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NASA NTRS2024

Remote Science at Sea With Remotely Operated Vehicles

Conducting sea-going ocean science no longer needs to be limited to the number of berths on a ship given that telecommunications, computing, and networking technologies onboard ships have become familiar mechanisms for expanding scientists’ reach from onshore. The oceanographic community routinely works with remotely operated vehicles (ROVs) and pilots to access real-time video and data from the deep sea, while onboard a ship. The extension of using an ROV and its host vessel’s live-streaming capabilities has been popularized for almost 3 decades as a telepresence technology. Telepresence-enabled vessels with ROVs have been employed for science, education, and outreach, giving a greater number of communities viewing access to ocean science. However, the slower development of technologies and social processes enabling sustained real-time involvement between scientists on-ship and onshore undermines the potential for broader access, which limits the possibility of increasing inclusivity and discoveries through a diversity of knowledge and capabilities. This article reviews ocean scientists’ use of telepresence for ROV-based deep-sea research and funded studies of telepresence capabilities. The authors summarize these studies findings and conditions that lead to defining the use of telepresence-enabled vessels for “remote science at sea.” Authors define remote science at sea as a type of ocean expedition, an additional capability, not a replacement for all practices by which scientists conduct ocean research. Remote science for ocean research is an expedition at-sea directed by a distributed science team working together from at least two locations (on-ship and onshore) to complete their science objectives for which primary data is acquired by robotic technologies, with connectivity supported by a high-bandwidth satellite and the telepresence-enabled ship’s technologies to support the science team actively engaged before, during, and after dives across worksites. The growth of productive ocean expeditions with remote science is met with social, technical, and logistical challenges that impede the ability of remote scientists to succeed. In this article, authors review telepresence-enabled ocean science, define and situate the adjoined model of remote science at sea, and some infrastructural, technological and social considerations for conducting and further developing remote science at sea.

marine technology↗
DOE OSTI2024

The Influence of Air‐Sea CO 2 Disequilibrium on Carbon Sequestration by the Ocean's Biological Pump

Abstract The ocean's biological carbon pump (BCP) affects the Earth's climate by sequestering CO 2 away from the atmosphere for decades to millennia. One primary control on the amount of carbon sequestered by the biological pump is air‐sea CO 2 disequilibrium, which is controlled by the rate of air‐sea CO 2 exchange and the residence time of CO 2 in surface waters. Here, we use a data‐assimilated model of the soft tissue BCP to quantify carbon sequestration inventories and time scales from remineralization in the water column to equilibration with the atmosphere. We find that air‐sea CO 2 disequilibrium enhances the global biogenic carbon inventory by ∼35% and its sequestration time by ∼70 years compared to identical calculations made assuming instantaneous air‐sea CO 2 exchange. Locally, the greatest enhancement occurs in the subpolar Southern Ocean, where air‐sea disequilibrium increases sequestration times by up to 600 years and the biogenic dissolved inorganic carbon inventory by >100% in the upper ocean. Contrastingly, in deep‐water formation regions of the North Atlantic and Antarctic margins, where biological production creates undersaturated surface waters which are subducted before fully equilibrating with the atmosphere, air‐sea CO 2 disequilibrium decreases the depth‐integrated sequestration inventory by up to ∼150%. The global enhancement of carbon sequestration by air‐sea disequilibrium is particularly important for carbon respired in deep waters that upwell in the Southern Ocean. These results highlight the importance of accounting for air‐sea CO 2 disequilibrium when evaluating carbon sequestration by the biological pump and for assessing the efficacy of ocean‐based CO 2 removal methods.

Environmental Sciences & Ecology↗
DOE OSTI2020

Projecting Antarctica's contribution to future sea level rise from basal ice shelf melt using linear response functions of 16 ice sheet models (LARMIP-2)

Abstract. The sea level contribution of the Antarctic ice sheet constitutes a large uncertainty in future sea level projections. Here we apply a linear response theory approach to 16 state-of-the-art ice sheet models to estimate the Antarctic ice sheet contribution from basal ice shelf melting within the 21st century. The purpose of this computation is to estimate the uncertainty of Antarctica's future contribution to global sea level rise that arises from large uncertainty in the oceanic forcing and the associated ice shelf melting. Ice shelf melting is considered to be a major if not the largest perturbation of the ice sheet's flow into the ocean. However, by computing only the sea level contribution in response to ice shelf melting, our study is neglecting a number of processes such as surface-mass-balance-related contributions. In assuming linear response theory, we are able to capture complex temporal responses of the ice sheets, but we neglect any self-dampening or self-amplifying processes. This is particularly relevant in situations in which an instability is dominating the ice loss. The results obtained here are thus relevant, in particular wherever the ice loss is dominated by the forcing as opposed to an internal instability, for example in strong ocean warming scenarios. In order to allow for comparison the methodology was chosen to be exactly the same as in an earlier study (Levermann et al., 2014) but with 16 instead of 5 ice sheet models. We include uncertainty in the atmospheric warming response to carbon emissions (full range of CMIP5 climate model sensitivities), uncertainty in the oceanic transport to the Southern Ocean (obtained from the time-delayed and scaled oceanic subsurface warming in CMIP5 models in relation to the global mean surface warming), and the observed range of responses of basal ice shelf melting to oceanic warming outside the ice shelf cavity. This uncertainty in basal ice shelf melting is then convoluted with the linear response functions of each of the 16 ice sheet models to obtain the ice flow response to the individual global warming path. The model median for the observational period from 1992 to 2017 of the ice loss due to basal ice shelf melting is 10.2 mm, with a likely range between 5.2 and 21.3 mm. For the same period the Antarctic ice sheet lost mass equivalent to 7.4 mm of global sea level rise, with a standard deviation of 3.7 mm (Shepherd et al., 2018) including all processes, especially surface-mass-balance changes. For the unabated warming path, Representative Concentration Pathway 8.5 (RCP8.5), we obtain a median contribution of the Antarctic ice sheet to global mean sea level rise from basal ice shelf melting within the 21st century of 17 cm, with a likely range (66th percentile around the mean) between 9 and 36 cm and a very likely range (90th percentile around the mean) between 6 and 58 cm. For the RCP2.6 warming path, which will keep the global mean temperature below 2 ∘C of global warming and is thus consistent with the Paris Climate Agreement, the procedure yields a median of 13 cm of global mean sea level contribution. The likely range for the RCP2.6 scenario is between 7 and 24 cm, and the very likely range is between 4 and 37 cm. The structural uncertainties in the method do not allow for an interpretation of any higher uncertainty percentiles. We provide projections for the five Antarctic regions and for each model and each scenario separately. The rate of sea level contribution is highest under the RCP8.5 scenario. The maximum within the 21st century of the median value is 4 cm per decade, with a likely range between 2 and 9 cm per decade and a very likely range between 1 and 14 cm per decade.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1974

The application of ERTS imagery to monitoring Arctic sea ice

The author has identified the following significant results. Because of the effect of sea ice on the heat balance of the Arctic and because of the expanding economic interest in arctic oil and minerals, extensive monitoring and further study of sea ice is required. The application of ERTS data for mapping ice is evaluated for several arctic areas, including the Bering Sea, the eastern Beaufort Sea, parts of the Canadian Archipelago, and the Greenland Sea. Interpretive techniques are discussed, and the scales and types of ice features that can be detected are described. For the Bering Sea, a sample of ERTS-1 imagery is compared with visual ice reports and aerial photography from the NASA CV-990 aircraft. The results of the investigation demonstrate that ERTS-1 imagery has substantial practical application for monitoring arctic sea ice. Ice features as small as 80-100 m in width can be detected, and the combined use of the visible and near-IR imagery is a powerful tool for identifying ice types. Sequential ERTS-1 observations at high latitudes enable ice deformations and movements to be mapped. Ice conditions in the Bering Sea during early March depicted in ERTS-1 images are in close agreement with aerial ice observations and photographs.

Barnes, J. C.↗
NASA NTRS1990

Spatial cross-correlation of Antarctic Sea ice and seabed topography

A time series of derived sea ice concentrations as observed about Antarctica by the Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) satellite in 1983 is considered. The degree of spatial cross correlation between these data and seabed topography is quantified. The approach is to implement a statistical image processing filter designed to extract local patterns of spatial cross correlation over the entire sea ice field as it undergoes daily changes. Throughout the sea ice, it was found that large scale variations in sea ice concentration correlate systematically with variations in the topography of the seabed. Generally speaking, high concentrations of sea ice occur over deep ocean, whereas areas of encavement, early dissipation and polynya formation develop over topographic features of high elevation. The latter was studied in detail with respect to the features Maud Rise, Astrid Ridge and the continental shelf in the Cosmonaut and Ross Seas. In each case, it is shown that an encavement in sea ice, a polynya, or both develops in the vicinity of the feature in question. As these results are quantified in terms of spatial cross correlation, a potential role is inferred for seabed topography in such fluctuations in the sea ice about Antarctica.

Deveaux, Richard D.↗
NASA NTRS1990

Interannual differences of Geosat altimeter heights and sea level - The importance of a datum

Sea surface height data from the Geosat altimeter are compared with island sea level data from 18 gages in the western and central tropical Pacific during December 1986 to November 1987. Care was taken to ensure that the two data sets are referenced to the same mean surface. This was done by requiring that both data sets have a zero mean sea level over the period April 1985 to April 1986. When the annual means are computed at each station in the later time period, it is found that the annual mean sea surface height values have drifted away from the corresponding sea level values by as much as 16 cm. Further, the pattern of differences that develop between the two data sets is not random but is spatially coherent with a strong east-west gradient. These observations illustrate the necessity for sea surface height data to be referred to a well-defined zero point, a datum, in order to reliably monitor interannual changes in the sea surface topography. Until these differences can be eliminated, it will be necessary to use tide gage data as benchmarks for the altimeter sea surface height data.

Wyrtki, Klaus↗
NASA NTRS1998

Sea Ice on the Southern Ocean

Year-round satellite records of sea ice distribution now extend over more than two decades, providing a valuable tool to investigate related characteristics and circulations in the Southern Ocean. We have studied a variety of features indicative of oceanic and atmospheric interactions with Antarctic sea ice. In the Amundsen & Bellingshausen Seas, sea ice extent was found to have decreased by approximately 20% from 1973 through the early 1990's. This change coincided with and probably contributed to recently warmer surface conditions on the west side of the Antarctic Peninsula, where air temperatures have increased by approximately 0.5 C/decade since the mid-1940's. The sea ice decline included multiyear cycles of several years in length superimposed on high interannual variability. The retreat was strongest in summer, and would have lowered the regional mean ice thickness, with attendant impacts upon vertical heat flux and the formation of snow ice and brine. The cause of the regional warming and loss of sea ice is believed to be linked to large-scale circulation changes in the atmosphere and ocean. At the eastern end of the Weddell Gyre, the Cosmonaut Polyna revealed greater activity since 1986, a recurrence pattern during recent winters and two possible modes of formation. Persistence in polynya location was noted off Cape Ann, where the coastal current can interact more strongly with the Antarctic Circumpolar Current. As a result of vorticity conservation, locally enhanced upwelling brings warmer deep water into the mixed layer, causing divergence and melting. In the Ross Sea, ice extent fluctuates over periods of several years, with summer minima and winter maxima roughly in phase. This leads to large interannual cycles of sea ice range, which correlate positively with meridinal winds, regional air temperatures and subsequent shelf water salinities. Deep shelf waters display considerable interannual variability, but have freshened by approximately 0.03/decade since the late 1950's. That could have slowed the thermohaline circulation beneath the Ross Ice Shelf and the properties or volume of local bottom water production.

Jacobs, Stanley S.↗
NASA NTRS1998

Spatial Distribution of Trends and Seasonality in the Hemispheric Sea Ice Covers

We extend earlier analyses of a 9-year sea ice data set that described the local seasonal and trend variations in each of the hemispheric sea ice covers to the recently merged 18.2-year sea ice record from four satellite instruments. The seasonal cycle characteristics remain essentially the same as for the shorter time series, but the local trends are markedly different, in some cases reversing sign. The sign reversal reflects the lack of a consistent long-term trend and could be the result of localized long-term oscillations in the hemispheric sea ice covers. By combining the separate hemispheric sea ice records into a global one, we have shown that there are statistically significant net decreases in the sea ice coverage on a global scale. The change in the global sea ice extent, is -0.01 +/- 0.003 x 10(exp 6) sq km per decade. The decrease in the areal coverage of the sea ice is only slightly smaller, so that the difference in the two, the open water within the packs, has no statistically significant change.

Gloersen, P.↗
NASA NTRS1997

ERS satellite microwave radar observations of Antarctic sea-ice dynamics

ERS-1 and ERS-2 scatterometer and synthetic aperture radar (SAR) data are used to monitor and track large and small scale sea ice dynamics in the Southern Ocean, and in particular in the Weddell Sea, Antarctica. Sea ice formation in the Weddell Sea regulates vertical and horizontal thermohaline circulation and influences bottom water production rates. Significant seasonal to interannual variability is observed in the sea ice drift dynamics. Coupled model simulations reproduce this variability and indicate that there is significant interannual variability in Weddelll Sea ice formation, drifts and extent on the El Nino southern oscillation (ENSO) timescale, with a period of approximately eight years. Changes in ice dynamics on these timescales regulate the amount of sea ice divergence and polynya formation. Anomalies in the timing and duration of the opening of the Ronne ice shelf polynya system are closely related to the variability in outflow of Weddell Sea bottom water measured at Joinville Island.

Drinkwater, Mark R.↗
NASA NTRS1998

Wind Forcing of the North Sea Pole Tide

The Chandler wobble of the earth's rotation has a period near 14 months and sets up the 0.5 cm amplitude pole tide in the deep oceans, However, the pole tide is anomalously large in the North Sea, where the amplitude increases sharply up to 3 cm along the continental coast. It is shown here that the sea levels are well correlated with winds at the pole tide frequency. The Princeton Ocean Model is used to investigate the response of the North Sea to wind forcing. The barotropic numerical ocean model depicts realistic coastlines and bathymetry at 5 ft x 5 ft resolution, with 97 x 73 grid points. The monthly mean wind fields for the 40-year period (1958-1997) from the National Centers for Atmospheric Prediction (NCEP) reanalysis were used to force the model. The winds were converted to stress with a neutral drag coefficient that varied linearly with windspeed (instead of using the NCEP windstress). A 5-day simulation was made for each month until the resulting flow regime came into equilibrium, and model water levels at various station locations were saved for comparison with tidal-gauge observed sea levels from the Permanent Service for Mean Sea Level (PSMSL). The comparison is made for 10 North Sea stations with high quality tide gauge data. We find: (1) good agreement in annual and semi-annual phases and in the trend of amplitude w.r.t. latitude; (2) more importantly for this study, the model-predicted and observed non-seasonal sea level variations show a very significant temporal correlation as well as spectral coherence. However, a large amplitude difference exists between the two sets -- the overall amplitude variability of the observed is generally a factor of 2-3 larger than the model prediction (this same phenomenon has been reported in ocean circulation studies, although the cause is not yet clear.) Our results indicate that the wind forcing is the main cause of the observed large pole tide in the North Sea.

OConnor, W.↗
NASA NTRS1999

The Formation each Winter of the Circumpolar Wave in the Sea Ice around Antarctica

Seeking to improve upon the visualization of the Antarctic Circumpolar Wave (ACW) , we compare a 16-year sequence of 6-month winter averages of Antarctic sea ice extents and concentrations with those of adjacent sea surface temperatures (SSTs). Here we follow SSTs around the globe along the maximum sea ice edge rather than in a zonal band equatorward of it. The results are similar to the earlier ones, but the ACWs do not propagate with equal amplitude or speed. Additionally in a sequence of 4 polar stereographic plots of these SSTs and sea ice concentrations, we find a remarkable correlation between SST minima and sea ice concentration maxima, even to the extent of matching contours across the ice-sea boundary, in the sector between 900E and the Palmer Peninsula. Based on these observations, we suggest that the memory of the ACW in the sea ice is carried from one Austral winter to the next by the neighboring SSTS, since the sea ice is nearly absent in the Austral summer.

Gloersen, Per↗
NASA NTRS2001

Comparison of DMSP SSM/I and Landsat 7 ETM+ Sea Ice Concentrations During Summer Melt

As part of NASA's EOS Aqua sea ice validation program for the Advanced Microwave Scanning Radiometer (AMSR-E), Landsat 7 Enhanced Thematic Mapper (ETM+) images were acquired to develop a sea ice concentration data set with which to validate AMSR-E sea ice concentration retrievals. The standard AMSR-E Arctic sea ice concentration product will be obtained with the enhanced NASA Team (NT2) algorithm. The goal of this study is to assess the accuracy to which the NT2 algorithm, using DMSP Special Sensor Microwave Imager radiances, retrieves sea ice concentrations under summer melt conditions. Melt ponds are currently the largest source of error in the determination of Arctic sea ice concentrations with satellite passive microwave sensors. To accomplish this goal, Landsat 7 ETM+ images of Baffin Bay were acquired under clear sky conditions on the 26th and 27th of June 2000 and used to generate high-resolution sea ice concentration maps with which to compare the NT2 retrievals. Based on a linear regression analysis of 116 25-km samples, we find that overall the NT2 retrievals agree well with the Landsat concentrations. The regression analysis yields a correlation coefficient of 0.98. In areas of high melt ponding, the NT2 retrievals underestimate the sea ice concentrations by about 12% compared to the Landsat values.

Cavalieri, Donald J.↗
NASA NTRS2005

Sea Ice Kinematics and Thickness from RGPS: Observations and Theory

The RADARSAT Geophysical Processor System (RGPS) has produced a wealth of data on Arctic sea ice motion, deformation, and thickness with broad geographical coverage and good temporal resolution. These data provide unprecedented spatial detail of the structure and evolution of the sea ice cover. The broad purpose of this study was to take advantage of the strengths of the RGPS data set to investigate sea ice kinematics and thickness, which affect the climate through their influence on ice production, ridging, and transport (i.e. mass balance); heat flux to the atmosphere; and structure of the upper ocean mixed layer. The objectives of this study were to: (1) Explain the relationship between the discontinuous motion of the ice cover and the large-scale, smooth wind field that drives the ice; (2) Characterize the sea ice deformation in the Arctic at different temporal and spatial scales, and compare it with deformation predicted by a state-of-theart ice/ocean model; and (3) Compare RGPS-derived sea ice thickness with other data, and investigate the thinning of the Arctic sea ice cover as seen in ULS data obtained by U.S. Navy submarines. We briefly review the results of our work below, separated into the topics of sea ice deformation and sea ice thickness. This is followed by a list of publications, meetings and presentations, and other activities supported under this grant. We are attaching to this report copies of all the listed publications. Finally, we would like to point out our community service to NASA through our involvement with the ASF User Working Group and the RGPS Science Working Group, as evidenced in the list of meetings and presentations below.

Stern, Harry↗
NASA NTRS2006

EOS Aqua AMSR-E Arctic Sea-Ice Validation Program: Arctic2006 Aircraft Campaign Flight Report

In March 2006, a coordinated Arctic sea-ice validation field campaign using the NASA Wallops P-3B aircraft was successfully completed. This campaign was the second Alaskan Arctic field campaign for validating the Earth Observing System (EOS) Aqua Advanced Microwave Scanning Radiometer (AMSR-E) sea-ice products. The first campaign was completed in March 2003. The AMSR-E, designed and built by the Japanese Space Agency for NASA, was launched May 4, 2002 on the EOS Aqua spacecraft. The AMSR-E sea-ice products to be validated include sea-ice concentration, sea-ice temperature, and snow depth on sea ice. The focus of this campaign was on the validation of snow depth on sea ice and sea-ice temperature. This flight report describes the suite of instruments flown on the P-3, the objectives of each of the six flights, the Arctic regions overflown, and the coordination among satellite, aircraft, and surface-based measurements.

Cavalieri, D. J.↗
NASA NTRS2006

Microwave Signatures of Snow on Sea Ice: Modeling

Accurate knowledge of snow-depth distribution over sea ice is critical for polar climate studies. Current snow-depth-over-sea-ice retrieval algorithms do not sufficiently account for variations in snow and ice physical properties that can affect the accuracy of retrievals. For this reason, airborne microwave observations were coordinated with ground-based measurements of snow depth and snow properties in the vicinity of Barrow, AK, in March 2003. In this paper, the effects of snowpack properties and ice conditions on microwave signatures are examined using detailed surface-based measurements and airborne observations in conjunction with a thermal microwave-emission model. A comparison of the Microwave Emission Model of Layered Snowpacks (MEMLS) simulations with detailed snowpack and ice data from stakes along the Elson Lagoon and the Beaufort Sea and ra- 'diometer data taken from low-level flights using a Polarimetric Scanning Radiometer (PSR-A) shows that MEMLS can be used to simulate snow on sea ice and is a useful tool for understanding the limitations of the snow-depth algorithm. Analysis of radiance data taken over the Elson Lagoon and the Beaufort Sea using MEMLS suggests that the radiometric differences between the two locations are due to the differences in sea-ice emissivity. Furthermore, measured brightness temperatures suggest that the current snow-depth retrieval algorithm is sufficient for areas of smooth first-year sea ice, whereas new algorithm coefficients are needed for rough first-year sea ice. Snowpack grain size and density remain an unresolved issue for snow-depth retrievals using passive-microwave radiances.

Powell, D. C.↗
NASA NTRS2011

Regional Changes in the Sea Ice Cover and Ice Production in the Antarctic

Coastal polynyas around the Antarctic continent have been regarded as sea ice factories because of high ice production rates in these regions. The observation of a positive trend in the extent of Antarctic sea ice during the satellite era has been intriguing in light of the observed rapid decline of the ice extent in the Arctic. The results of analysis of the time series of passive microwave data indicate large regional variability with the trends being strongly positive in the Ross Sea, strongly negative in the Bellingshausen/Amundsen Seas and close to zero in the other regions. The atmospheric circulation in the Antarctic is controlled mainly by the Southern Annular Mode (SAM) and the marginal ice zone around the continent shows an alternating pattern of advance and retreat suggesting the presence of a propagating wave (called Antarctic Circumpolar Wave) around the circumpolar region. The results of analysis of the passive microwave data suggest that the positive trend in the Antarctic sea ice cover could be caused primarily by enhanced ice production in the Ross Sea that may be associated with more persistent and larger coastal polynyas in the region. Over the Ross Sea shelf, analysis of sea ice drift data from 1992 to 2008 yields a positive rate-of-increase in the net ice export of about 30,000 km2 per year. For a characteristic ice thickness of 0.6 m, this yields a volume transport of about 20 km3/year, which is almost identical, within error bars, to our estimate of the trend in ice production. In addition to the possibility of changes in SAM, modeling studies have also indicated that the ozone hole may have a role in that it causes the deepening of the lows in the western Antarctic region thereby causing strong winds to occur offthe Ross-ice shelf.

Comiso, Josefino C.↗
NASA NTRS2011

Experiments in Reconstructing Twentieth-Century Sea Levels

One approach to reconstructing historical sea level from the relatively sparse tide-gauge network is to employ Empirical Orthogonal Functions (EOFs) as interpolatory spatial basis functions. The EOFs are determined from independent global data, generally sea-surface heights from either satellite altimetry or a numerical ocean model. The problem is revisited here for sea level since 1900. A new approach to handling the tide-gauge datum problem by direct solution offers possible advantages over the method of integrating sea-level differences, with the potential of eventually adjusting datums into the global terrestrial reference frame. The resulting time series of global mean sea levels appears fairly insensitive to the adopted set of EOFs. In contrast, charts of regional sea level anomalies and trends are very sensitive to the adopted set of EOFs, especially for the sparser network of gauges in the early 20th century. The reconstructions appear especially suspect before 1950 in the tropical Pacific. While this limits some applications of the sea-level reconstructions, the sensitivity does appear adequately captured by formal uncertainties. All our solutions show regional trends over the past five decades to be fairly uniform throughout the global ocean, in contrast to trends observed over the shorter altimeter era. Consistent with several previous estimates, the global sea-level rise since 1900 is 1.70 +/- 0.26 mm/yr. The global trend since 1995 exceeds 3 mm/yr which is consistent with altimeter measurements, but this large trend was possibly also reached between 1935 and 1950.

Ray, Richard D.↗
NASA NTRS2012

Predictive Sea State Estimation for Automated Ride Control and Handling - PSSEARCH

PSSEARCH provides predictive sea state estimation, coupled with closed-loop feedback control for automated ride control. It enables a manned or unmanned watercraft to determine the 3D map and sea state conditions in its vicinity in real time. Adaptive path-planning/ replanning software and a control surface management system will then use this information to choose the best settings and heading relative to the seas for the watercraft. PSSEARCH looks ahead and anticipates potential impact of waves on the boat and is used in a tight control loop to adjust trim tabs, course, and throttle settings. The software uses sensory inputs including IMU (Inertial Measurement Unit), stereo, radar, etc. to determine the sea state and wave conditions (wave height, frequency, wave direction) in the vicinity of a rapidly moving boat. This information can then be used to plot a safe path through the oncoming waves. The main issues in determining a safe path for sea surface navigation are: (1) deriving a 3D map of the surrounding environment, (2) extracting hazards and sea state surface state from the imaging sensors/map, and (3) planning a path and control surface settings that avoid the hazards, accomplish the mission navigation goals, and mitigate crew injuries from excessive heave, pitch, and roll accelerations while taking into account the dynamics of the sea surface state. The first part is solved using a wide baseline stereo system, where 3D structure is determined from two calibrated pairs of visual imagers. Once the 3D map is derived, anything above the sea surface is classified as a potential hazard and a surface analysis gives a static snapshot of the waves. Dynamics of the wave features are obtained from a frequency analysis of motion vectors derived from the orientation of the waves during a sequence of inputs. Fusion of the dynamic wave patterns with the 3D maps and the IMU outputs is used for efficient safe path planning.

Huntsberger, Terrance L.↗