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63-552: Established in 1930 in Woods Hole, Massachusetts , it is the largest independent oceanographic research institution in the U.S., with staff and students numbering about 1,000. The institution is organized into six departments, the Cooperative Institute for Climate and Ocean Research, and a marine policy center. Its shore-based facilities are located in the village of Woods Hole , Massachusetts , United States and

126-489: A strait named Woods Hole , which separates Cape Cod from the Elizabeth Islands (specifically, Uncatena Island and Nonamesset Island ) and which boats, yachts, and small ferries can use to travel between Vineyard Sound and Buzzards Bay . The strait is known for its extremely strong current, approaching four knots . It is one of four straits allowing maritime passage between Buzzards Bay and Vineyard Sound;

189-449: A 21-inch-diameter (530 mm) AUV can tow a 400-foot-long (120 m) hydrophone array while maintaining a 6-knot (11 km/h) cruising speed. Radio waves cannot penetrate water very far, so as soon as an AUV dives it loses its GPS signal. Therefore, a standard way for AUVs to navigate underwater is through dead reckoning . Navigation can, however, be improved by using an underwater acoustic positioning system . When operating within

252-539: A consequence of limited resources and inexperience, hobbyist AUVs can rarely compete with commercial models on operational depth, durability, or sophistication. Finally, these hobby AUVs are usually not oceangoing, being operated most of the time in pools or lake beds. A simple AUV can be constructed from a microcontroller, PVC pressure housing, automatic door lock actuator, syringes , and a DPDT relay. Some participants in competitions create designs that rely on open-source software. Submarines that travel autonomously to

315-500: A destination by means of GPS navigation have been made by illegal drug traffickers. Autonomous underwater vehicles, for example AUV ABYSS , have been used to find wreckage of missing airplanes, e.g. Air France Flight 447 , and the Bluefin-21 AUV was used in the search for Malaysia Airlines Flight 370 . The U.S. Navy Unmanned Undersea Vehicle (UUV) Master Plan identified the following UUV missions in 2004: By 2014,

378-566: A fixed schedule posted on the side of the bridge. Nobska Light , a lighthouse at Nobska Point , is operated by the United States Coast Guard , and the accompanying house is the home of the commander of the Coast Guard base at Little Harbor. The local landmark The Knob is a rocky outcropping that overlooks Buzzards Bay and Quisset Harbor. It is a part of the privately owned Salt Pond bird sanctuaries. According to

441-546: A joint French-American expedition led by Jean-Louis Michel of IFREMER and Robert Ballard of the Woods Hole Oceanographic Institution identified the location of the wreck of RMS  Titanic , which sank off the coast of Newfoundland 15 April 1912. On 3 April 2011, within a week of resuming of the search operation for Air France Flight 447 , a team led by WHOI, operating full ocean depth autonomous underwater vehicles (AUVs) owned by

504-787: A joint program with the Massachusetts Institute of Technology (MIT). WHOI is accredited by the New England Association of Schools and Colleges . WHOI also offers public outreach programs and informal education through its Exhibit Center and summer tours. The institution has a volunteer program and a membership program, WHOI Associate. WHOI shares a library, the MBLWHOI Library, with the Marine Biological Laboratory . The MBLWHOI Library holds print and electronic collections in

567-411: A larger group of undersea systems known as unmanned underwater vehicles , a classification that includes non-autonomous remotely operated underwater vehicles (ROVs) – controlled and powered from the surface by an operator/pilot via an umbilical or using remote control. In military applications an AUV is more often referred to as an unmanned undersea vehicle ( UUV ). Underwater gliders are

630-546: A liquid solution of sodium hydroxide into the ocean 10 miles south of Martha's Vineyard in an attempt to remove 20 metric tons of carbon dioxide from the atmosphere . The Woods Hole Oceanographic Institution develops technology for the United States Navy, including ocean battlespace sensors, unmanned undersea vehicles, and acoustic navigation and communication systems for operations in the Arctic. The institution

693-604: A mile and a half away on the Quissett Campus. The bulk of the institution's funding comes from grants and contracts from the National Science Foundation and other government agencies, augmented by foundations and private donations. WHOI scientists, engineers, and students collaborate to develop theories, test ideas, build seagoing instruments, and collect data in diverse marine environments. Ships operated by WHOI carry research scientists throughout

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756-864: A multi-USV attack on Russian naval vessels at the Sevastopol Naval Base in October 2022 and the Russian naval facilities at Novorossiysk in November 2022, and in August 2023 there were additional attacks on Novorossiysk. The Russian navy adapted both defences and fleet strategy as a result of these attacks, such that, by January 2024, the Ukrainian navy was developing AUVs to increase offensive capability against improved Russian USV defenses. Hundreds of different AUVs have been designed over

819-479: A net of sea floor-deployed baseline transponders, this is known as LBL navigation . When a surface reference such as a support ship is available, ultra-short baseline (USBL) or short-baseline (SBL) positioning is used to calculate where the sub-sea vehicle is relative to the known ( GPS ) position of the surface craft by means of acoustic range and bearing measurements. To improve estimation of its position, and reduce errors in dead reckoning (which grow over time),

882-456: A nozzle or not. All of these parts embedded in the AUV construction are involved in propulsion. Other vehicles use a thruster unit to maintain the modularity. Depending on the need, the thruster may be equipped with a nozzle for propeller collision protection or to reduce noise submission, or it may be equipped with a direct drive thruster to keep the efficiency at the highest level and the noises at

945-602: A partner in J. P. Morgan and Company ; Joseph Lee, a partner in Lee, Higginson & Co. ; and Franklin A. Park, an executive of Singer Sewing Machine . Other notable businessmen established homes on Gansett Point, Nobska Point, and at Quissett Harbor, further from the village center. Irving Langmuir , the scientist, also lived in Woods Hole and died there on August 16, 1957. Before 1898, the Woods Hole Yacht Club

1008-570: A permanent independent research laboratory on the East Coast to "prosecute oceanography in all its branches" led to the founding in 1930 of the Woods Hole Oceanographic Institution. A $ 2.5 million grant from the Rockefeller Foundation supported the summer work of a dozen scientists, construction of a laboratory building and commissioning of a research vessel, the 142-foot (43 m) ketch Atlantis , whose profile still forms

1071-635: A predecessor to the COTSBot to help monitor the Great Barrier Reef and reefs around the world. The RangerBot was developed for single person deployment and offers real-time on-board vision for navigation, obstacle detection, and management tasks. Many roboticists construct AUVs as a hobby. Several competitions exist which allow these homemade AUVs to compete against each other while accomplishing objectives. Like their commercial brethren, these AUVs can be fitted with cameras, lights, or sonar. As

1134-548: A subclass of AUVs. The first AUV was developed at the Applied Physics Laboratory at the University of Washington as early as 1957 by Stan Murphy, Bob Francois and later on, Terry Ewart. The "Self-Propelled Underwater Research Vehicle", or SPURV , was used to study diffusion, acoustic transmission, and submarine wakes. Other early AUVs were developed at the Massachusetts Institute of Technology in

1197-602: Is also working on Project Sundance for the Office of Naval Research. The B. H. Ketchum award, established in 1983, is presented for innovative coastal/nearshore research and is named in honor of oceanographer Bostwick H. "Buck" Ketchum. The award is administered by the WHOI Coastal Ocean Institute and Rinehart Coastal Research Center. Recipients : The Henry Bryant Bigelow Medal in Oceanography

1260-487: Is effectively split into three areas: scientific (including universities and research agencies), commercial offshore (offshore energy, marine minerals etc.) and defence related applications (mine countermeasures, battle space preparation). The majority of these roles utilize a similar design and operate in a cruise (torpedo-type) mode. They collect data while following a preplanned route at speeds between 1 and 4 knots. Commercially available AUVs include various designs, such as

1323-631: Is the Crown-Of-Thorns Starfish Robot ( COTSBot ) created by the Queensland University of Technology (QUT). The COTSBot finds and eradicates crown-of-thorns starfish ( Acanthaster planci ), a species that damages the Great Barrier Reef . It uses a neural network to identify the starfish and injects bile salts to kill it. The Queensland University of Technology has also developed the RangerBot AUV as

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1386-720: The EvoLogics BOSS Manta Ray. AUVs carry sensors to navigate autonomously and map features of the ocean. Typical sensors include compasses , depth sensors, sidescan and other sonars , magnetometers , thermistors and conductivity probes. Some AUVs are outfitted with biological sensors including fluorometers (also known as chlorophyll sensors), turbidity sensors, and sensors to measure pH , and amounts of dissolved oxygen . A demonstration at Monterey Bay , in California, in September 2006, showed that

1449-625: The United States Census Bureau , the Woods Hole CDP has a total area of 3.9 square miles (10.1 km ), of which 2.1 square miles (5.5 km ) is land and 1.8 square miles (4.6 km ) (45.24%) is water. The annual Falmouth Road Race brings thousands of runners to Woods Hole in August each year. The route of the 7-mile (11 km) race starts outside the front door of the Captain Kidd tavern and follows

1512-586: The United States Navy . Some of the targets included the Woods Hole Oceanographic Institution. The attacks had been underway since at least April 2017. In August 2024, institution researchers are scheduled, pending approval from the U.S. Environmental Protection Agency , to conduct a $ 10 million ocean alkalinity enhancement experiment partially funded by the National Oceanic and Atmospheric Administration that will release 6,000 gallons of

1575-738: The Woods Hole Science Aquarium , a USGS coastal and marine geology center, and the home campus of the Sea Education Association . Woods Hole is also the site of United States Coast Guard Sector Southeastern New England (formerly USCG Group Woods Hole), the Nobska Light lighthouse, and the terminus of the Steamship Authority ferry route between Cape Cod and the island of Martha's Vineyard. Historically, Woods Hole included one of

1638-501: The census of 2000, there were 925 people, 459 households, and 212 families residing in the CDP. The population density was 165.3/km (427.9/mi ). There were 942 housing units at an average density of 168.4/km (435.8/mi ). The racial makeup of the CDP was 94.70% White , 1.62% African American , 0.54% Native American , 1.84% Asian , 0.22% from other races , and 1.08% from two or more races. Hispanic or Latino of any race were 0.97% of

1701-638: The 1970s. One of these is on display in the Hart Nautical Gallery in MIT. At the same time, AUVs were also developed in the Soviet Union (although this was not commonly known until much later). This type of underwater vehicles has recently become an attractive alternative for underwater search and exploration since they are cheaper than manned vehicles. Over the past years, there have been abundant attempts to develop underwater vehicles to meet

1764-482: The ANEP-87 JANUS standard for subsea communications. This standard allows for 80 BPS communications links with flexible and extensible message formatting. Alternative communication techniques are being explored, including optical, inductive and RF based techniques, which may be combined in a multi-modal solutions. Evaluations are also being conducted on novel communication techniques which are able to utilize

1827-403: The AUV can also surface and take its own GPS fix. Between position fixes and for precise maneuvering, an Inertial Navigation System on board the AUV calculates through dead reckoning the AUV position, acceleration, and velocity. Estimates can be made using data from an Inertial Measurement Unit , and can be improved by adding a Doppler Velocity Log (DVL), which measures the rate of travel over

1890-552: The Navy Master Plan divided all UUVs into four classes: In 2019, the Navy ordered five Orca UUVs, its first acquisition of unmanned submarines with combat capability. In 2022–23, during the Russian invasion of Ukraine , Ukrainian armed forces made a number of advancements in uncrewed surface vessel (USV) technology using autonomous control architecture, sometimes with mid-mission telerobotic updates. Employed in

1953-581: The Pacific Ocean, the Caribbean, and the coast of South Carolina . After the firm went bankrupt in 1889, Long Neck – the peninsula on which their factory was located – was renamed Penzance Point and was developed with shingle-style summer homes for bankers and lawyers from New York and Boston. Notable property owners on Penzance Point at the beginning of the twentieth century included Seward Prosser of New York's Bankers Trust Company; Francis Bartow,

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2016-600: The RT Sys Comet and NemoSens AUVs; Teledyne's Gavia, Osprey and SeaRaptor; and the L3 Harris Ocean Server Iver range of AUVs. Most AUVs fall into the survey class or cruising AUVs, in a cylindrical or torpedo shape with a powered propeller. This is seen as the best compromise between size, usable volume, hydrodynamic efficiency and ease of handling. There are some vehicles that make use of a modular design, enabling components to be changed easily by

2079-483: The Sciences of Limnology and Oceanography , and several others. Notable scientists include: WHOI operates several research vessels , owned by the United States Navy , the National Science Foundation , or the institution: WHOI formerly operated R/V Knorr , which was replaced by R/V Neil Armstrong in 2015. WHOI operates many small boats used in inland harbors, ponds, rivers, and coastal bays. All are owned by

2142-652: The University of Washington has been creating iterations of its Seaglider AUV platform since the 1950s. Though the Seaglider was originally designed for oceanographic research, in recent years it has seen much interest from organizations such as the U.S. Navy or the oil and gas industry. The fact that these autonomous gliders are relatively inexpensive to manufacture and operate is indicative of most AUV platforms that will see success in myriad applications. An example of an AUV interacting directly with its environment

2205-476: The Waitt Institute discovered, by means of sidescan sonar , a large portion of debris field from flight AF447. In March 2017 the institution effected an open-access policy to make its research publicly accessible online. In 2019, iDefense reported that China's hackers had launched cyberattacks on dozens of academic institutions in an attempt to gain information on technology being developed for

2268-400: The average family size was 2.58. In the CDP, the population was spread out, with 13.5% under the age of 18, 7.1% from 18 to 24, 25.7% from 25 to 44, 26.4% from 45 to 64, and 27.2% who were 65 years of age or older. The median age was 48 years. For every 100 females, there are 94.7 males. For every 100 females age 18 and over, there were 88.7 males. The median income for a household in the CDP

2331-532: The biological, biomedical, ecological, and oceanographic sciences. The library also conducts digitization and informatics projects. On October 1, 2020, Peter B. de Menocal became the institution's eleventh president and director. In 1927, a National Academy of Sciences committee concluded that it was time to "consider the share of the United States of America in a worldwide program of oceanographic research." The committee's recommendation for establishing

2394-439: The challenge of exploration and extraction programs in the oceans. Recently, researchers have focused on the development of AUVs for long-term data collection in oceanography and coastal management. The oil and gas industry uses AUVs to make detailed maps of the seafloor before they start building subsea infrastructure; pipelines and sub sea completions can be installed in the most cost effective manner with minimum disruption to

2457-511: The environment. The AUV allows survey companies to conduct precise surveys of areas where traditional bathymetric surveys would be less effective or too costly. Also, post-lay pipe surveys are now possible, which includes pipeline inspection. The use of AUVs for pipeline inspection and inspection of underwater man-made structures is becoming more common. There also is development of AUVs for potential seabed mining and/or harvesting of polymetallic nodule rocks. Scientists use AUVs to study lakes,

2520-524: The extreme southwestern corner of Cape Cod , near Martha's Vineyard and the Elizabeth Islands . The population was 781 at the 2010 census . It is the site of several marine science institutions, including Woods Hole Oceanographic Institution , the Marine Biological Laboratory , the Woodwell Climate Research Center , NOAA's Northeast Fisheries Science Center (which started the Woods Hole scientific community in 1871),

2583-486: The few good harbors (along with Hyannis ) on the southern side of Cape Cod (i.e. Great Harbor, contained by Penzance Point). The community became a center for whaling, shipping, and fishing, prior to its dominance today by tourism and marine research. At the end of the nineteenth century, Woods Hole was the home of the Pacific Guano Company , which produced fertilizer from guano imported from islands in

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2646-606: The fictional character Matt Hooper. Hooper is described as a marine biologist , focusing on the study of sharks. Coincidentally, a great white shark was spotted some years later near Woods Hole in September 2004. Woods Hole is part of the Falmouth public school district, served by Mullen-Hall Elementary, Morse Pond Middle School, Lawrence Junior High School , and Falmouth High School . Woods Hole students also often attend Upper Cape Cod Regional Technical High School , Sturgis Charter Public School , and Falmouth Academy . As of

2709-402: The infrastructure as a communication path to provide alternative communication paths and opportunities from the vehicles. Most AUVs in use today are powered by rechargeable batteries ( lithium ion , lithium polymer , nickel metal hydride etc.), and are implemented with some form of battery management system . Some vehicles use primary batteries which provide perhaps twice the endurance—at

2772-498: The institution itself. WHOI also has developed numerous underwater autonomous and remotely operated vehicles for research: 41°31′28.26″N 70°40′15.50″W  /  41.5245167°N 70.6709722°W  / 41.5245167; -70.6709722 Woods Hole, Massachusetts Woods Hole is a census-designated place in the town of Falmouth in Barnstable County , Massachusetts , United States. It lies at

2835-486: The institution's logo. WHOI grew substantially to support significant defense-related research during World War II, and later began a steady growth in staff, research fleet, and scientific stature. From 1950 to 1956, the director was Dr. Edward "Iceberg" Smith , an Arctic explorer, oceanographer and retired Coast Guard rear admiral . In 1977 the institution appointed oceanographer John Steele as director, and he served until his retirement in 1989. On 1 September 1985,

2898-416: The lowest level. Advanced AUV thrusters have a redundant shaft sealing system to guarantee a proper seal of the robot even if one of the seals fails during the mission. Underwater gliders do not directly propel themselves. By changing their buoyancy and trim, they repeatedly sink and ascend; airfoil "wings" convert this up-and-down motion to forward motion. The change of buoyancy is typically done through

2961-458: The ocean, and the ocean floor. A variety of sensors can be affixed to AUVs to measure the concentration of various elements or compounds, the absorption or reflection of light, and the presence of microscopic life. Examples include conductivity-temperature-depth sensors (CTDs), fluorometers , and pH sensors. Additionally, AUVs can be configured as tow-vehicles to deliver customized sensor packages to specific locations. The Applied Physics Lab at

3024-491: The operators. Some recent developments move away from the traditional cylindrical shape in favour of other arrangements such as Saab's Sabretooth hybrid R/AUV or the recently launched HUGIN Edge. These either optimise the shape according to the operational requirements (Sabretooth) or to benefit from low drag hydrodynamic performance (HUGIN Edge). The market has matured since 2010 with greater emphasis on data than on vehicle characteristics. Operators are more technically aware and

3087-504: The others are Canapitsit Channel , Quick's Hole and Robinson's Hole . Published yearly is the Eldridge Tide and Pilot Book , which has a detailed reference section showing the complex pattern of tides and currents. Ferries operated by The Woods Hole, Martha's Vineyard and Nantucket Steamship Authority run regularly between Woods Hole and Martha's Vineyard. The present Woods Hole, Martha's Vineyard and Nantucket Steamship Authority

3150-935: The past 50 or so years, but only a few companies sell vehicles in any significant numbers. There are around 10 companies that sell AUVs on the international market, including Kongsberg Maritime , HII (formerly Hydroid, and previously owned by Kongsberg Maritime) ), Bluefin Robotics , Teledyne Gavia (previously known as Hafmynd), International Submarine Engineering (ISE) Ltd, Atlas Elektronik , RTsys, MSubs and OceanScan. Vehicles range in size from man portable lightweight AUVs to large diameter vehicles of over 10 metres length. Large vehicles have advantages in terms of endurance and sensor payload capacity; smaller vehicles benefit significantly from lower logistics (for example: support vessel footprint; launch and recovery systems). Some manufacturers have benefited from domestic government sponsorship including Bluefin and Kongsberg. The market

3213-406: The population. There were 459 households, out of which 14.8% had children under the age of 18 living with them, 39.7% were married couples living together, 5.4% had a female householder with no husband present, and 53.6% were non-families. 40.5% of all households were made up of individuals, and 17.9% had someone living alone who was 65 years of age or older. The average household size was 1.94 and

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3276-423: The sea/lake floor. Typically, a pressure sensor measures the vertical position (vehicle depth), although depth and altitude can also be obtained from DVL measurements. These observations are filtered to determine a final navigation solution. There are a couple of propulsion techniques for AUVs. Some of them use a brushed or brush-less electric motor , gearbox, Lip seal , and a propeller which may be surrounded by

3339-687: The shore of Vineyard Sound through Falmouth to Shipwrecked (historically, the British Beer Company, which closed due to COVID-19), another tavern, in Falmouth Heights. The Woods Hole School is the home of the Children's School of Science. Founded in 1913, this institution (locally known as "CSS" and "Science School") provides science classes for students between seven and 16 years old that focus on scientific investigation by observation. Students regularly visit ecosystems around

3402-665: The small REMUS 100 AUV originally developed by Woods Hole Oceanographic Institution in the US and now produced commercially by HII; the HUGIN Family of AUVs comprising HUGIN, HUGIN Edge, HUGIN Superior and HUGIN Endurance developed by Kongsberg Maritime and Norwegian Defence Research Establishment ; the Bluefin Robotics 12-and-21-inch-diameter (300 and 530 mm) vehicles; the ISE Ltd. Explorer; Cellula Robotics' Solus LR;

3465-631: The surface. Some AUVs have adaptive autonomy, for example the ability to adjust course to avoid obstacles along the planned route. The current state of the art is a vehicle that collects, processes and acts on the data it has acquired without operator input. As of 2008, a new class of AUVs are being developed, which mimic designs found in nature. Although most are currently in their experimental stages, these biomimetic (or bionic ) vehicles are able to achieve higher degrees of efficiency in propulsion and maneuverability by copying successful designs in nature. Two such vehicles are Festo 's AquaJelly (AUV) and

3528-684: The use of a pump that can take in or push out water. The vehicle's pitch can be controlled by moving the center of mass of the vehicle. For Slocum gliders this is done internally by moving the batteries, which are mounted on a screw. Because of their low speed and low-power electronics, the energy required to cycle trim states is far less than for regular AUVs, and gliders can have endurances of months and transoceanic ranges. Since radio waves do not propagate well under water, many AUV's incorporate acoustic modems to enable remote command and control. These modems typically utilize proprietary communications techniques and modulation schemes. In 2017 NATO ratified

3591-448: The utilisation of AUVs has increased commensurately. More operators use their systems autonomously, rather than supervising the vehicles using an acoustic link. Consequently, on-board processing and in-mission autonomy have become more important features for AUVs. Most AUVs have what is considered navigational or event-based autonomy. They will follow a geographic mission plan with distinct events to operate sensors, change course or return to

3654-588: The village to study the organisms in their natural environments, such as the Sippewissett Salt Marsh . The Children's School of Science draws upon the talent brought to the village by the research institutions but also educates the children of both scientists and locals. Some mention of the Woods Hole Oceanographic Institution is made in the 1975 blockbuster film Jaws as having been the center of research for

3717-592: The world's oceans. The WHOI fleet includes two large research vessels ( Atlantis and Neil Armstrong ), the coastal craft Tioga , small research craft such as the dive-operation work boat Echo, the deep-diving human-occupied submersible Alvin , the tethered, remotely operated vehicle Jason/Medea , and autonomous underwater vehicles such as the REMUS and SeaBED . WHOI offers graduate and post-doctoral studies in marine science. There are several fellowship and training programs, and graduate degrees are awarded through

3780-507: Was $ 47,604, and the median income for a family was $ 57,969. Males had a median income of $ 31,964 versus $ 31,875 for females. The per capita income for the CDP was $ 30,752. None of the families and 5.3% of the population were living below the poverty line , including no under 18 and 6.4% of those over 64. Autonomous underwater vehicle An autonomous underwater vehicle ( AUV ) is a robot that travels underwater without requiring continuous input from an operator. AUVs constitute part of

3843-528: Was established in 1960 in honor of the first WHOI Director, biologist Henry Bryant Bigelow . Recipients : Source: Over the years, WHOI scientists have made seminal discoveries about the ocean that have contributed to improving US commerce, health, national security, and quality of life. They have received awards and recognition from scientific societies such as The Oceanography Society , the American Geophysical Union , Association for

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3906-467: Was formed from the New Bedford, Martha's Vineyard, and Nantucket Steamboat Company, which in turn was a consolidation of earlier companies dating to the early 19th century, just before the railroad arrived. Much of Woods Hole centers around the enclosed harbor of Eel Pond. The Eel Pond Bridge, a bascule drawbridge at the mouth of the harbor, allows boats to enter and exit the harbor according to

3969-614: Was formed. In 1899, the Woods Hole Golf course was started. Around 1919, it was expanded to 18 holes. In 1976, The Woods Hole Foundation was created. The eminent Hungarian born biochemist and Nobel prize laureate, Albert Imre Szent-Györgyi de Nagyrápolt died in Woods Hole in 1986. Woods Hole is located at the southwestern tip of the town of Falmouth (and of Cape Cod) at 41°31′36″N 70°39′47″W  /  41.52667°N 70.66306°W  / 41.52667; -70.66306 (41.526730, -70.663184). The term "Woods Hole" refers to

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