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Series Editor
Richard C. Dorf
University of California, Davis
Dedication
Preface
The Ocean Engineering Handbook is designed to offer the reader a reasonably comprehensive coverage
of a number of important areas involving the theory and practice of oceanic and coastal engineering and
technology. Of course, one cannot expect to become an expert on a subject as vast and complicated as
oceanic engineering from one book, no matter how large. Throughout the book, references are given to
more detailed and specialized works on each of the topics treated.
A major challenge in designing this handbook was the breadth and diversity of the subject area. Oceanic
technology is remarkably varied. Oceanic engineering applications range from fiber optic applications
to position control of ocean-going vessels. Oceanic system theory ranges from marine hydrodynamics
to modeling of waves in the oceans. The Ocean Engineering Handbook thoroughly covers position control
theory and implementation.
The book is organized in six major sections: Marine Hydrodynamics and Vehicle Control, Modeling
Considerations, Position Control Systems for Offshore Vessels, Computational Intelligence in Ocean
Engineering, Fiber Optics in Oceanographic Applications, and Current Measurement Technology. It is
designed to be used as a traditional handbook where one would be able to find the answer to a question
about a topic by consulting an article dealing with that topic. The handbook can also be used in different
ways as it offers snapshots of the present state-of-the-art in various subjects.
The first chapter of the handbook is on Marine Hydrodynamics and Vehicle Control and is edited by
Dr. Zoran Vukic of the University of Zagreb in Croatia. The first section is entitled Anatomy of Sea Level
Variability: An Example from the Adriatic and is by M. Orlic. This is followed by Guidance and Control
Systems for Marine Vehicles by Z. Vukic and B. Borovic. Section 3 is Sea Ambient Noise: An Example
from the Middle Adriatic by D. Matika. S. Krueger introduces Basic Shipboard Instrumentation and
Fixed Automatic Stations for Monitoring in the Baltic Sea in Section 4.
Chapter 2 consists of four sections, the first of which is by Advisory Editor/Contributor Hisaaki Maeda
from the University of Tokyo who offers a discussion of Marine Hydrodynamics and Dynamics of a
Floating Structure. The second is on Mathematical Modeling of Ocean Waves and is by Advisory
Editor/Contributor Dr. M. Rahman of DalTech, Dalhousie University in Halifax. Sections 3 and 4 are on
Systems Approaches to Heave Compensation in Marine Dynamic Applications and Approaches to Marine
Seismic Extraction and are written by Dr. Ferial El-Hawary.
The third chapter is on Position Control Systems for Offshore Vessels written by a Scandinavian team
led by Advisory Editors Asgeir J. Sorensen and Thor I. Fossen. Six sections discuss fundamental issues
and new design approaches in this significant area. In the first section, J. P. Strand and A. J. Sorensen
discuss Marine Positioning Systems. This is followed by a section on Mathematical Modeling of Marine
Vessels by A. J. Sorensen. Section 3 is entitled Position and Velocity Observer Design and is written by T. I.
Fossen and J. P. Strand. Section 4 by A. J. Sorensen deals with the Design of Controllers for Positioning of
Marine Vessels. In section 5, T. I. Fossen and J. P. Strand offer a treatment of Weather Optimal Positioning
Systems. The last section deals with methods for thrust control and is by A. J. Sorensen, J. P. Strand, and
T. I. Fossen.
2001 by CRC Press LLC
The fourth chapter of the handbook deals with the applications of computational intelligence in the
ocean environment. Under the leadership of the imminent scholar Dr. C. H. Chen, four teams of contributors address issues in this important emerging area. These begin with an article entitled A Multivariable
Online Intelligent Autopilot Design Study written by a team from the University of Plymouth, Devon, U.K.
In the second section, Dr. Ray Gosine and the team from Memorial University of Newfoundland offer
a detailed discussion of multi-robot cooperation under human supervision. Dr. Donna Kocak, a member
of the technical staff at the Harbor Branch Oceanographic Institution offers an excellent introduction
and an update on Computer Vision in Ocean Engineering.
Dr. Frank Caimi of the Harbor Branch Oceanographic Institution is Advisory Editor of the fifth chapter
of the handbook, which treats Fiber Optics in Oceanographic Applications. This chapter contains four
sections and begins with an overview of fiber optics contributed by the advisory editor. This is followed
by a discussion of the Basics of Fiber Optic Strain Sensors by Barry Grossman and Syed Murshid. Section
three of this chapter is contributed by Tony Dandridge and Clay Kirkendall of the Naval Research
Laboratory in Washington, D.C. and covers Fiber Optic Acoustic Sensors. Fiber Optic Telemetry in Ocean
Cables is discussed in Section 4 by George Wilkins, Naval Research Laboratory, Washington, D.C.
The final chapter is devoted to current measurement techniques and is offered by Albert J. Williams
3rd of the Woods Hole Oceanographic Institute in Massachusetts.
I invite you to explore with us the many facets of oceans engineering.
Editor-in-Chief
Ferial El-Hawary, P. Eng., F. MTS, F. EIC, F. IEEE received her M.Sc. from the University of Alberta,
Canada in Electrical Engineering and her Ph.D. from Memorial University of Newfoundland in Oceans
Engineering. She has published widely, and has made numerous presentations on underwater applications
of advanced signal processing and estimation techniques.
She is the cofounder and president of BH Engineering Systems Limited (BHES) of Halifax, and the
Modeling and Signal Analysis Research Laboratory in the Faculty of Engineering at the Technical University
of Nova Scotia (TUNS), which is now DalTech, a part of Dalhousie University. At BHES, Dr. EI-Hawarys
activities involve technology transfer from the academic sphere to industry through consulting and the
offering of advanced professional development courses for industry.
Dr. El-Hawary has supervised a number of graduate students at TUNS on the application of digital
system concepts to underwater dynamic motion estimation and marine seismic methods, and also on
the environmental impact of electric power generation. Her research work has been supported by the
Natural Sciences and Engineering Research Council of Canada (NSERC) grants.
Dr. El-Hawary has been involved on a worldwide basis in ocean activities both technically and administratively as a member of the IEEE Oceanic Engineering Society Board of Directors, serving as vicepresident international and past chairman of the membership development committee. She has been
instrumental in promoting the society at the national and international level and, in particular, in
organizing oceans conferences held in Canada and outside of North America (Europe). She was also
guest editor of a special series of issues of the IEEE Journal of Oceanic Engineering dedicated to advanced
applications of control and signal processing in the oceans environment.
Her awards and professional memberships include the Institute of Electrical and Electronic Engineers
(IEEE) Third Millennium Medal given in recognition and appreciation of her valued services and
outstanding contributions (Vancouver, B.C., June 2000); the 1999 Institute of Electrical and Electronics
Engineers/Regional Activity Board (IEEE/RAB) achievement award for achievement in promoting IEEE
interest in the oceanic engineering community in Atlantic Canada (Halifax, N.S., May 2000); Fellow of
the Institute of Electrical and Electronics Engineers/Oceanic Engineering Society (IEEE/OES), for contributions to application of digital system concepts to underwater dynamic motion estimation and marine
seismic methods (Seattle, WA, October 1999); Fellow of the Engineering Institute of Canada (EIC),
(Ottawa, Ontario, May 1997); and IEEE/Oceanic Engineering Society distinguished service award for
outstanding leadership in expanding horizons of oceanic engineering society and promoting oceans
conferences beyond the U.S.A. and Canada (Halifax, N.S., October 1997).
Contributors
Bruno Borovic
R. Hale
Matiur Rahman
Brodarski Institute
Zagreb, Croatia
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
Dalhousie University
Halifax, Nova Scotia, Canada
R. S. Burns
University of Plymouth
Devon, United Kingdom
Frank M. Caimi
Florida Institute of Technology
Melbourne, Florida
Harbor Branch Oceanographic
Institution
Fort Pierce, Florida
C. H. Chen
F. Hwang
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
J. King
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
Clay Kirkendall
M. Rokonuzzaman
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
Marit Ronss
The Norwegian University of Science
and Technology
Trondheim, Norway
J. Seshadri
University of Massachusetts
Dartmouth, Massachusetts
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
P. J. Craven
Donna M. Kocak
Asgeir J. Srensen
Tony Dandridge
Naval Research Laboratory
Washington, D.C.
Ferial El-Hawary
BH Engineering Systems, Ltd.
Halifax, Nova Scotia, Canada
Thor I. Fossen
The Norwegian University of Science
and Technology
Trondheim, Norway
R. Gosine
Siegfried Krueger
Baltic Sea Research Institute
Rostock-Warnemuende, Germany
Hisaaki Maeda
University of Tokyo
Tokyo, Japan
Dario Matika
University of Zagreb
Zagreb, Croatia
R. Sutton
University of Plymouth
Devon, United Kingdom
Zoran Vukic
University of Zagreb
Zagreb, Croatia
George Wilkins
Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada
Syed H. Murshid
Kailua-Kona, Hawaii
Barry G. Grossman
Mirko Orlic
University of Zagreb
Zagreb, Croatia
Contents
Modeling Considerations
2.1
2.2
2.3
2.4
Anatomy of Sea Level VariabilityAn Example from the Adriatic Mirko Orlic
Guidance and Control Systems for Marine Vehicles Zoran Vukic and Bruno Borovic
Sea Ambient NoiseAn Example from the Middle Adriatic Dario Matika
Basic Shipboard Instrumentation and Fixed Automatic Stations for Monitoring
in the Baltic Sea Siegfried Krueger