This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

Full-Scale Laboratory Drilling Tests on Sandstone and Dolomite, Final Report; December 1977

This project successfully developed methods for numerical modeling of sediment transport phenomena around rigid objects resting on or near the ocean floor. These techniques were validated with physical testing using actual sediment in a large wave tank. These methods can be applied to any nearshore structure, including wave energy devices, surge devices, and hinged flap systems. These techniques can be used to economically iterate on device geometries, lowering the cost to refine designs and reducing time to market. The key takeaway for this project was that the most cost-effective method to reduce sediment transport impact is to avoid it altogether. By elevating device structures lightly off the seabed, sediment particles will flow under and around, ebbing and flowing naturally. This allows sediment scour and accretion to follow natural equalization processes without hydrodynamic acceleration or deceleration effects of artificial structures. This submission includes the final technical report for this DOE project. The objective of this project was to develop a set of analysis tools (hydrodynamics and structural models providing inputs into a sediment model), and use those tools to identify and refine the optimal device geometry for the Delos-Reyes Morrow Pressure Device (DMP), commercialized by M3 Wave LLC as "APEX."

Software developed in LabVIEW for the Modular Ocean Instrumentation System (MOIS) is provided. Two documents: MOIS User's Guide and MOIS Software Developer's Guide are included in the submission.

This is metadata documentation for the Region 7 Laboratory Information Management System (R7LIMS) which maintains records for the Regional Laboratory. Any Laboratory analytical work performed is stored in this system which replaces LIMS-Lite, and before that LAST. The EPA and its contractors may use this database. The Office of Policy & Management (PLMG) Division at EPA Region 7 is the primary managing entity; contractors can access this database but it is not accessible to the public.

Submission includes data from laboratory slide-hold-slide tests, combined with flow through tests, conducted on Westerly granite with 30 degree sawcut. Tests were conducted with a constant confining pressure of 30 MPa with an average pore pressure of 10 MPa at temperatures of 23 and 200 degC. Three fluid flow conditions were examined (1) no flow, (2) cycled flow, and (3) continuous flow. Data were collected to asses the effect of temperature and pore fluid on frictional healing rates in granite at geothermal conditions. Data is available in XML and JSON data types.

This archive includes data from the University of Washington WASIRF (Washington Air-Sea Interaction Research Facility) flume. WASIRF is a laboratory testing tank at the Northwest National Marine Renewable Energy Center designed to investigate wind-wave-current interactions. It includes test data for simultaneous waves and current generation done at the WASIRF lab. A report included in the archive further details testing methodology. Wave and current data is provided in .dat files.