SpringerLink Springer Engineering eBooks 2017 English+International

Preface; Contents; 1 Introduction; References; 2 Lessons from Marine-Based Oil Spill and Gas Leak Accidents; 2.1 Major Marine-Based Oil Spill and Gas Leak Accidents; 2.2 Subsea Environmental Effects by the DWH Oil Spill Accident; 2.3 Surface Oil Slick Behavior After the DWH Oil Spill Accident; 2.4 Impact of the DWH Oil Spill Accident on Contingency Plan, Preparedness, and Regulations; References; 3 Development and Operation of Underwater Robot for Autonomous Tracking and Monitoring of Subsea Plumes After Oil Spill and Gas Leak from Seabed and Analyses of Measured Data; 3.1 Introduction

3.2 SOTAB-I Overview3.2.1 Outlines of SOTAB-I; 3.2.2 Hardware Description; 3.2.2.1 Power Supply; 3.2.2.2 Processing and Control Unit; 3.2.2.3 Actuators; 3.2.2.4 Tracking; 3.2.2.5 Orientation; 3.2.2.6 Communication; 3.2.2.7 Surveying Sensors; 3.2.2.8 Emergency; 3.2.3 Software Description; 3.2.3.1 Ship Computer; 3.2.3.2 SOTAB-I Computer; 3.2.3.3 Acoustic Communication; 3.3 SOTAB-I Guidance and Control; 3.3.1 General Description; 3.3.1.1 Operating Modes; 3.3.1.2 Operating Zones; 3.3.1.3 Control Priorities; 3.3.2 Equations of Motion; 3.3.3 Depth Control; 3.3.3.1 PID Depth Control

3.3.3.2 Depth Control with Time Estimation3.3.3.3 Progressive Depth Control; 3.3.3.4 Heading Control; 3.3.4 Experimental Result; 3.3.4.1 Field Test in Toyama Bay on the 28th of November 2014; 3.3.4.2 Field Test in Toyama Bay on the 20th of March 2015; 3.3.4.3 Field Test in Toyama Bay on the 11th of June 2015; 3.3.4.4 Towing Tank Test at Osaka University on the 26th of August 2015; 3.3.4.5 Field Test off Joetsu, Niigata, on the 3rd of September 2015; 3.3.5 Simulation; 3.3.5.1 Depth Control; 3.3.5.2 Heading Control; 3.3.5.3 Simulation of Path Planning; 3.4 Water Surveying

3.4.1 Sensors Configuration and Calculation Process3.4.1.1 CTD Data; 3.4.1.2 Water Current Measurements; 3.4.1.3 Dissolution of Substances; 3.4.2 Vertical Water Column Survey in the Gulf of Mexico; 3.4.2.1 Temperature, Salinity, and Density; 3.4.2.2 Water Currents; 3.4.2.3 Dissolution of Substances; 3.4.3 Vertical Water Column Survey in Komatsushima; 3.4.3.1 Vertical Distributions of Temperature, Salinity, and Density; 3.4.3.2 Comparison of Vertical Water Currents Profile; 3.4.4 Vertical Water Column Survey in Toyama Bay; 3.4.4.1 Temperature, Salinity, and Density

3.4.4.2 Vertical Profile of Water Currents3.5 Conclusions; Appendix; References; 4 Development of a Robotic Floating Buoy for Autonomously Tracking Oil Slicks Drifting on the Sea Surface (SOTAB-II): Experimental Results; 4.1 Introduction; 4.2 SOTAB-II; 4.2.1 Mechanical Design; 4.2.1.1 Hull Design; 4.2.1.2 Mainsail and Jib Sail; 4.2.1.3 Keel Design; 4.2.1.4 Brake Board; 4.2.1.5 Rudder; 4.3 Hardware Description; 4.3.1 Power Supply; 4.3.2 Onboard Computer; 4.3.3 Actuators; 4.3.4 Sensors; 4.3.4.1 Guidance and Navigational Sensors; 4.3.4.2 Oceanographic Sensors; 4.3.5 Communication