Fast trend extraction and identification of spikes in bathymetric data Bjørke, J. T. and Nilsen, S. (2009). Computers & Geosciences 35(6): 1061-1071.
Modern shallow-water multi-beam echosounders (MBES) are capable of measuring in excess of 30 million data points per hour. The collection rate for deeper waters is maybe two orders of magnitude lower, but even in this case data cleaning is a formidable task. Manual identification of errors, in particular outliers, can in fact become the most time-consuming part of a survey. In response to this ever-increasing data volume, researchers and practitioners have started to look for automatic methods for data quality assessment and editing, and various methods have been published.
This paper presents a new and fast method for finding trends and identifying spikes in MBES data, based on an algorithm that exploits spatial correlations between data points. One of the requirements of the algorithm is that it should be fast enough to be suitable for real-time use. A one-dimensional example shows how the algorithm behaves in the presence of spikes, burst noise and random measurement errors.

Acquisition and processing of backscatter data for habitat mapping – comparison of multi-beam and side-scan systems Le Bas, T. P. and Huvenne, V.A.I. (2009). Applied Acoustics. The Application of Underwater Acoustics for Seabed Habitat Mapping 70(10): 1248-1257.
Marine habitat surveys often use multi-beam bathymetry systems to model the sea floor. This describes the morphology but not the terrain lithology or substrate. Backscatter imagery helps the interpreter to better classify the physical environment that may support a particular biological community.
This paper shows the value of acoustic backscatter imagery for habitat mapping. Comparison is made between multi-beam backscatter data and side-scan sonar imagery, and their relative strengths and weaknesses are shown, during acquisition and data processing. The comparison shows how backscatter maps have indisputable value for the prediction of habitats and allow subsequent targeting by even higher resolution sampling techniques. Once sufficient ground-truth data are available, the backscatter maps can be used to extrapolate the habitat classification to give much greater coverage.


Design and implementation of time-efficient trajectories for autonomous underwater vehicles Chyba, M., Haberkorn, T., Smith, R.N. and Choi, S.K. (2008). Ocean Engineering 35(1): 63-76.
Underwater vehicles have been designed to perform a multitude of tasks and play many roles. From side-scan sonar to water sampling, their use in ocean research has gone from occasional to necessity. Whether they are tethered, towed or autonomous, torpedoes, gliders or robot fish, we must develop control strategies that govern their motions.
This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For this, an algorithm has been developed. The implementability and efficiency of the designed trajectories has been tested successfully in many experiments. This capability of implementation allows the authors to stretch geometric control theory to its maximum potential for underwater applications and many other non-linear mechanical control systems.