"Frontmatter"

The Ocean Engineering Handbook

Ed. Ferial El-Hawary
Boca Raton, CRC Press LLC. 2001

2001 by CRC Press LLC

The Ocean Engineering Handbook

Edited by Ferial El-Hawary

2001 by CRC Press LLC

Library of Congress Cataloging-in-Publication Data

The ocean engineering handbook / edited by Ferial El-Hawary.
p. cm. (The electrical engineering handbook series)
Includes bibliographical references and index.
ISBN 0-8493-8598-9 (alk. paper)
1.Marine engineeringHandbooks, manuals, etc. 2. Ocean engineeringHandbooks,
manuals, etc. I. El-Hawary, Ferial. II. Series.
VM605.O24 2000
6204162dc21

00-060880

This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with
permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish
reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials
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2001 by CRC Press LLC

No claim to original U.S. Government works
International Standard Book Number 0-8493-8598-9
Library of Congress Card Number 00-060880
Printed in the United States of America 1 2 3 4 5 6 7 8 9 0
Printed on acid-free paper

The Electrical Engineering

Handbook Series

Series Editor

Richard C. Dorf
University of California, Davis

Titles Included in the Series

The Avionics Handbook, Cary R. Spitzer
The Biomedical Engineering Handbook, 2nd Edition, Joseph D. Bronzino
The Circuits and Filters Handbook, Wai-Kai Chen
The Communications Handbook, Jerry D. Gibson
The Control Handbook, William S. Levine
The Digital Signal Processing Handbook, Vijay K. Madisetti & Douglas Williams
The Electrical Engineering Handbook, 2nd Edition, Richard C. Dorf
The Electric Power Engineering Handbook, L. L. Grigsby
The Electronics Handbook, Jerry C. Whitaker
The Engineering Handbook, Richard C. Dorf
The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas
The Industrial Electronics Handbook, J. David Irwin
Measurements, Instrumentation, and Sensors Handbook, John Webster
The Mechanical Systems Design Handbook, Osita D.I. Nwokah
The Microwave Engineering Handbook, J. Michael Golio
The Mobile Communications Handbook, 2nd Edition, Jerry D. Gibson
The Ocean Engineering Handbook, Ferial El-Hawary
The Technology Management Handbook, Richard C. Dorf
The Transforms and Applications Handbook, 2nd Edition, Alexander D. Poularikas
The VLSI Handbook, Wai-Kai Chen
The Electromagnetics Handbook, Aziz Inan and Umran Inan
The Mechatronics Handbook, Robert Bishop

2001 by CRC Press LLC

Dedication

Dedicated To My Family For Our Love of The Oceans

2001 by CRC Press LLC

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.

2001 by CRC Press LLC

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).

2001 by CRC Press LLC

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

Naval Research Laboratory

Washington, D.C.

Memorial University of
Newfoundland
St. Johns, Newfoundland, Canada

P. J. Craven

Donna M. Kocak

Asgeir J. Srensen

Racal Research Limited

Reading, United Kingdom

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

eMerge Interactive, Inc.

Sebastian, Florida
Harbor Branch Oceanographic
Institution
Fort Pierce, Florida

Siegfried Krueger
Baltic Sea Research Institute
Rostock-Warnemuende, Germany

Hisaaki Maeda
University of Tokyo
Tokyo, Japan

Dario Matika
University of Zagreb
Zagreb, Croatia

The Norwegian University of Science

and Technology
Trondheim, Norway

Jann Peter Strand

ABB Industri AS
Oslo, Norway

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

Florida Institute of Technology

Melbourne, Florida

Albert J. Williams 3rd

Barry G. Grossman

Mirko Orlic

Florida Institute of Technology

Melbourne, Florida
2001 by CRC Press LLC

University of Zagreb
Zagreb, Croatia

Woods Hole Oceanographic

Institution
Woods Hole, Massachusetts

Contents

Marine Hydrodynamics and Vehicle Control

1.1
1.2
1.3
1.4

Modeling Considerations
2.1
2.2
2.3
2.4

Marine Hydrodynamics and Dynamics of a Floating Structure Hisaaki Maeda

Mathematical Modeling of Ocean Waves Matiur Rahman .
Systems Approaches to Heave Compensation in Marine Dynamic Applications
Ferial El-Hawary
Approaches to Marine Seismic Extraction Ferial El-Hawary .

Position Control Systems for Offshore Vessels

3.1
3.2
3.3
3.4
3.5
3.6

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

Marine Positioning Systems Jann Peter Strand and Asgeir J. Srensen

Mathematical Modeling of Dynamically Positioned and Thruster-Assisted Anchored
Marine Vessels Asgeir J. Srensen and Marit Ronss
Position and Velocity Observer Design Thor I. Fossen and Jann Peter Strand
Design of Controllers for Positioning of Marine Vessels
Asgeir J. Srensen, Thor I. Fossen, and Jann Peter Strand
Weather Optimal Positioning Control Thor I. Fossen and Jann Peter Strand
Methods for Thrust Control Asgeir J. Srensen

Computational Intelligence in Ocean Engineering

4.1
4.2
4.3

A Multivariable Online Intelligent Autopilot Design Study

R. S. Burns, R. Sutton, and P. J. Craven
An Approach to Multi-Robot Cooperation under Human Supervision
R. Gosine, M. Rokonuzzaman, R. Hale, F. Hwang, J. King, and J. Seshadri
Computer Vision in Ocean Engineering Donna M. Kocak and Frank M. Caimi

2001 by CRC Press LLC

Fiber Optics in Oceanographic Applications

5.1
5.2
5.3
5.4

Overview of Fiber Optics in Oceanographic Applications Frank M. Caimi

Basics of Fiber Optic Strain Sensors Barry G. Grossman and Syed H. Murshid
Fiber Optic Acoustic Sensors Tony Dandridge and Clay Kirkendall
Fiber Optic Telemetry in Ocean Cable Systems George Wilkins .

Current Measurement Technology

6.1

Current Measurement Technology Albert J. Williams 3rd

2001 by CRC Press LLC