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Publications

Nereus Science and Engineering Papers

1. Jonathan Fildes, Robot Sub Aims for Deepest Ocean. BBC News, 6 May 2009.

2. Michael V. Jakuba, Louis L. Whitcomb, Dana R. Yoerger, and Andrew D. Bowen. Toward Under-Ice Operations with Hybrid Underwater Robotic Vehicles. In Proceedings of the 2008 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV08), October 14, 2008.

3. Andrew D. Bowen, Dana R. Yoerger, Chris Taylor, Robert McCabe, Jonathan Howland, Daniel Gomez-Ibanez, James C. Kinsey, Matthew Heintz, Glenn McDonald, Donald B. Peters, Barbara Fletcher, Chris Young, James Buescher, Louis L. Whitcomb, Stephen C. Martin, Sarah E. Webster, Michael V. Jakuba. The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 17, 2008.

4. Barbara Fletcher, Chris Young, James Buescher, Louis L. Whitcomb, Andrew Bowen, Robert McCabe, Dana R. Yoerger. Proof of Concept Demonstration of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Tether System. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 17, 2008.

5. Louis L. Whitcomb, Michael V. Jakuba, James C. Kinsey, Stephen C. Martin, Sarah E. Webster, Jonathan C. Howland, Chris L. Taylor, Daniel Gomez-Ibanez, and Dana R. Yoerger.  Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 11,000m Depth: Preliminary Results. In Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems, Yale University, June 4, 2008

6. Stephen C. Martin and Louis L. Whitcomb. Preliminary Results in Experimental Identification of 3-DOF Coupled Dynamical Plant for Underwater Vehicles. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 16, 2008.

7. Mark A. Grosenbaugh, Brian Bingham, Louis L. Whitcomb, and Jason I. Gobat. Numerical Simulation of the Deployment of a Hybrid ROV Optical Fiber Tether. In Proceedings of the 26th International Conference on Offshore Mechanics and Arctic Engineering: OMAE2007. San Diego, June 12, 2007.

8. M.V. Jakuba, D.R. Yoerger, L.L. Whitcomb. Longitudinal Control Design and Performance Evaluation for the Nereus 11,000 m Underwater Vehicle. In Proceedings of IEEE/MTS Oceans 2007, Vancouver, pp.1-10, Sept. 30, 2007  

9. Vicki L. Ferrini, D. J. Fornari, T. M. Shank, J. C. Kinsey*, M. A. Tivey, S. A. Soule, S. M. Carbotte, L. L. Whitcomb, D. Yoerger, and J. Howland, Sub-Meter Bathymetric Mapping of Volcanic and Hydrothermal Features on the East Pacific Rise Crest at 9° 50' N. Geochemistry, Geophysics, & Geosystems, 8, Q01006, doi:10.1029/2006GC001333, January 2007.

10. James C. Kinsey and Louis L. Whitcomb. Adaptive Identification on the Group of Rigid Body Rotations and its Application to Precision Underwater Robot Navigation. IEEE Transactions on Robotics, 23(1):124-136, January 2007,  doi:10.1109/TRO.2006.886829.

11. James C. Kinsey and Louis L. Whitcomb. In-situ Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment. IEEE Journal of Oceanic Engineering, 32(2):286-299, April 2007, doi:10.1109/JOE.2007.893686.

12. James C Kinsey, Ryan M. Eustice, and Louis L. Whitcomb, Underwater Vehicle Navigation: Recent Advances and New Challenges. In Proceedings of the IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, Sept. 2006.

13. Stephen C. Martin, Louis L. Whitcomb, Dana Yoerger, and Hanumant Singh. Mission Controller for High Level Control of Autonomous and Semi-Autonomous Vehicle Operation. In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.

14. C. Young, B. Fletcher, J. Buescher, L.L. Whitcomb, D. Yoerger, A. Bowen, R. Mccabe, M. Heintz, R. Fuhrmann, C. Taylor, and, R. Elder. Field Tests of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Optic Tether. In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.

15. Howland, N. Farr, S. Singh, “Field Tests of a New Camera/Led Strobe System,”  In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.

16. Barbara Fletcher, Chris Young, Louis L. Whitcomb, Andy Bowen,  Dana Yoerger,  Mark Grosenbaugh, and Brian Bingham.  The Hybrid Remotely Operated Vehicle (HROV): New Challenges and Opportunities.  In Proceedings of Underwater Intervention 2005, New Orleans, February 2005.  

17. S. Weston, J. Stachiw, R. Merewether, M. Olsson, and G. Jemmott.  “Alumina Ceramic 3.6 in Flotation Spheres for 11 KM ROV/AUV Systems.” OCEANS 2005: In Proceedings of MTS/IEEE. (1):172-177, September 2005.  

18. R. Cooke. Back to the Bottom.  NATURE 437 (7059):612-613, September 29, 2005.    

19. Andrew D. Bowen, Dana R. Yoerger, Louis L. Whitcomb, Daniel J. Fornari. Exploring the Deepest Depths: Preliminary Design of a  Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments. Journal of the Marine Technology Society. 38(2) :92-101, Summer 2004. 

20. S.E. Webster and A. D. Bowen. Feasibility Analysis of an 11,000 m Vehicle with a Fiber Optic Microcable Link to the Surface. IEEE/MTS OCEANS 2003, pp 2469-2474.  

21. Louis L. Whitcomb, Jonathan C. Howland, David A. Smallwood, Dana R. Yoerger, and Tim E. Thiel. A New Control System for the Next Generation of US and UK Deep Submergence Oceanographic ROVs. In Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03, Pages 137-142, April 9-11, 2003, Newport, South Wales, UK.   

22. James C. Kinsey and Louis L. Whitcomb. Preliminary Field Experience with the DVLNAV Integrated Navigation System for Manned and Unmanned Submersibles. In Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03, Pages 83-88, April 9-11, 2003, Newport, South Wales, UK. Awarded IMarEST Prize for Best Paper by an Author Under 30 to first author James C. Kinsey.

23. Andrew Bowen, Louis L. Whitcomb, and Dana R. Yoerger.  Hybrid Robotic Vehicle for Operations at 11,000 Meters: Project Progress to Date. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 85(47) Abstract B13A-016, San Francisco, December 2004. 

24. Vicki Ferrini, D. Fornari, T. Shank, M. Tivey, D. S. Kelley, D. Glickson, S. M. Carbotte, J. Howland, L. L. Whitcomb, and D. Yoerger. Very High Resolution Bathymetric Mapping at the Ridge 2000 Integrated Study Sites: Acquisition and Processing Protocols Developed During Recent Alvin Field Programs to the East Pacific Rise and Juan de Fuca Ridge.  In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 85(47) Abstract B13A-016, San Francisco, December 2004.

25. Stevhen Ashley. Down to the Deep: Crossbreeding to make Exploring the Abyss Routine. Scientific American, December, 2003.

26. Louis L. Whitcomb, James C. Kinsey, Dana R. Yoerger,  Chris L. Taylor, Andrew D. Bowen, Barrie B. Walden, and Daniel J. Fornari. Navigation Upgrades to the National Deep Submergence Facility Vehicles D.S.V. Alvin, Jason 2, and the DSL-120A. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting Supplement, 84(46) Abstract OS32A-0225, San Francisco, December 2003.

27. Andrew D. Bowen, Dana R. Yoerger, and Louis L. Whitcomb. Hybrid ROV (HROV) For 11,000 Meter Operations. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting, 84(46) Abstract OS32A-0228, San Francisco, December 2003.

28. Robert Elder, Andrew D. Bowen, Matthew Heintz, Matthew Naiman, Christopher Taylor, William Sellers, Jonathan C. Howland, and Louis L. Whitcomb. Jason 2: A Review of Capabilities. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting Supplement, 84(46) Abstract OS32A-0226, San Francisco, December 2003.


Nereus Technical Reports
[1]   C. Machado. Design Considerations for the 11 km Hybrid Remotely Operated Vehicle (HROV) Woods Hole Oceanographic Institution's Newest Vehicle. Paper and Presentation for SNAME Student Paper Night 2/8/2007.

[2]   J.D. Stachiw, D. Peters, and G. McDonald. “External Pressure Housings” OCEANS 2006

[3]   J.D  Stachiw. “Completion of Ceramic Cylinder Fabrication Phase of 11 KM HROV Project” Technical Report, February 2006.

Nereus in the News

Meet the creatures that live beyond the abyss

Meet the creatures that live beyond the abyss

From BBC News, Published on January 22, 2010

June 4, 2009

Nereus Soars to the Ocean's Deepest Trench

New hybrid deep-sea vehicle descends 6.8 miles in the Challenger Deep
Source: Oceanus Magazine
June 2, 2009

Hybrid Remotely Operated Vehicle Nereus Reaches Deepest Part of the Ocean

Nereus is first vehicle to enable routine scientific investigation to the deepest ocean depths worldwide
Source: Media Relations
HROV named Nereus
June 26, 2006

New Hybrid Deep-sea Vehicle Is Christened Nereus

Unique underwater vehicle is named in nationwide student contest
Source: Oceanus Magazine
Realizing the Dreams  of da Vinci and Verne
August 27, 2004

Realizing the Dreams of da Vinci and Verne

A diverse fleet of innovative deep-submergence vehicles heralds a new era of ocean exploration
Source: Oceanus Magazine

Robot sub aims for deepest ocean

From BBC News, Published on May 6, 2009

Science in Depth--Mini Subs Unlock Mysteries Deep Below the Ocean's Surface

From Scientific American, Published April 8, 2009

Down to the Deep

Crossbreeding to make exploring the abyss routine
Published in Scientific American, December 2003

Challenging the Deep

Published by Miller, a leading manufacturer of arc welding and cutting equipment.