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    <title>Transport Research International Documentation (TRID)</title>
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    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
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    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
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      <title>Transport Research International Documentation (TRID)</title>
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      <title>General Mathematical Model of Autonomous Underwater Object Motion</title>
      <link>https://trid.trb.org/View/898915</link>
      <description><![CDATA[There was consideration of an autonomous moving underwater object in this paper. Computers using complex control algorithms are used to control underwater autonomous moving objects, which are very complex. The control of such dynamic objects is very demanding, especially in regard to environmental conditions, such as water waves and currents. Using this as a basis, there was identification of all hydrodynamic forces and related torques acting on the moving object. Definition of coordinate systems was used to unambiguously determine object position in any time instance. Using known relationships between hydrodynamics and system energetic balances, self mobile underwater object and water, as a basis, the general underwater object dynamics mathematical model is reached. Preparation of this definition of the general mathematical model is performed to create an object control computer algorithm.]]></description>
      <pubDate>Mon, 31 Aug 2009 09:27:24 GMT</pubDate>
      <guid>https://trid.trb.org/View/898915</guid>
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      <title>REPORT OF FINDINGS: LAKE SUPERIOR CLASSIFIED BARREL DISPOSAL SITE. DEFENSE ENVIRONMENTAL RESTORATION PROGRAM FOR FORMERLY USED DEFENSE SITES. PROJECT NO. E05MN025501; REPT. FOR 10 OCT-26 NOV 90</title>
      <link>https://trid.trb.org/View/406121</link>
      <description><![CDATA[This report contains findings of underwater surveys and barrel recovery operations conducted in Lake Superior by the U.S. Army Corps of Engineers, St. Paul District in 1990. Twenty-four square miles of lake bottom were electronically surveyed, resulting in the verified location of approximately 105 barrels believed to be classified scrap produced between 1959-1962 by Minneapolis -Honeywell Inc. Two barrels were recovered from a depth of 170 feet, and opened by personnel wearing protective safety equipment. The contents were confirmed by Honeywell personnel to be safety and arming devices for a BLU-3 or BLU-4 anti-personnel grenade/mines. The material had been declassified prior to the initiation of a previous search in 1977. After their discovery, 25 barrels were monitored using an underwater gamma probe. Radiologic data collected in the proximity of the barrels did not indicate any health or safety risks in the area monitored.]]></description>
      <pubDate>Mon, 03 Oct 1994 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/406121</guid>
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      <title>UNDERWATER TOWED BODY STABILIZING DEVICE; PATENT</title>
      <link>https://trid.trb.org/View/406200</link>
      <description><![CDATA[This patent discloses a stabilizing device for an underwater towed body which includes a vertically movable keel inside the towed body using an electric motor. Major part of the imbalanced torque of the tow cable provides rotation of the towed body. A final correction of the rolling motion of the towed body is accomplished by moving a keel weight housed inside the towed body. The extension of keel weight is controlled by the power applied to the electric motor which is controlled from the surface ship. A sensor sends rolling motion information to the surface ship via the tow cable. (JHD)]]></description>
      <pubDate>Mon, 03 Oct 1994 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/406200</guid>
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      <title>A FORTRAN IV PROGRAM FOR COMPUTING THE STATIC DEFLECTIONS OF STRUCTURAL CABLE</title>
      <link>https://trid.trb.org/View/14074</link>
      <description><![CDATA[DESADE is a Fortran 4 program for computing the current-induced static deflections of Structural Cable Arrays. As dimensioned, the program can handle arbitrarily configured arrays of up to 22 cables. The cables can be electromechanical wire rope, or synthetic. Any number of discrete devices (buoyancy elements, current meters, tensiometers, etc.) can be incorporated in the array. An option for parametric studies is included in the program, as is an option for incorporating arbitrary current fields. As written, DESADE should compile on most Fortran 4 compilers with Boolean algebra capabilities. (Author) Portions of this report are not fully legible.]]></description>
      <pubDate>Mon, 25 Mar 1974 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/14074</guid>
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      <title>PULL DOWN RETRIEVER FOR OCEAN BOTTOM RECOVERY</title>
      <link>https://trid.trb.org/View/13943</link>
      <description><![CDATA[A simple, light-weight, trouble-free device, the Pull Down Retriever, was designed for the recovery of submersibles and other objects from the ocean floor. A guide line, released from the object to be recovered, is brought to the surface by a float. A lift cable is attached to a latching block, the other end being on a winch aboard a ship. The latching block rides down the guide line, as the line and cable are pulled in opposite directions by two vessels. The downward force is great enough to pull the latching block down to the bottom and to effect latching on to a receiver attached to the object to be recovered. The line and cable do not have to be positioned precisely. The Retriever functioned well during simulated recovery tests in shallow water. Proof testing remains to be done in deep water at sea. (Author)]]></description>
      <pubDate>Thu, 28 Feb 1974 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/13943</guid>
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    <item>
      <title>OPTIMAL DESIGN OF SUBMERGED ELASTIC CYLINDRICAL SHELLS</title>
      <link>https://trid.trb.org/View/14051</link>
      <description><![CDATA[The report deals with the problem of optimal design of submerged elastic cylindrical shells for maximum pressure. Approximate solution is obtained by the Rayleigh-Ritz method within the extent of presumed form of distribution function of shell thickness. Optimal configuration of the shell is found for a wide range the length-radius-ratio of the shell. (Author)]]></description>
      <pubDate>Thu, 28 Feb 1974 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/14051</guid>
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    <item>
      <title>WAVES AND WAVE RESISTANCE OF THIN BODIES MOVING AT LOW SPEED: NONLINEAR FREE-SURFACE EFFECTS</title>
      <link>https://trid.trb.org/View/10647</link>
      <description><![CDATA[Criteria of uniformity of the linearized theory of free-surface gravity flow past submerged or floating bodies based on the thin body perturbation expansion, combining the slenderness parameter, and F, the Froude number, are derived for both two- and three-dimensional flows.  These criteria depend on the shape of the leading and trailing edges; as the shape becomes finer the linearized solution becomes valid for smaller F.  Uniform first order approximations are derived by two alternative methods:  velocity straining and coordinate straining.  The nonuniformity of the usual thin body expansion is found to be similar to that encountered in problems characterized by multiple scales.  (Modified author abstract)]]></description>
      <pubDate>Thu, 31 Jan 1974 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/10647</guid>
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      <title>ON THE WAVE RESISTANCE OF A SUBMERGED SPHEROID</title>
      <link>https://trid.trb.org/View/10108</link>
      <description><![CDATA[A solution to the problem of potential flow about a submerged prolate spheroid in axial horizontal motion beneath a free surface has been derived within the theory of infinitesimal waves, satisfying exactly the body boundary condition, and the wave resistance of the spheroid has been evaluated.  The solution is in the form of a distribution of sources on the surface of the spheroid; the analysis yields an infinite set of equations for determining the coefficients of the expansion of the potential of the distribution in spheroidal harmonics. The difference between the present results for the wave resistance and those given by Havelock's approximation is found to be rather significant.  Comparison with experimental wave resistance measurements obtained using the wake-survey technique shows agreement for Froude numbers between 0.35 and 0.40. (Author)]]></description>
      <pubDate>Wed, 14 Nov 1973 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/10108</guid>
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