator of the Navy Staff, U.S. Naval Observatory,
Washington, DC
Island and Barbers Point Ocean Outfalls,
O‘ahu, Hawai‘i ......................................................
1408
ECDlS Development Laboratory
R.C. Swartz, Placida, FL : J.H. Bailey-Brock and E.A.
and Navigation Technology
Kay, University of Hawai‘i at Manoa, Honolulu, HI; W.J.
Cooke, Kailua, HI
Demonstration Center .........................................
1446
Lee Alexander, Department of Marine Science,
University of Southern Mississippi, Stennis Space
Development and Assessment of a Fecal
Center, MS; Maxim F. van Norden, Naval
Bacterial Monitoring Program to Determine
Oceanographic Office, Stennis Space Center, MS;
the Impact of Ocean Sewage Outfall on
Charles R. Fralick, Naval Oceanographic Office,
Shoreline Water Quality .......................................
1417
Stennis Space Center, MS
R. Fujioka, C. Fujioka and R. Oshiro, University of
Hawai‘i at Manoa, Water Resources Research Center,
Honolulu, HI

xlii
Alternatives to GPS ..............................................
1452 Session 39
F. Pappalardi, S.J. Dunham, M.E. LeBlang, and T.E. Polar OperationsAJnderwater Acoustics
Jones, Space and Naval Warfare Systems Center, San Session Co-chair ................. Dr. Robert Anderson
Diego CA; J. Bangert and G. Kaplan, U.S. Naval
University of Hawaii
Observatory, Washington, DC

The United States Navy Navigating in

Session Co-chair .................... Dr. Margo Edwards
University of Hawaii
the 2lStCentury ....................................................
1460
Gregory F. DeVogel, Space and Naval Warfare Seismo-Acoustic Propagation in
Systems Command, San Diego, CA; Patrick K. an Ice-CoveredArctic Ocean
Baccei, Lockheed Martin Services, San Diego, CA;
Peter T. Shaw, Space and Naval Warfare System
Environment .........................................................
1487
Stan E. Dosso, School of Earth and Ocean Sciences,
Center, San Diego, CA University of Victoria, Victoria, British Columbia,
Canada; Garry J. Heard, Defence Research
The FAME Mission: An Adventure in Celestial Establishment Atlantic, Dartmouth, Nova Scotia,
Astrometric Precision ..........................................
1466 Canada; Michael Vinnins, Defence Research
Kenneth J. Johnston, Scientific Director, United Establishment Ottawa, Ottawa, Ontario, Canada
States Naval Observatory, Washington, DC
On-line Access to New Arctic Bathymetry
and Sidescan Data ...............................................
1492
Session 38 M.H. Edwards, P.D. Johnson, T.B. Appelgate, G.J.
Navy Issues in Oceanography Kurras, Hawaii Institute of Geophysics and Planetology,
Session Chair ......................................
Mr. Bill Little School of Ocean Earth Science and Technology,
Senior Science Officer, University of Hawaii, Honolulu, HI
Naval Pacific Meteorology
and Oceanography Center/ Comparison of Seabeam 2112 and Scamp
Joint Typhoon Warning Center, Bathymetry Data Along the Gakkel Ridge:
Pearl Harbor, HI Preliminary Mapping Results from the
HealyOl02 Arctic Cruise .......................................
1496
A Multi-Disciplinary Approach to G.J. Kurras, M.H. Edwards, and R.M. Anderson,
Evaluate Potential Impacts of Acoustic Dept. of Marine Geology and Geophysics, School of
Energy to Protected Marine Life 1469 ......................... Ocean Earth Science and Technology, University of
Elizabeth 1. Phelps, Denise M. Crimmins, and Hawaii, Honolulu, HI; P. Michael, Dept. of
Thomas E. Vars, Naval Undersea Warfare Center, Geosciences, University of Tulsa, OK; J.R. Cochran,
Division Newport, Newport, RI Dept. of Geology and Geophysics, Lamont-Doherty
Earth Observatory, Palisades, NY; B.J. Coakley, Dept.
Implementation of WAVEWATCH 111 at of Geology, Tulane University, New Orleans, LA
Fleet Numerical Meteorology and
Oceanography Center .......................................... 1474 Ice Penetrating Communication Buoy
Paul A. Wittmann, Fleet Numerical Meteorology and for Underwater Vehicles Operating
Oceanography Center, Monterey, CA in the Arctic ..........................................................
1500
Armen Bahlavouni, Douglas Andersen, and Peter
The Impact of Deep Internal Tides Stein, Scientific Solutions, Inc., Nashua, NH
on Acoustic Propagation ....................................
1480
Subramaniam D. Rajan, James K. Lewis, and Peter
J. Stein, Scientific Solutions, Inc., Nashua, NH

xliii
Development of a Long Endurance Results From a Field Test of an Autonomous
Autonomous Underwater Vehicle for Drifting Line Array ................................................
1553
Ocean Science Exploration .................................
1504 J. Mark Stevenson, Susan G. Briest, Christopher L.
William J. Kirkwood, Drew Gashler, Hans Thomas, Fletcher, Alan D. Fronk, Steven A. Hammett,
Thomas C. O’Reilly, Rob McEwen, Nicole Tervalon, Michael Klausen, William H. Marn, Vincent K.
Farley Shane, Doug Au, Mark Sibenac, and James McDonald, and Jack R. Olson, Space & Naval
G. Bellingham, Monterey Bay Aquarium Research Warfare Systems Center, San Diego, CA; William S.
Institute, Moss Landing, CA; Tom Konvalina, Fuel Cell Hodgkiss, David Ensberg, Richard A. Harriss,
Technologies; Armen Bahlavouni, Scientific Solutions Jeffrey D. Skinner, and Douglas J. Alden, Marine
Inc. Physical Laboratory, Scripps Institution of
Oceanography, La Jolla, CA
Ice Profiling Sonars: a Comparison
of Error Budgets ..................................................
1513 Estimation of Underwater Acoustic Fields at
Dale N. Chayes, Lamont-Doherty Earth Observatory of High Frequencies .................................................
1562
Columbia University; Nicole Tervalon, Monterey Bay Abdellatif Bey Temsamani, Steve Vandenplas, and
Aquarium Research Institute; Robert M. Anderson, Leo Van Biesen, Vrije Universiteit Brussel (VUB),
University of Hawaii School of Ocean & Earth Science Department ELEC, Brussels, Belgium
and Technology
Transmit Array for Acoustic Communications
Arctic Ocean Warming: Submarine and in Multipath Underwater Channel 1573 .......................
Acoustic Measurements ......................................
1523 Yong-Ju Lee, Oe-Hyung Lee, and Ki-Man Kim,
P. Mikhalevsky, SAIC, McLean, VA; A. Gavrilov, Department of Radio Science & Engineering, Korea
Shirshov Institute of Oceanology, Moscow, Russia; Maritime University, Pusan, Korea
M.S. Moustafa, SAC, West Palm Beach, FL;
B. Sperry, SAIC, McLean, VA Thin, Low Frequency, Oil-Filled Projectors
for UUV Applications ...........................................
1577
Walter L. Carney, Naval Sea Systems Command,
Session 40 Crane Division, Crane, IN; Thomas R. Howarth, Naval
Transducers and Arrays Sea Systems Command, Newport Division, Newport,
Session Chair ................................. Mark Rognstad RI; James F. Tressler, Naval Research Laboratory,
Project EngineerlSOEST Acoustics Division, Washington, DC
University of Hawaii
A High Frequency Phase
Underwater Flat-Panel Transducer Conjugation Array. ...............................................
1581
Arrays .................................................................... 1529 W.S. Wan, J.D. Skinner, G.E. Edmonds, R.A. Harriss,
R.E. Newnham, S. Alkoy, A.C. Hladky, W. J. Hughes, and D.E. Ensberg, Marine Physical Laboratory
D.C. Markley, R.J Meyer, Jr., and J. Zhang, Scripps Institution of Oceanography, La Jolla, CA
Materials Research Laboratory, The Pennsylvania State
University, University Park, PA Linearization Procedure for a Perturbed Linear
Array ...................................................................... 1586
A Comparison of Forward-Looking Seungil Kim, Dae Hee Youn, and Chungyong Lee
Sonar Design Alternatives .................................. 1536 MCSP Lab., Dept. of Electrical and Electronic Eng.,
Chester D. Loggins, Sonatech, Inc., Santa Barbara, Yonsei University, Seoul, Korea; Kyeong-Cheol Dho,
CA Agency for Defense Development, Chinhae, Korea

Empirical Acousto-Optic Sonar Performance

Versus Water Surface Condition ......................... 1546
Lynn Antonelli and lvars Kirsteins, Naval Undersea,
Newport, RI

xliv
Session 41 Censusing marine living resources in the
Pelagic Fisheries Gulf of Maine: a proposal .................................... 1611
Session Chair ................................... Dr. Mike Laurs Kenneth G. Foote, Woods Hole Oceanographic
Director, Honolulu Laboratory, Institution, Woods Hole, MA
National Marine Fisheries Service,
Honolulu, HI
Session 42
Session Co-chair ..................................... Mike Seki Sonar Signal Processing Part A and Part B
National Marine Fisheries Service Session Chair ................................ Stephen M. Holt
Lead Systems Engineer,
Mesoscale Cyclonic Eddies and Pelagic Mitretek Systems Inc., McLean, VA
Fisheries in Hawaiian Waters .............................. 1590
Michael P. Seki, Jeffrey J. Polovina, and Donald R. Session Co-chair ................................... Jim Candy
Kobayashi, National Marine Fisheries Service, NOAA, Lawrence Livermore National Laboratory,
Southwest Fisheries Science Center, Honolulu CA
Laboratory, Honolulu, HI; Robert R. Bidigare, Rick
Lumpkin, Pierre Flament, University of Hawaii, Sonar Signal Processing Part C and Part D
Department of Oceanography, School of Ocean and Session Chair ......................................... Jim Candy
Earth Science and Technology, Honolulu, HI; David G. Lawrence Livermore National Laboratory,
Foley, Joint Institute of Marine and Atmospheric CA
Research, University of Hawaii, Honolulu, HI
Session Co-chair .......................... Stephen M. Holt
Evaluation of Mitigation Measures for Lead Systems Engineer,
Sea Turtle Take Reduction in the Mitretek Systems Inc., McLean, VA
Hawaii-based Longline Fishery .......................... 1595
Donald R. Kobayashi and Jeffrey J. Polovina, Suppression of Impulsive Noise in
National Marine Fisheries Service, NOAA, Southwest Active Acoustic Time Series ............................... 1615
Fisheries Science Center, Honolulu Laboratory, D.W. Ricker and A.J. Cutezo, Applied Research
Honolulu, HI Laboratory, Pennsylvania State University, State
College, PA
Preliminary Studies On Silver Hake
(Merluccius Bilinearis) Population Exponential Scattering and K-Distributed
Identification Using Microsatellite DNA Reverberation ..........;............................................ 1622
Along the Northeastern US Coast and Douglas A. Abraham and Anthony P. Lyons, The
Their Abundance Correlated With Bottom Pennsylvania State University, Applied Research
Water Temperatures in the Middle Laboratory, State College, PA
Atlantic Bight ........................................................ 1596
William C. Phoel, Undersea Research Foundation, Sonar Data Conditioning By Means of
Inc., Toms River, NJ; Ronald A. Eckhardt, 2. M. G. Stepwise Outlier Rejection .................................. 1629
Sarwar Jahangir, Department of Biology, Brooklyn Leif Persson and Ron K. Lennartsson, Swedish
College of The City University of New York, Brooklyn, Defence Research Agency, Stockholm, Sweden;
NY; James R. Lovgren, Brick, NJ; William H. Amaru, Steve McLaughlin, Dept. of Electronics and Electrical
South Orleans Eng. University of Edinburgh, Edinburgh, UK

Marine Animals: the Next Generation of

Autonomous UndeMlater Vehicle?. .................... 1602
T. M. Thys, Sea Studios Foundation, Monterey CA;
B. W. Hobson, Nekton Research, LLC., Durham, NC
H. Dewar, Pfleger Institute of Environmental Science,
Oceanside, CA

xlv
Estimation of Ocean Bottom Scattering Development of Multipurpose Signal Attribute
Strength Using Discrete Eigenray Matching and Environmental Parameter Databases from
in Shallow Water .................................................. 1636 Combatant Sensors ............................................. 1672
W.E. Brown and D.R. Newcomb, Naval W.E. Brown and D.R. Newcomb, Naval
Oceanographic Office, Stennis Space Center, MS; Oceanographic Office, Stennis Space Center, MS;
M.L. Barlett, Applied Research Laboratories, The M.L. Barlett, Applied Research Laboratories, The
University of Texas at Austin, Austin, TX; University of Texas at Austin, Austin, TX;
G.H. Rayborn, The Signal Research Center, University G.H. Rayborn, The Signal Research Center, University
of Southern Mississippi, Hattiesburg, MS; of Southern Mississippi, Hattiesburg, MS;
F.W. Bentrem, Naval Research Laboratory, Stennis
Cramer-Rao Bound Investigation of Swath Space Center, MS
Bathymetry Accuracy ...........................................
1640
John S. Bird and Paul Kraeutner, Underwater Broadband DOA Estimation by Virtual
Research Lab., School of Engineering Science, Simon Scaling Array ........................................................ 1678
Fraser University, Burnaby, BC, Canada Ning Ma and Joo Thiam Goh, DSO National
Laboratories, Singapore
Improvement of the Legibility of
Bathymetric Pictures with a Test Results from a Multi-Frequency
Monodimensional Wavelet Bathymetric Synthetic Aperture Sonar 1682 ..............
Packet Filter ..........................................................
1648 M.P. Hayes, P.J. Barclay, P.T. Gough, and
C. Quivouron and A. Quinquis, Ensieta, Brest, H.J. Callow, Acoustics Research Group, Department of
France; M. Voisset, IFREMER, Plouzane, France Electrical and Electronic Engineering, University of
Canterbury, Christchurch, New Zealand
Theoretical Performance Analysis and
Simulation of a GLRT Tonal Detector ................1654 Synthetic Aperture Technique for
Qing Wang and Chunru Wan, System Research Lab, Twin-line Array ..................................................... 1689
School of EEE, Nanyang Technological University, In-Sik Yang, Seung-Yong Yang, and Ki-Man Kim,
Singapore; Joo Thiam Goh, DSO National Dept. of Radio Sciences & Eng., Korea Maritime
Laboratories, Singapore University, Pusan, Korea
Wide-band Signal Detection Based Performance Enhancement of Target
on Time-Scale Domain Two-dimensional Tracking for an Underwater Vehicle using
Correlation ............................................................ 1660 Synthetic Sensor Technique ...............................
1693
Zhang Jingyuan and Jiang Xingzhou, Naval Jun H. Kim, Jun S. Hur,‘Hyeong R. Lee, Dae S. Kim,
University of Engineering, Wuhan, P.R. China and II S. No, LG lnnotek Co., Ltd. Gumi Engineering
Lab, Kyeongbuk Prov, South Korea;
The Active Echo Model and Resolution Ki M. Kim, Dept. of Radio Science and Eng., Korea
Analysis in Wideband Processing of Maritime University, Pusan, South Korea,
Underwater Acoustic Signals ............................. 1666
Yuhong Jin, Jingyuan Zhang and Yuanxiang Li, A Novel Bayesion High-Resolution
State Key Lab of Software Engineering, Wuhan Direction-of-Arrival Estimator ............................. 1697
University, Wuhan, China Jianguo Huang, Pu Xu, Ying Lu, and Yi Sun,
College of Marine Engineering, Northwestern
Polytechnical University, Xi’an, P.R. China

Multi-Frequency Array Beamformer

for Broadband Signals ........................................ 1703
Kevin J. Delaney, AETC Incorporated, San Diego, CA

xlvi
On the Performance of Conventional and Surface Logistics and Consumables for
Unconventional Towed Arrays ............................
1707 Open-circuit and Closed-Circuit Deep
G.S. Edelson, BAE Systems, Information & Electronic Mixed-Gas Diving Operations ............................. 1735
Warfare Systems, Underwater Acoustics Technology, Frank A. Parrish, National Marine Fisheries Service,
Advanced Systems & Technology, Nashua, NH; D.W. Honolulu Laboratory, Honolulu, HI; Richard L. Pyle,
Tufts, University of Rhode Island, Dept. of Electrical Ichthyology, Bishop Museum, Honolulu, HI
and Computer Eng., Kingston, RI
Computer Modeling of the Kinetics
Performance Improvement of Array Shape of CO, Absorption in Rebreather
Estimation Using Spline Interpolation 1715 ............... Scrubber Canisters .............................................. 1738
Hee-Young Park, Dae-Hee Youn, and Chungyong J. R. Clarke, Navy Experimental Diving Unit,
Lee, MCSP Lab., Dept. of Electrical and Electronic Panama City, FL
Eng., Yonsei University, Seoul, Korea; Won Tchon Oh,
Agency for Defense Development, Chinhae, Korea
Session 44
Optimum Block Size for the Computation Advanced Measurement Systems
of Schur Algorithm Using a CRAY ...................... 1719 Session Chair ........................................ Jim Edberg
Jinho Bae and Sungsin Lee, Technical Research Caltech Jet Propulsion Laboratory,
Institute, Daeyang Electric Co., Ltd., Pusan, South .
Los Angeles, CA
Korea; Joohwan Chun, Scientific Computing
Laboratory, Department of EECS, Korea Advanced Performance Verification Testing of a
Institute of Science and Technology, Taejon, South High-Resolution Side-Looking Sonar ................1745
Korea Mark T. Shaw and Chester D. Loggins, Sonatech,
Inc., Santa Barbara, CA; Richard 0. Nielsen, The
Boeing Company, Anaheim, CA
Session 43
Rebreathers, Tools for the Next Generation Inter-Comparison of Turbidity and Sediment
Session Chair .....................
Joseph Dituri, LT USN Concentration Measurements from an ADP,
Deputy Nuclear Assistant an OBS-3, and a LEST ........................................ 1750
Project Superintendent - Columbus SRA Elizabeth L. Creed, Rutgers, The State University of
New Jersey, Institute of Marine and Coastal Sciences,
Comparison of Predicted and Measured New Brunswick, NJ; Anne M. Pence and Kelly L.
Oxygen Levels in a Semi-Closed Underwater Rankin, Stevens Institute of Technology, Davidson
Breathing Apparatus ............................................ 1725 Laboratory, Hoboken, NJ
M.L. Nuckols and W. Scott Finlayson, Ocean
Engineering Program, U. S.Naval Academy, Annapolis, Correlation and Validation of a CFD Based
MD; Brian Newville, U.S. Divers, Vista, CA; Hydrodynamic 81Dynamic Model for a Towed
W.A. Gavin, Jr., Coastal Systems Station, Panama Undersea Vehicle .................................................
1755
City, FL Douglas E. Humphreys, Vehicle Control Technologies,
Inc., Reston, VA
Optimization of Variable Volume Exhaust
Semi-Closed Underwater Breathing Field Evaluation of Sounding Accuracy
Apparatus ............................................................. 1731 in Deep Water Multibeam Swath
W. Scott Finlayson, Bonnie R. Niggemann, and Bathymetry ............................................................ 1761
Marshall L. Nuckols, Ocean Engineering Program, Christian de Moustier, Scripps Institution of
U.S. Naval Academy, Annapolis, MD Oceanography, La Jolla, CA

xlvii
 . , -,. .

. .- ........
A _

Session 45 Cooperative Positioning and Navigation

PositioningINavigation for Multiple AUV Operations ............................... 1816
Session Chair .................................. Dr. Patrick Fell P. Baccou, B. Jouvencel, V. Creuze, and C. Rabaud,
Naval Surface Warfare Center, Laboratoire dhformatique, de Robotique et de
Dahlgren, VA Microelectronique de Montpellier, Universite
Montpellier, Montpellier, France
Session Co-chair ..................... Dr. Jeffery Blanton
Naval Surface Warfare Center, LOSTZ: Results from Sea Trials 1822 .........................
Dahlgren, VA R. Beckman, Air Force Research Laboratory, Wright
Patterson Air Force Base, OH; A. Martinez, Tulane
A Method for Terrain Navigation University, New Orleans, LA; B. Bourgeois, Naval
of an AUV .............................................................. 1766 Research Laboratory, Stennis Space Center, MS
lngemar Nygren, Swedish Defence Research Agency,
Stockholm, Sweden A Versatile Acoustic Beacon for
Navigation and Remote Tracking of
Reconfigurable Sliding Mode Control For Multiple Underwater Vehicles .............................
1829
Submarine Manoeuvring ..................................... 1775 Nuno Cruz, Luis Madureira, Anibal Matos and
Euan W. McGookin, Centre for Systems and Control & Fernando Lobo Pereira, Facuidade de Engenharia da
Dept. of Electronics and Electrical Engineering, Universidade do Porto, lnstituto de Sistemas e
University of Glasgow, UK Robotica, Portugal

Real-Time Navigation on Naval Oceanographic Statistical Habitat Maps for Robot Localisation
Office Survey Ships and Hydrographic in Unstructured Environments ........................... 1835
Survey Launches .................................................
1783 S. Rolfes and M.J. Rendas, Laboratoire
William E. Bradley, Franz Van de Kop, d'lnformatique, Signaux et Systemes de Sophia
and Su Q. Nguyen, Naval Oceanographic Office, Antipolis, Universite de Nice Sophia Antipolis, CNRS
Stennis Space Center, MS (Centre National de la Recherche Scientifique), Sophia
Antipolis, France
Implementation of an Advanced Ocean
Transponder and Deckset Utilizing
Complex Waveforms ............................................ 1788 Session 46
John P. Fumo and Michael W. Ornee, Sonatech, Inc. Optics and Imaging
Santa Barbara, CA Session Chair .................................. John D. Moore
Sound Ocean Systems,
Precise, Very Long Range Marine Positioning Seattle, WA
With GPS: Achieving Sub-Decimeter Precision
in a Matter of Minutes ..........................................
1794 Cascaded Long Period Fiber Gratings
Oscar L. Colombo, GEST/NASA Goddard Space Modeled by the Multiport Lattice Filter
Flight Center; Alan G. Evans, NSWC, Dahlgren Structure to Design the WDM isolation
Division Fiber Filter ............................................................
1843
Jinho Bae, Technical Research Institute, Daeyang
Radiobeacon DGNSS Coverage Planning a - Electric Co., Ltd., Pusan, South Korea; Joohwan
National Case Study ............................................ 1800 Chun, Scientific Computing Laboratory, Department of
Gwyn Roberts, ID6 Ltd., University of Wales, EECS, Korea Advanced Institute of Science and
Gwynedd, UK; Alan Grant and David Last, School of Technology, Taejon, South Korea; Sang Tae Kim,
Informatics, University of Wales, Gwynedd, UK Korea Institute of Industrial Technology Evaluation &
Planning, Seoul, South Korea
Nonlinear Maneuvering and
Control of Ships ................................................... 1808
Roger Skjetne, Thor 1. Fossen, Department of
Engineering Cybernetics, Norwegian University of
Science and Technology, Trondheim, Norway

xlviii
 . , .. , ..
1 .

. . . .

Estimation of Error in Large Area The Fuel Cell Experiment, Merging

Underwater Photomosaics Using Oceanographic Instrumentation With
Vehicle Navigation Data .......................................
1849 The Internet .......................................................... 1891
Chris Roman and Hanumant Singh, Deep J.A. Melhado, R.T. Miles, and E.W. Hughes,
Submergence Laboratory, Woods Hole Oceanographic Neptune Sciences, Inc., Slidell, LA; L.M. Tender,
Institution, Woods Hole, MA Center for Biomolecular Science and Engineering,
Naval Research Laboratory, Washington, D.C.
The Calibration of Laser-referenced Underwater
Cameras For Quantitative Assessment of Advances in Bioluminescence
Marine Resources ................................................
1854 Instrumentation ....................................................
1895
B.A.J. Barker, CSIRO Marine Research, Hobart, J.R. Bivens, M.L. Geiger, and J.L. Bird, Naval
Tasmania, Australia; D.L. Davis, Monterey Bay Oceanographic Ofice, Laboratories Services Branch
Aquarium Research Institute, Moss Landing, CA; Stennis Space Center, MS; D. Lapota, Space and
G.P. Smith, CSIRO Marine Research, Cleveland, Naval Warfare Systems Center, San Diego, CA
Queensland, Australia
Plankton Survey System ..................................... 1899
S.A. Ruberg, H.A. Vanderploeg, J.F. Cavaletto,
Session 47 G.A. Lang, J.R. Liebig, and T.C. Miller,
Oceanographic Instrumentation NOAA/Great Lakes Environmental Research
Session Chair ................................... Kenneth Ferer Laboratory, Ann Arbor, MI; M. Agy, Cooperative
Institute for Limnology and Ecosystems Research,
Comparison of,Turbulence Measurements from a University of Michigan, Ann Arbor, MI
SonTek ADV and a Nobska MAVS 1860 ...................... The Acoustic Water Column Profiler:
Peter J. Hendricks, Naval Undersea Warfare Center
Division, Newport, RI A Tool for Long-term Monitoring of
Zooplankton Populations ....................................
1904
Air-launched Expendable Micro-sized D.D. Lemon and M.R. Clarke, Environmental
Wave Buoy ............................................................
1867 Sciences Inc., Sidney, BC, Canada; J.F.R. Gower and
M.V. Trevorrow, Institute of Ocean Sciences, Sidney,
R.T. Miles, J. A. Melhado, and E. W. Hughes,
Neptune Sciences, Inc., Slidell, LA; D. Osiecki, BC, Canada
Surfbreak Engineering Sciences, Inc., Melbourne
Beach, FL Development and First Results
of a New Mesoporous Microelectrode
Measuring Directional Waves in DO-Sensor ............................................................ 1910
Coastal Waters Using an Upward-Looking R.D. Prien and R.W. Pascal, Ocean Engineering
Acoustic Doppler Profiler ....................................
1872 Division, Southampton Oceanography Centre,
Southampton, UK; G.S. Attard, P.R. Birkin,
Jerry Mullison and Vadim Polonichko, SonTeWSI
San Diego, CA G. Denuault, D. Cook, and D. Offin, Department of
Chemistry, University of Southampton Highfield,
PANDA; A Self-Recovering Shallow Water Southampton, UK
Acoustic Logger ...................................................
1879
Teong Beng Koay, John R. Potter, Torbjorn
Johansson, and Pallayil Venugopalan, Acoustic
Research Laboratory, Tropical Marine Science Institute,
National University of Singapore, Singapore

Low Power Instrumentation to Measure

Barotropic Fluctuations ...................................... 1886
John W. Bailey, Edward Hobart, and Alan D. Chave,
Woods Hole Oceanographic Institution, Woods Hole,
MA; Helmut H. Moeller and Jean H. Filloux, Scripps
Institution of Oceanography, La Jolla, CA

xlix
 ,~ .. ..-,, .....

Session 48 Session 49
Offshore Structures Data Visualization
Session Chair ..................... Captain Diane K. Lynn Session Chair ....................................
Dr. Ed Gough
U.S. Navy Pearl Harbor University of Washington,
Honolulu, HI Applied Physics Laboratory,
Bellevue, WA
Effect of Wind, Current and Non-linear
Second Order Drift Forces on a Session Co-chair ...........................
James Barbera
Moored Multi-Body System in an University of Washington,
Irregular Sea .........................................................
1915 Applied Physics Laboratory,
Yoshiyuki lnoue and Motohiko Murai, Graduate Bellevue, WA
School of Environment & Information Sciences,
Yokohama National University, Japan; M. Rafiqul Analyzing Acoustic Imagery in 3-D:
Islam, Department of Naval Architecture & Marine A Case Study ........................................................ 1941
Engineering, Bangladesh A.R. Haas, Logicon, Inc., Herndon, VA; S. Ziegler,
Mississippi State University, Starkville, MS;
Hydroelastic Behavior of a Mat-type P.P. Gruzinskas, Naval Oceanographic Ofice, Stennis
Very Large Floating Structure of Space Center, MS
Arbitrary Geometry .............................................. 1923
Ken Takagi and Miho Nagayasu, Department of Interactive Exploration of the Underwater
Naval Architecture and Ocean Engineering, Osaka Sonar Space .........................................................
1945
University, Japan L. Miguel EncarnaGIo, R. J. Barton, 111, and D.
Zeltzer, Fraunhofer CRCG, Inc., Providence, RI
Stability of Pipeline under
Oblique Waves .....................................................
1930 Remote Visualization and Management
Jaeyoung Lee, CSO Aker Engineering, Houston, TX; Tools for Underwater Operations ....................... 1953
Keh-Han Wang, Associate Professor of Civil A. Op den Bosch and J. C. Santamaria, XYZ
Engineering Department, University of Houston, TX Solutions, Inc., Alpharetta, GA

Fundamental Experiments on Motion GeoZuiSD: Data Fusion for Interpreting

Analysis of Deepwater Risers for Oceanographic Data ............................................
1960
OD21 Drilling Vessel ............................................ 1934 Colin Ware, Matthew Plumlee, Roland Arsenault,
M. Kyo, E. Miyazaki, Y. Amitani, K. Wada, Y. Yano, Larry A. Mayer, and Shep Smith, Center for Coastal
and Y. Abe, Japan Marine Science and Technology and Ocean Mapping, University of New Hampshire,
Center, Japan; H. Suzuki, University of Tokyo, Japan; Durham NH; Donald House, Texas A&M University,
T. Yamazaki, National Institutefor Resources and TX
Environment, Japan

1
Session 50 Towed Mapping of the Effluent Plume from
Ocean Economic Potential a Coastal Ocean Outfall .......................................
1985
Session Chair ........................ Dr. Craig MacDonald Burton H. Jones, Department of Biological Sciences,
NOAA University of Southern California, Los Angeles, CA;
Arthur Barnett, MEC Analytical, Inc., Carlsbad, CA;
Effect of Cholesterol Level in Plasma of Rats George L. Robertson, Orange County Sanitation
by Drinking High Magnesium Water Made Districts, Fountain Valley, CA
from Deep Sea Water ...........................................
1965
Mieko Kimura, Hideyuki Tail, Koji Nakagawa, Studying Cross Shelf Transport Processes
Yoshihito Yokoyama, and Yoshinari Ikegami, Takeda Near an Ocean Outfall: San Pedro Shelf,
Research Institute of Life Science, Kyoto, Japan; Ako California .............................................................. 1990
Kasei Co., Ltd., Hyogo, Japan; Ryuji Takeda, George Robertson and Charles McGee, Orange
Takahisa Takeda, and Masayo Imanishi, Takeda County Sanitation District, Fountain Valley, CA;
Research Institute of Life Science, Kyoto, Japan Marlene Noble, United States Geological Survey,
Menlo Park, CA; Evans Waddell and Peter Hamilton,
The Gaseous Adsorption and Desorption Science Applications International Corporation, Marine
Characteristics of Ferro-Manganese Crust Science and Engineering, Raleigh, NC; Leslie
Materials and of Synthetic Mn Bearing Rosenfeld, Naval Postgraduate School, Department of
Substances and Mesoporous Zeolites ..............1967 Oceanography, Monterey, CA; Burt Jones, University
G. Andermann, S. Bailey, N. Pandya, P. Gu, and G. of Southern California, Department of Biological
Kawamoto, Chemistry Department, University of Sciences, Allen Hancock Foundation, Los Angeles, CA;
Hawaii at Manoa, HI John Largier, Scripps Institution of Oceanography, La
Jolla, CA

Session 51 Transport Processes Near Coastal

Ocean Pollution Part A Ocean Ouffalls ...................................................... 1996
Session Chair ........................... George Robertson Marlene A. Noble, Christopher R. Sherwood, Homa
Orange County Sanitation District, L. Lee, Jingping Xu, and Peter Dartnell, U. S.
Fountain Valley, CA Geological Survey, Menlo Park CA; George
Robertson, Orange County Sanitation District,
Session Co-chair ............................ Marlene Noble Fountain Valley, CA; Marinna Martini, U. S. Geological
U.S. Geological Survey Survey, Woods Hole, MA
Menlo Park, CA
Circulation Processes on the
San Pedro Shelf ...................................................
2001
Ocean Pollution Part B Peter Hamilton, J. J. Singer, and E. Waddell,
Session Chair ................................ C. Reid Nichols Science Applications International Corporation,
President and Oceanographer, Raleigh, NC; G. Robertson, Orange County Sanitation
Marine Information Resources Corp., District, Fountain Valley, CA
Ellicott City, MD
Monitoring an Ocean Outfall
Nutrient Loading and Coastal Plankton Blooms: Using an AUV ...........................................................
Seasonallinterannual Successions and Effects Patricia Ramos, Faculdade de Engenharia da
on Secondary Production ...................................
1973 Universidade do Porto, Porto, Portugal; lnstituto
Robert J. Livingston, Center for Aquatic Research Superior de Contabilidade e AdministraGgo do Potto -
and Resource Management, Florida State University, lnstituto Politecnico do Porto, Porto, Portugal; Nuno
Tallahassee, FL Cruz, Anibal Matos, Mario V. Neves, and Fernando
L. Pereira, lnstituto Superior de Contabilidade e
AdministraG6o do Porto - lnstituto Politecnico do Porto,
Porto, Portugal

li
Session 52 Volume Four
Physical Oceanography/MeteoroIogy
Session Chair ....................................
Geno Pawlak Session 53
Department of Ocean and
Resources Engineering (SOEST),
Ocean Science Forecast
University of Hawaii at Manoa,
Session Chair ........................................
Mike Smith
Naval Oceanographic Office
Honolulu, HI

The Structure of Anomalous Oceanic Circulation Should Be in Session 9: Development of a

in the Indian Ocean Dipole ..................................
2015 Micro Autonomous Underwater Vehicle
For Complex 3-D Sensing ...................................
2043
Qigeng Zhao, National Climate Center, Beijing, China
Brett Hobson, Bryan Schulz, Jason Janet, Mathieu
Numerical Simulations Characterizing Kemp, Ryan Moody, Chuck Pell, and Heather Pinnix
Deep Internal Tides Around Nekton Research, LLC, Durham, NC
O’ahu and Kaua’i, Hawai’i ...................................
2021
Prediction of Chaotic Time Series Based on
James K. Lewis, Scientific Solutions, Inc., Kalaheo, HI
Wavelet Neural Network ...................................... 2046
Lan Gao, Ling Lu, and Zhijun Li, Wuhan University
Scale Model Experiment on Density Current
in Sagami Bay .......................................................
2026 of Technology, Wuhan, P.R. China
Kazuyuki Ouchi, Ouchi Ocean Consultant, Inc.,
Karuizawa Nagano Pref., Japan; Toshio Yamatogi, Tsunami Height Forecast from
Nakashima Propeller Co. Ltd., Okayama City, Japan; Water-Level Data ..................................................
2051
Kenji Fukumiya, Satomi Industries, Ltd., Saga City, Yong Wei, Graduate Research Assistant, Department
Japan; Seiko Ogiwara, Ishikawajima-Harima Heavy of Ocean and Resources Engineering, University of
Industries Ltd., Tokyo, Japan Hawaii at Manoa, Honolulu, HI; Kwok Fai Cheung,
Department of Ocean and Resources Engineering,
Transformation of Salt Composition of Sea Water University of Hawaii at Manoa, Honolulu, HI; George
in Process of Differential-Diffusive Convection D. Curtis, Joint Institute for Marine and Atmospheric
(Natural and Laboratory Researches) 2031 ................ Research, University of Hawaii at Manoa, Honolulu, HI;
V.V. Kobylyansky, L.S. Vilentchik, and Charles McCreery, Pacific Tsunami Warning Center,
I.G. Akhmetsafin, Federal Research Center MCB; Ewa Beach, HI
M.M. Domanov, P.P. Shirshov, Institute of Oceanology,
Russian Academy of Sciences
Session 54
Development of Extreme Environment Systems
For Seeking out Extremophiles ..........................
2036
Undewater Telemetry and
Arthur L. Lane, Observational Instruments Div., Jet Communications
Propulsion Laboratory, Pasadena, CA; Frank D. Session Chair ...................................... Ed Johnson
Carsey, Gindi D. French, Lloyd C. French, and SAlC Stennis
Alberto Behar, Jet Propulsion Laboratory, Pasadena, Engineering Manager
CA; Hennann Engelhardt, Geological and Planetary
Sciences Div., California Institute of Technology, Experiments in Sub-sea Acoustic Communication
Pasadena, CA Networks ...............................................................
2059
A.E. Adams, O.R. Hinton, B.S. Sharif,
C.C. Tsimenidis, I.P. Morns, and J. Neasham,
Underwater Acoustics Group, Department of Electrical
and Electronic Engineering, University of Newcastle
upon Tyne, UK

lii
Integrated Acoustic Communication and Acoustic Performance of New International
Navigation for Multiple UUVs 2065 .............................. Monitoring System Hydrophone
Lee Freitag, Mark Johnson, Matthew Grund, Stations .................................................................
2100
Sandipa Singh, and James Preisig, Woods Hole John Newton and Patrick Grenard, Comprehensive
Oceanographic Institution, Woods Hole, MA Nuclear-Test-BanTreaty Organization, Vienna
International Centre, Vienna, Austria
Undersea Acoustic Network Operations
Through a Database-Oriented ServerlClient Active High Frequency Phased-Array Sonar
Interface................................................................
2071 for Whale Shipstrike Avoidance: Target
C. L. Fletcher, J. A. Rice, and R. K. Creber, Space Strength Measurements .....................................
2104
and Naval Warfare Systems Center, San Diego, CA; James H. Miller, Department of Ocean Engineering
D. L. Codiga, University of Connecticut, Avery Point, University of Rhode Island, Narragansett, RI;
CT David C. Potter, Northeast Fisheries Science Center
N O M Fisheries, Woods Hole, MA
Protocols for Sub-Sea
Communication Networks ...................................
2076 Detection of Small Man-Made Objects
I.P. Morns, O.R. Hinton, A.E. Adams and B.S. Sharif, in Sector Scan Imagery using Neural
Underwater Acoustics Group, Department of Electrical Networks ..............................................................
2108
and Electronic Engineering, University of Newcastle Stuart W. Perry, Maritime Operations Division
upon Tyne, UK Defence Science and Technology Organisation
Pyrmont, NSW, Australia; Ling Guan, Department of
Performance of Undersea Acoustic Networking Electricaland Computer Engineering Ryerson
Using RTSlCTS Handshaking and ARQ Polytechnic University, Toronto, Ontario, Canada
Retransmission ....................................................
2083
A High-Frequency, Narrow-Beam Sub-Bottom
R.K. Creber, J.A. Rice, P.A. Baxley, and C.L.
Fletcher, Space and Naval Warfare Systems Center, Profiler for Archaeological
San Diego, CA
Applications ..........................................................
2115
David A. Mindell and Brian Bingham, Massachusetts
Institute of Technology, Research Group in Deep Sea
A Network Layer Protocol for UANs to Address
Archaeology, MA
Propagation Delay Induced Performance
Limitations ............................................................
2087 Comparative Study of Shallow Water
Geoffrey G. Xie and John H. Gibson, Department of
Multibeam Imagery for Cleaning Bathymetry
Computer Science, Naval Postgraduate School,
Monterey, CA
Sounding Errors ...................................................
2124
E. Kammerer, D. Charlot, and S. Guillaudeux, Triton
Elics International, Watsonville, CA; P. Michaux,
EPSHOM
Session 55
Acoustic Detection Improving Sidescan Sonar Mosaic Accuracy by
Session Chair ...................................
Dr. Ken Foote Accounting for Systematic Errors 2129 ......................
Woods Hole Oceanographic Institution, Didier Charlot, Ron Schaaf, and Xavier Brossard,
Woods Hole, MA Triton Elics International, Watsonville, CA

Snapping Shrimp: Measuring their Natural Some Image Tools for Sonar Image
Distribution in Space and Time with Low Processing ............................................................
2134
Frequency Arrays ................................................. 2095 Stephane Guillaudeux, Triton Elics International,
Donald W. Miklovic and M.T. Bird, AETC Watsonville, CA
Incorporated, San Diego, CA

liii
A Robust Model-Based Detector for Active 2D-Rake MMSE Receiver for Burst
Sonar .....................................................................
2139 Communications Through Multiple-Access
D.A. Abraham, K.L. Hillsley, and J. Norrmann, The Shallow-Water Channels ..................................... 2177
Pennsylvania State University Applied Research C.C. Tsimenidis, O.R. Hinton, B.S. Sharif, and A.E.
Laboratory, State College, PA Adams, Underwater Acoustics Group, Department of
Electrical and Electronic Engineering, University of
The Use of Sinusoidal Frequency Modulated Newcastle upon Tyne, UK
Pulses for Low-Doppler Detection ..................... 2147
Steve Ward, QinetiQ Ltd., Dorset, UK Blind Receivers for MSK Signals Transmitted
Through Shallow Water .......................................
2183
An Examination of the Use of Signal Rolf Weber, Andreas Waldhorst, Florian Schulz,
Excess as a Broadband Detection and Johann F. Bohme, Ruhr-Universitat Bochum,
Performance Model ..............................................
2152 Signal Theory Group, Bochum, Germany
Mark E. Mulvey, AETC Incorporated, San Diego, CA
Performance Comparison Of lterativellntegral
EqualizerlDecoder Structures For Underwater
Session 56 Acoustic Channels ...............................................
2191
Acoustic Communication F. Blackmon, Naval Undersea Warfare Center,
Session Chair ........................................
Lee Freitag Division Newport, Newport, RI;
Senior Engineer, E. Sozer, M. Murandian, J. Proakis, and M. Salehi,
Woods Hole Oceanographic Institution, Department of Electrical & Computer Engineering,
Woods Hole, MA Northeastern University, Boston, MA

Session Co-chair ..................

Dr. Milica Stojanovic Iterative Equalization and Decoding
Woods Hole Oceanographic Institution, Techniques for Shallow Water
Woods Hole. MA Acoustic Channels ...............................................
2201
E.M. Sozer and J.G. Proakis, Department of Electrical
Development of a Real-Time High Data Rate and Computer Engineering, Northeastern University
Acoustic Link ........................................................
2159 Boston, MA; F. Blackmon, Naval Undersea Warfare
J. Trubuil, T. Le Gall, and J. Labat, ENST-Bretagne, Center, Division Newport, Newport, RI
Brest Cedex, France; G. Lapierre, G.E.S.M.A. (Groupe
d’Etudes Sous-Marines de I’Atlantique), Brest Naval, A Blind Multichannel DFE Receiver for
France Precoded OQPSK Signal Transmission
in Shallow Water ..................................................
2209
Multiuser Undersea Acoustic Communications Andreas Waldhorst, Rolf Weber, and Johann F.
in the Presence of Multipath Bohme, Signal Theory Group, Ruhr-Universitat
Propagation ..........................................................
2165 Bochum, Germany
M. Stojanovic, Massachusetts Institute of Technology,
Cambridge, MA; L. Freitag, Woods Hole Preliminary Design of OFDM and CDMA Acoustic
Oceanographic institution, Woods Hole, MA Communication System ......................................
2216
Kazuyoshi Miyoshi, Member, IEEE, Department of
Equalization and Coding for Coherent Computer Science, Hiroshima Kokusai-gakuin
Communication in the ASIMOV Vertical University, Hiroshima, Japan
Link ........................................................................
2170
Jo30 Gomes, and Victor Barroso, lnstituto Superior Design of a Communication Protocol for
Tecnico lnstituto de Sistemas e Robotica, Lisboa, Underwater Acoustic Modems and
Portugal Networks ...............................................................
2220
Gerard Lapierre, ORCA Instrumentation, ZI du Vernis,
Brest, France; Ludovic Chevallier, Fabrice Gallaud,
and Gerard Ayela, G.E.S.M.A. (Groupe d’Etudes
Sous-Marines de I’Atlantique), Naval Brest, France

liv
Underwater Acoustic Communication Using Acoustic Communication with
Passive Phase Conjugation ................................
2227 Small UUVs Using a Hull-Mounted
Daniel Rouseff, Warren L. J. Fox, Darrell R. Conformal Array ...................................................
2270
Jackson, and Christopher D. Jones, Physics Lee Freitag and Matthew Grund, Woods Hole
Laboratory, College of Ocean and Fishery Sciences, Oceanographic Institution, Woods Hole, MA; Josko
University of Washington, Seattle, WA Catipovicy and Daniel Nagle, Naval Undersea
Warfare Center, Newport, RI; Brian Pazol and James
Underwater Acoustic Communication Glynnz, Materials Systems Incorporated, Littleton, MA
Using Time-Reversal ............................................
2231
G. F. Edelmann, W. S. Hodgkiss, S. Kim, W. A. Hybrid Acoustic and RF Data Telemetry
Kuperman, and H. C. Song, Marine Physical Systems Concepts with Experimental
Laboratory, Scripps Institution of Oceanography, Results ..................................................................
2276
University of California, San Diego, CA; T. Akal, E.M. Will and G.S. Edelson, BAE Systems,
SACLANT Undersea Research Centre, La Spezia, Italy Information & Electronic Warfare Systems, Advanced
Systems & Technology, Underwater Acoustics
Technology, Nashua, NH; D.T. Nagle. Naval Undersea
Wavefront Segmentation in Phase-Conjugate
Arrays for Spatially Modulated Acoustic Warfare Center, Division Newport, Newport, RI
Communication ....................................................
2236
-TALISMAN -An Innovative Tool Using Time
J o i o Gomes, and Victor Barroso, lnstituto Superior
Varying Channel Model to Evaluate Performances
Tecnico lnstituto de Sistemas e Robotica, Lisboa,
of an Acoustic Link .............................................. 2283
Portugal Gerard Lapierre, G.E.S.M.A. (Groupe d'etudes sous-
marines de I'atlantique), BP Brest Naval, France;
Passive Phase-Conjugate Signaling Using Pulse- Christine Le Brun, dPSIS, Cesson Sevigne, France;
Position Modulation ............................................
2244 Christophe Viala, Semantic TS, Sanary Sur Mer,
Paul Hursky and Michael B. Porter, Science
France
Applications International Corporation, La Jolla, CA;
Joseph A. Rice and Vincent K. McDonald, Space
and Naval Warfare Systems Center, San Diego, CA
Session 57
Scale Model Analysis of Full-duplex Data Access / Retrieval / Display
Communications in an Underwater Session Chair ..................................
Mike Helmsley
Acoustic Channel .................................................
2250 NOAA National Data Buoy Center
Kevin B. Smith, Andres Larraza, and Burcin Kayali,
Department of Physics, Naval Postgraduate School, SI0 Explorer: Digital Library
Monterey, CA Project ...................................................................
2288
Stephen P. Miller, John Helly, Anthony Koppers,
Basin-Scale Acoustic Communication: and Peter Brueggeman, University of California, San
A Feasibility Study Using Tomography Diego, La Jolla, CA
M-sequences ........................................................
2256
Lee Freitag, Woods Hole Oceanographic Institution, The Streaming Data Management
Woods Hole, MA; Milica Stojanovic, Massachusetts Challenge ..............................................................
2297
Institute of Technology, Cambridge, MA S. Kim Juniper, Keith Shepherd, and Kim Wallace,
Canadian Scientific Submersible Facility, Sidney, B.C,
Performance of Channel-equalized Acoustic Canada
Communications in the Surf Zone 2262 .....................
Dale Green, Benthos Inc., North Falmouth, MA; IVADO: An Oceanographic Data Analysis and
Fletcher Blackmon, Telemetry System Engineer, Visualization Tool Based on IONADL and Java
NUWCDIVNPT, Newport, RI Using netCDF Interface .......................................
2302
0. Chic, E. del Rio, and E. Garcia-Ladona,
Dept. de Geologia Marina y Oceanografia Fisica
lnstituto de Ciencias del Mar (CSIC), Barcelona, Spain

lv
 .- . .. _^_^__ .... - . .

Field Test Data Distribution on CD-ROM Using Session 58

World Wide Web Technology ..............................
2306 Electronic Chart Display and
Michele E. D'Anna-Decker, Ian M. Courtney, Jeffrey
L. Hanson, Larry H. White, and Kwadwo A. Yeboah,
Information Systems
Session Chair .................................... Nick Perugini
The Johns Hopkins University, Applied Physics
Laboratory, Laurel, MD Chief of the Marine Chart Division,
Office of Coast Survey
in N O M S National Ocean Service
Inormation Technology For Marine Data
Management .........................................................
231 1
Session Co-chair ..........................
Harry M. Strong
A.Vorontsov and N.Mikhailov, Russian Research
Director,
Institute of Hydrometeorological Information - World
Oceanic, Atmospheric and
Data Center, National Oceanographic Data Center of
Space Systems Programs,
Russia, Kaluga Reg., Russia
Mitretek Systems, Inc.,
McLean, VA
A Climate Data Portal ...........................................
2315
Nancy N. Soreide, NOAAIOAWPMEL, Seattle, WA; NOAA's Integrated Suite of Navigational Products
Charles L. Sun, NOAAINODC, Silver Spring, MD;
Bernard J. Kilonsky, University of Hawaii, Honolulu,
and Services .........................................................
2336
Captain Nicholas E. Perugini, N O M Office of Coast
HI; Donald W. Denbo and Willa H. Zhu, Joint Survey; Captain Maureen R. Kenny, N O M Center for
Institute for the Study of the Atmosphere and Ocean, Operational Oceanographic Products and Services;
University of Washington, Seattle, WA; John R. Captain Jonathan W. Bailey, NOAA National Geodetic
Osborne, Java OceanAtlas Software, Inc.
Survey National Ocean Service, Silver Spring, MD
Distributed Data Servers and Web Interface
in the Climate Data Portal ...................................
2318 Inland Electronic Navigational Charts in the
U. S. Army Corps of Engineers 2342 ...........................
Willa H. Zhu, Joint Institute for the Study of the
Robert G.Mann, Ph.D., U.S. Army Engineer Research
Atmosphere and Ocean, University of Washington,
Seattle, WA and Development Center, Topographic Engineering
Center, Alexandria, VA
Data Telemetry for Ocean Bottom
Instrumentation .................................................... 2322 Multifunction ECDIS for the Emergence
Condition like a Breakdown of Navigational
Peter A. Koski, Jonathan Ware, and Daniel Frye,
Woods Hole Oceanographic Institution, Woods Hole,
Equipments ..........................................................
2348
MA; S. Craig Cumbee, Naval Oceanographic Office, J. Lee, D. Lee, D. Kim, 1. Jung, T. Sim, S. Lee, and J.
Stennis Space Center, MS Bae, Technical Research Institute, Daeyang Electric
Co., Ltd., Pusan, South Korea; J. Chun, Scientific
Computing Laboratory, Department of EECS,
The Long-Term Marine Data Set Collected
by the National Data Buoy Center 2328 ........... Korea Advanced Institute of Science and Technology,
Taejon, South Korea
J. Michael Hemsley, Chief, Engineering Branch
National Data Buoy Center, Stennis Space Center, MS

lvi
Session 59 Session 60
Localization and Tracking Marine Geology and Geophysics
Session Chair ............................
Stan Chamberlain Session Chair ......................... Dr. Mike Cruikshank
OES Technology Committee MMTC Associates,
Chairs Coordinator, Honolulu, HI
Raytheon Company,
Tewksbury, MA Session Co-chair ....................................................
A Marine Mammal Acoustic Detection and A Remote, Multi-Sensor Station to Monitor
Localization Algorithm Using Spectrogram Conditions Near the Sea Floor Within the
Image Correlation .................................................
2354 Hydrate Stability Zone .........................................
2389
Brinda Ramaswamy, Pyrcon, LLC, Narragansett, RI; J. Robert Woolsey, Thomas M. McGee, and Robin
Dr. Gopu R. Potty and Dr. James H. Miller, C. Buchannon, Center for Marine Resources and
Department of Ocean Engineering, University of Rhode Environmental Technology, The University of
Island, Narragansett, RI Mississippi, University, MS

Wavefront Curvature Passive Ranging in Design and Operation of a Pressure

a Temporally Varying Sound Propagation Retaining Sampler for Sedimentary
Medium .................................................................
2359 Gases and Gas Hydrates ..................................... 2396
B. G. Ferguson, Maritime Operations Division, DSTO, J. Erickson, P. Brewer, G. Friederich, and E. T.
NSW Australia; R. J. Wyber, Midspar Systems Pty. Peltzer, Monterey Bay Aquarium Research Institute,
Ltd., Oyster Bay, NSW, Australia Moss Landing, CA.
Results from the Simulation of a Decoupled El Nino Tectonic Modulation
Concurrent Mapping and Localization
Technique .............................................................
2366
in the Pacific Basin ..............................................
2400
Bruce A. Leybourne, Naval Oceanographic Office,
J. D. Harris, I1and R. N. Carpenter, Naval Undersea Geophysics Division, Stennis Space Center, MS;
Warfare Center, Unmanned Undersea Vehicle Division Michael B. Adams, Logicon Inc., MSRC Visualization
Newport, RI Center, Stennis Space Center, MS
Optical Flow Based Speed Estimation in Bathymetry Map Analysis Using Simulated
AUV Target Tracking ............................................
2377 Annealing on a GIS Platform .............................. 2407
Yang Fan and Arjuna Balasuriya, School of Electrical Atanu Basu and lwona Maczkowska, Pacific
and Electronic Engineering, Singapore Mapping Program, University of Hawaii, Honolulu, HI
Optical and Navagational Sensor
Fusion Scheme for Cable Following
by AUVS ................................................................
2383 Session 61
Arjuna Balasuriya, Nanyang Technological University, Air / Sea Interaction
Singapore; Tamaki Ura, University of Tokyo, Japan Session Chair ........................... Prof. Rene Garello
ENST Bretagne, France

Field Measurement of the Aerial

Distribution of Sea-salt Particles
in Coastal Zone ....................................................
2415
Masatoshi Katayama, Faculty of Engineering, Kyushu
Kyoritsu University, Kitakyushu, Japan

lvii
 .... I ..... ,..,,” .. ,x_.II . . . . . .

The Application of State-of-the-Art Oceanographic Session 63

and Meteorological Forecasting Products to the Buoy I Mooring Technology
Hawaiian Islands ..................................................
2419 Session Chair .......................................
Walter Paul
Robert C. Bohlin, Matthew C. Barron, and Renwick Woods Hole Oceanographic Institution,
M. Mohammed, Naval Pacific Meteorology and Woods Hole, MA
Oceanography Center/Joint Typhoon Warning Center,
Pearl Harbor, HI; James K. Lewis, Scientific Solutions, Dynamic Analysis of NDBC Shallow-Water Test
Inc., Kalaheo, HI Mooring ................................................................
.2449
Mark Grosenbaugh, Woods Hole Oceanographic
On the Distribution of Small-Scale Institution, Woods Hole, MA; Chung-Chu Teng,
Roughness at the Edges of Monomolecular National Data Buoy Center, Stennis Space Center, MS
Surface Films ........................................................
2425
Martin Gade and Philipp A. Lange, University of An Optical Positioning System for Underwater
Hamburg, Institute of Oceanography, Hamburg, Arrays .................................................................... 2454
Germany Richard D. Dittman, Marentec, Dartmouth, Nova
Scotia, Canada; Francine Desharnais and Garry J.
Mobile Bay Response to a Strong Autumn Heard, Defence Research Establishment Atlantic,
Cold Front Passage .............................................
2432 Dartmouth, Nova Scotia, Canada
Richard L. Crout and Arne R. Diercks, Naval
Meteorology and Oceanography Command Ocean New Trawl-Resistant Bottom Mount to
Technologies, Stennis Space Center, MS Support Hydrographic Current Measurement
Requirements .......................................................
2459
S. Craig Cumbee, Naval Oceanographic Office
Session 62 Stennis Space Center, MS; Peter Clay, Mooring
Coastal Zone Management Systems, Inc., Cataumet, MA
Session Chair ................................
Harry M. Strong
Director, Oceanic, Atmospheric MELBA Mediterranean Lagrangian
and Space Systems Programs, Buoy Appliance ....................................................
2464
Mitretek Systems, Inc., Fiorello Cavallini, Daniele Maffei, and Ramiro
McLean, VA dell’Erba, Italian National Agency for New Technology,
Energy and Environment (ENEA), Division of Robotics
Adapting An Enhanced Multiple Database and Information Technology, Rome
Integration and Update Capability to Support
Coastal Operations ..............................................
2436 Overview of Ocean Based Buoys
C. R. Nichols, Marine Information Resources and Drifters: Present Applications
Corporation, Ellicott City, MD;
P.T. Brennan and S. J. Cento, Northrop Grumman
and Future Needs .................................................
2470
Nancy N. Soreide, NOAAIPMEL, Seattle, WA;
Corporation, Bethpage, NY; Catherine E. Woody, NOAAINDBC, Stennis Space
K. R. Dedrick, Marine Information Resources Center, MS; Stephen M. Holt, Mitretek Systems, Inc.,
Corporation, Ellicott City, MD; McLean, VA
G. H. Tuell, University of Florida, Gainesville, FL
Communications and Power to the Seafloor:
The New National Coastal Data Development MBARl’s Ocean Observing System
Center ....................................................................
2445 Mooring Concept .................................................
2473
Joe Stinus, NOAAlNational Coastal Data Mark Chaffey and Ed Mellinger, MBARI, Moss
Development Center, Stennis Space Center, MS; Landing, CA; Walter Paul, Woods Hole Oceanographic
Fred Klein and Amy Sheridan, Mitretek Systems,
Institution, Woods Hole, MA
McLean, MS
MBARI Vertical Profiler ........................................
2482
Mark Brown, Mike Kelley, and Paul McGill
Monterey Bay Aquarium Research Institute, Moss
Landing, CA

lviii
 . . . . . ,..

Session 64 CCD Camera Calibration for Underwater

Metrology and Calibration Laser Scanning System ....................................... 2511
C. C. Wang, H. C. Hsu, J. S. Sue, and T. C. Huang,
(Signal Processing) Institute of Undersea Technology;
Session Chair .........................................
Stu Burley S. W. Shyue, Department of Marine Environment and
U.S. Navy Pacific Missile Range Engineering, National Sun Yat-sen University,
Kauai Kao-Hsiung, Taiwan
Array Calibration Based on Inverse
Subspace Fitting ..................................................
2486
C.R. Wan, School of Electrical and Electronic Session 65
Engineering, Nanyang Technological University, Seafloor PropertiedEngineering
Singapore; J.T. Goh and C.S. Chia, DSO National Session Chair ........................
Captain C. W. Green
Laboratories, Singapore Fleet Oceanographer, U.S. Navy,
Pacific Fleet, Pearl Harbor, Hawaii
A WOCE CTD Calibration Laboratory Newly
Established In China ............................................
2492 Analysis of Small Scale Bedforms with 2D and 3D
Houlong Yu and Zhaoji Jia, Institute of Ocean Image Acquisition Techniques ...........................
2518
Technology, State Oceanic Administration of China, S. Baglio, Dipartimento Elettrico Elettronico e
Tianjin, China Sistemistico, University of Catania, Catania, Italy;
C. Faraci, E. Foti, and R. Musumeci, Dipartimento di
Multibeam Sonar Calibration: Removal lngegneria Civile ed Ambientale, University of Catania,
of Static Surface Reverberation by Catania, Italy
Coherent Echo Subtraction ................................
2498
Dezhang Chu, and Kenneth G. Foote, Woods Hole Small Scale Seafloor Roughness Measurement
Oceanographic Institution, Woods Hole, MA; Kenneth Using a ROV .........................................................
2525
C. Baldwin and Larry A. Mayer, Center for Ocean N. P. Chotiros, J. N. Piper, J. Moore and D. F. Weigl,
Engineering, Chase Ocean Engineering Laboratory, Applied Research Laboratories, The University of Texas
University of New Hampshire, Durham, NH; Yanchao at Austin, Texas
Li, Department of Geodesy and Geomatics
Engineering, University of New Brunswick, Fredericton,
New Brunswick, Canada; Gary D. Melvin, Marine Fish
Division, Department of Fisheries and Oceans, St.
Session 66
Andrews Biological Station, St. Andrews, NB Canada Matched Fields (Acoustics)
Session Chair ............................
Stan Chamberlain
Calibrating a Narrowband IbkHz OES Technology
Sonar .....................................................................
2503 Committee Chairs Coordinator,
Kenneth G. Foote, Woods Hole Oceanographic Raytheon Company,
Institution, Woods Hole, MA Tewksbury, MA

Multibeam Sonar Calibration: Target High-frequency Source Localization in the

Localization in Azimuth .......................................
2506 Strait of Sicily .......................................................
2530
Dezhang Chu, and Kenneth G. Foote, Woods Hole Cristiano Soares, and S.M. Jesus, Universidade do
Oceanographic Institution, Woods Hole, MA; Algarve, Faro, Portugal; Martin Siderius, Science
Kenneth C. Baldwin and Larry A. Mayer, Center for Applications International Corp., La Jolla, CA
Ocean Engineering, Chase Ocean Engineering
Laboratory, University of New Hampshire, Durham, NH; “Real Time” Broadband Adaptive Matched Field
Yanchao Li, Department of Geodesy and Geomatics Processing ............................................................
2536
Engineering, University of New Brunswick, New Herbert Freese, David Gever, Richard Evans, Brian
Brunswick, Canada; Gary D. Melvin, Marine Fish Sperry, and Rob Greene, Science Applications
Division, Department of Fisheries and Oceans, St. International Corporation, McLean VA;
Andrews Biological Station, St. Andrews, NB, Canada D.J. Faboui, Maui Supercomputer Center, Kehei, HI

lix
WWW-based High Performance Computing Utilizing Panoramic Views for Visually
Support of Acoustic Matched Field Guided Tasks in Underwater Robotics
Processing ............................................................ 2541 Applications .......................................................... 2593
D.H.Gever, Science Applications International S. Negahdaripour, H. Zhang, P. Firoozfam, and J.
Corporation; D.J.Faboui, II, Maui High Performance Oles, Underwater Vision & Imaging Laboratory,
Computing Center, Kehei, HI Electrical & Computer Engineering Department,
University of Miami, Coral Gables, FL

Session 67 A New Algorithm to Calculate the

Non-Acoustic Imaging Reference Image of Ship Targets for ATR
(Signal and Information)
Using ISAR ............................................................
2601
K. Yamamoto and M. Iwamoto, Member, IEEE,
Session Chair ...................Dr. Richard H. Nadolink T. Kirimoto, Member, IEEE, Mitsubishi Electric
Chief Technology Officer, NUWC, Corporation, Japan
Newport, RI

Identification of Influential Factors for

Underwater Laser Imaging ..................................
2549 Session 68
Hsin-Hung Chen, Institute of Undersea Technology Acoustic Sediment Characterization
National Sun Yat-sen University, Kaohsiung, Taiwan Session Chair ......................................
Jon Preston
Quester Tangent Corporation,
Underwater Mosaicing and Trajectory Sidney, BC, Canada
Reconstruction Using Global
Alignment .............................................................. 2557 A Method for the Analysis of Chirp
Nuno Gracias and Jose Santos-Victor, Signals lnsonifying Layered Media for
lnstituto Superior T'ecnico & lnstituto de Sistemas e Sub-bottom Profiling ...........................................
2608
Rob'otica, Lisboa Codex, Portugal 1. R. Stevenson, P. Nicholson, L. M. Linnett, and S.
Morrison, Fortkey Ltd., Edinburgh, Scotland
Extracting Robust Features and 3-D
Reconstruction in Underwater Seabed Classification of Multibeam
Images ................................................................... 2564 Sonar Images ........................................................ 2616
Francois-Xavier Espiau, Patrick Rives, IFREMER J.M. Preston, A.C. Christney, S. F. Bloomer, and
Toulon, INRIA Sophia-Antipolis, lcare Project, France I.L. Beaudet, Quester Tangent Corporation, Sidney,
BC, Canada
A System to Evaluate the Accuracy of a Visual
Mosaicking Methodology .................................... 2570 Acoustic and Physical Property Correlation of
R. Garcia, J. Battle, and X. Cufi, Computer Vision and Marine Sediments from the Texas-Louisiana
Robotics Group, University of Girona, Spain Continental Shelf .................................................
2624
Traci L. Stokes, Naval Oceanographic Office, Ocean
3-D Mapping of Sea Floor Scenes by Stereo Analysis Branch, Stennis Space Center, MS;
Imaging ................................................................. 2577 Dean A. Dunn, University of Southern Mississippi,
A. Khamene, H. Madjidi, and S.Negahdaripour, Department of Geology, Hattiesburg, MS
Siemens Corporate Research Underwater Vision
Imaging Lab, University of Miami, Coral Gables, FL High-Resolution Geophysical Core
Logging Data from Marine Sediment
Positioning and Photo-Mosaicking with Long Core Samples .......................................................
2634
Image Sequences; Comparison of Selected Carter L. Gehman and Gene V. Kelly,
Methods ................................................................
2584 Naval Oceanographic Office, Laboratories Services
S. Negahdaripour and P. Firoozfam, Underwater Branch, Stennis Space Center, MS
Vision & Imaging Laboratory, Electrical & Computer
Engineering Department, University of Miami, Coral
Gables, FL

lx
Benthic Habitat Mapping with Acoustic Seabed An Hybrid Methodology for RL-based
Classification ........................................................
2642 Behavior Coordination in a Target
James L. Galloway, P. Eng., Canadian Hydrographic Following Mission with an AUV .......................... 2666
Service, Pacific Fisheries and Oceans Canada, Sidney M. Carreras and J. Batlle, Institute of Informatics and
B.C., Canada Automation University of Girona, Edifici Politecnica 11,
Campus Montilivi, Spain; J. Yuh, Autonomous Systems
Laboratory, University of Hawaii, Honolulu, HI

STUDENT PAPERS A Wavelet Packet Approach for Bistatic Buried

Target Classification with an AUV-borne
Synthetic Aperture Sonar .................................... 2673
“This work relates to Department of Navy grant
Joseph R. Edwards, Massachusetts Institute of
N00014-01-0980 issued by the Office of Naval Technology, Department of Ocean Engineering;
Research. The United States Government has a Monica Montanari, University of Pisa, Department of
royalty-free license throughout the world in all Information Engineering
copyrightable material contained herein.”
Development of Ecological Policy, Assessment and
“Any opinions, findings, and conclusions or Prediction of the Fate of Chernobyl Radionuclides
recommendations expressed in this material are in Sediments of the Black Sea ............................ 2677
those of the author(s) and do not necessarily reflect Alexei E. Kontar, P.P.Shirshov Institute of Oceanology,
the views of the Office of Naval Research.” Russian Academy of Sciences, Moscow, Russia

Highlighting Pipelines Offshore

Genetic Algorithm Optimisation of a Norway: Visualization and
Supply Ship Propulsion and
Navigation Systems ............................................. 2645
Quantitative Analysis ...........................................
2688
R.E. Loke and J.M.H. du Buf, Vision Laboratory, Dept.
Eva Alfaro-Cid, Euan W. McGookin, and David J. of Electronics and Computer Science, University of
Murray-Smith, Centre of Systems and Control & Dept. Algarve, Faro, Portugal
of Electronics and Electrical Engineering,
University of Glasgow, Glasgow, UK Differences in Olfactory System Between
Wild and Cultured Red Sea Bream,
Marine Sediment Classification Using Pagrus major (Teleostei) ..................................... 2696
Sidescan Sonar and Geographical R. R. Mana, G. Kawamura, K. Anraku, T. Matsuoka,
Information System Software in and T. Masuda, Laboratory of Fish Ethology,
Kaneohe Bay, Oahu, Hawaii ................................ 2653 Kagoshima University, Kagoshima, Japan
Andreas J. Andersson, School of Ocean and Earth
Science and Technology, University of Hawai‘i, The Design, Construction, and Testing of a
Honolulu, HI; Tom B. Reed, IV, Oceanic Imaging Flexible Fin Propelled Autonomous
Consultants, Inc., Honolulu, HI; Christopher D. Winn, Underwater Vehicle .............................................. 2703
Hawaii Pacific University, Marine Science Program, Ryan Moody, North Carolina State University,
Honolulu, HI Integrated Manufacturing Systems Engineering
Institute, Raleigh, NC
Effectiveness of Spatial-Temporal
Collocated Microwave Scatterometric Analysis of Non-Coherent Signaling
and Vertical-Horizontal Polarized in Surf Zone Acoustic Telemetry
Radiometric Images in Sea Surface Experiments .......................................................... 2708
Monitoring ............................................................ 2658 Tetsuro Oishi, Research Associate, Acoustics
Arsen Arakelyan, Faculty of Biochemistry, Yerevan Research Laboratory, Univ. of Massachusetts
State University, Yerevan, Armenia; Dartmouth, N. Dartmouth, MA; Dale Green,
A.K.Hambaryan and A.K.Arakelian, ECOSERV Principle Engineer, Benthos Inc., North Falmouth, MA
Remote Observation Centre Co. Ltd., Yerevan,
Armenia

lxi