Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

Characterization of Estuarine Marine Clays for Coastal Reclamation in Pusan, Korea

Large scale reclamation works in coastal areas of the Nakdong River plain are at various stages of progress, since early 1990's on in-situ soft marine clay deposits. These deposits are of the order of 30 to 40 m thick. A realistic rapid characterization of soft ground would ensure success of any reclamation work in this area. In order to cope with the work carried out with different agencies, it is desirable to evolve a systematic methodology. In this study, engineering properties of clays at three coastal areas, Gadukdo, Noksan and Shinho, have been generated. The analysis of data has been done within the framework of classical developments in soil mechanics. Analysis has also been made by making use of the recent developments in dealing with soft clays. The dominant factors, namely, stress, time, and environment influencing the response of clay to loading are identified.     

Atmospheric forcing of the southeast Bering Sea Shelf during 1995–99 in the context of a 40-year historical record

The atmospheric forcing of the Bering Sea over its eastern shelf is estimated using the 40-year record of daily data from the NCEP/NCAR Reanalysis. This data set includes estimates of the processes responsible for the atmospheric forcing, namely the surface fluxes of momentum, sensible and latent heat, and longwave and shortwave radiation, and therefore permits quantifying effects that previously could be inferred only from the large-scale nature of the flow. The forcing in 1995–1999 is described in detail using daily time series; historical context for these results is provided with seasonal averages for the years 1959–1999.The analysis for winter concentrates on aspects related to the formation and advection of sea ice. Results indicate that the presence of sea ice is strongly related to the net surface-heat fluxes as well as the cross-shelf component of the wind. The 40-year record lacks any discernible long-term trend in the winter forcing and response. There was a notably cold period in the early to middle 1970s, and a warm period from the late 1970s into the early 1980s, but conditions during the 1990s are similar to those in the late 1950s and 1960s.The analysis for the warm season focuses on the mechanisms responsible for the variability in SST warming. Much of the intraseasonal and interannual variability in this warming can be attributed to variations in the downward shortwave radiation (solar heating). The 40-year record does indicate a long-term trend toward increased solar heating, and reduced surface latent-heat fluxes (evaporative cooling). These changes have led to August SSTs in the 1990s that are roughly 1°C warmer than in the 1960s.     

Modern sediment supply to the lower delta plain of the Ganges-Brahmaputra River in Bangladesh

Vibracores and auger samples collected from the lower (tidal) delta plain of the Ganges-Brahmaputra River in Bangladesh were examined to determine whether the area is a significant sink for riverine sediments. Measurements of ¹³⁷Cs activity and radiocarbon in the sediments indicate sediment accumulation is taking place on decadal and millennial time scales at rates reaching 1.1 cm/year. The sediment of the lower delta plain is primarily derived from an offshore source after having originally been supplied by the Ganges-Brahmaputra river system, carried westward by prevailing currents and advected inland by monsoonal coastal setup and cyclonic events.     

A New Methodology for Incorporating Tide Gauge Data in Sea Surface Topography Models

As part of the Vertical Offshore Reference Frames (VORF) project sponsored by the U. K. Hydrographic Office, a new model for Sea Surface Topography (SST) around the British Isles has been developed. For offshore areas (greater than 30 km from the coast), this model is largely derived from satellite altimetry. However, its accuracy and level of detail have been enhanced in coastal areas by the inclusion of not only the 60 PSMSL tide gauges with long-term records around the coasts of the United Kingdom and Ireland but also some 385 gauges established at different epochs and for different observation spans by the U. K. Admiralty. All tide gauge data were brought into a common reference frame by a combination of datum models and direct GPS observations, but a more significant challenge was to bring all short-term sea level observations to an unbiased value at a common epoch. This was achieved through developing a spatial-temporal correlation model for the variations in mean sea level around the British Isles, which in turn meant that gauges with long-term observation spans could be used as control points to improve the accuracy of Admiralty gauges. It is demonstrated that the latter can contribute point observations of mean sea level (MSL) with a precision of 0.078 m. A combination of least squares collocation and interpolation was developed to merge the coastal point and offshore gridded data sets, with particular algorithms having to be developed for different configurations of coastal topology. The resulting model of sea surface topography is shown to present a smooth transition from inshore coastal areas to offshore zones. Further benefits of the techniques developed include an enhanced methodology for detecting datum discontinuities at permanent tide gauges.