Title :
Estimating the vertical velocity of buoyant deep-sea hydrothermal plumes through dynamic analysis of an autonomous vehicle
Author :
Yoerger, Dana R. ; Murray, Pamela G. ; Stahl, F.
Author_Institution :
Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Instn., MA, USA
Abstract :
This paper demonstrates a method for using an autonomous underwater vehicle to measure the velocity of a deep-sea hydrothermal plume. Based on a system identification experiment conducted in the actual operating environment, we extracted a dynamic model of the vehicle´s vertical response, then used that model to infer the vertical water velocity of rising plumes in the main observation area. The results are compared to a more direct measurement using an acoustic current meter
Keywords :
dynamics; oceanographic techniques; parameter estimation; seafloor phenomena; underwater vehicles; 2200 m; AUV; FLOW MOW project; autonomous underwater vehicles; deep-sea hydrothermal plumes; dynamic model; estimation; identification; mapping; parameter estimation; vertical response; vertical velocity; Geophysical measurements; Oceans; Pollution measurement; Remotely operated vehicles; Sea floor; Sea measurements; Underwater vehicles; Vehicle dynamics; Velocity measurement; Vents;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976334
