Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

Susceptibility to genetic damage and cell types in Mediterranean mussels

Micronucleus (MN) frequency is generally accepted as a marker of chromosomal damage and has been studied in a variety of cells and species. In previous work, we detected significant dose-related MN increases in the epithelial-like gill cells and agranular haemocytes of Mytilus galloprovincialis treated with benzo[a]pyrene, a well-known mutagenic pollutant. In addition, we have studied micronuclei and other nuclear abnormalities in mussels collected from the Venice lagoon (Italy). Frequency changes, possibly related to genotoxic/toxic stress, in both granular and micronucleated cells from gills and haemolymph, were detected. Environmental data suggest the effect of genotoxic pollutants and the importance of cell replication in the interpretation of micronucleus frequencies.     

Evaluation of long-term extreme response statistics of jack-up platforms

This paper is concerned with the models appropriate for the dynamic assessment of jack-ups, concentrating particularly on the long-term response due to random ocean waves and on work-hardening plasticity models used for spud-can response. A methodology for scaling of short-term statistics, calculated using a Constrained NewWave technique, is shown in a numerical experiment for an example jack-up and central North Sea location. The difference in long-term extreme response statistics due to various footing assumptions is emphasised. Results for two environmental load conditions are described (one excluding and one including wind and current effects) and the role of sea-state severity in the variation of short-term extreme response statistics is also highlighted.     

A novel technique in analyzing non-linear wave-wave interaction

During wave growth non-linear wave–wave interactions cause transfer of some wave energy from lower to higher wave periods as the spectrum grows. Wavelet bicoherence, which is a new technique in the analysis of wind–wave and wave–wave interactions, is used to analyze non-linear wave–wave interactions. A selected record of wind wave that contains the maximum wave height observed during 6 h of wave generation is divided into five segments and wavelet bicoherence is computed for the whole record, and for all divided segments. The study shows that the non-linear wave–wave interaction occurs at different bicoherence levels and these levels are different from one segment to another due to the non-stationarity feature of the examined data set.     

Prediction of hydrodynamic loading on a mini TLP with free surface effects

This paper describes the extension of a fluid-flow simulations method to capture the free surface evolution around a full-scale Tension Leg Platform (TLP). The focus is on the prediction of the resulting hydrodynamic loading on the various elements of the TLP in turbulent flow conditions and, in particular, on quantifying the effects of the free surface distortion on this loading. The basic method uses finite-volume techniques to discretize the differential equations governing conservation of mass and momentum in three dimensions. The time-averaged forms of the equations are used, and the effects of turbulence are accounted for by using a two-equation, eddy-viscosity closure. The method is extended here via the incorporation of surface-tracking algorithm on a moving grid to predict the free-surface shape. The algorithm was checked against experimental measurements from two benchmark flows: the flow over a submerged semi-circular cylinder and the flow around a floating parabolic hull. Predictions of forces on a model TLP were then obtained both with and without allowing for the deformation of the free surface. The results suggest that the free surface effects on the hydrodynamic loads are small for the values of Froude number typically encountered in offshore engineering practice.     

Filters for linear sea-wave prediction

Deterministic sea-wave prediction (DSWP) models are appearing in the literature designed for quiescent interval prediction in marine applications dominated by large swell seas. The approach has focused upon spectral methods which are straightforward and intuitively attractive. However, such methods have the disadvantage that while the sea is aperiodic in nature, the standard discrete spectral processing techniques force an absolutely periodic structure onto the resulting sea surface prediction models. As it is the shape of the sea surface that is important in such applications, particularly near the end of the domain which is important, the standard windowing techniques used in signal processing work to reduce leakage artifacts cannot be employed. This has necessitated the use of end matching methods that can be both inconvenient and may reduce the fraction of the time for which legitimate predictions are available. As a result, an investigation has been undertaken of the use of finite impulse response prediction filters to provide the necessary dispersive phase shifting required in DSWP systems. The present work examines the theoretical basis for such filters and explores their properties together with their application to both long and short crested swell seas. It is shown that wide band forms of such filters are only convergent in the sense of distributions having both infinite duration impulse responses and asymptotically divergent first derivatives. However, appropriate band limitation can produce useful finite impulse responses allowing implementation via standard discrete convolution methods. It is demonstrated that despite the prediction filters having a non-causal impulse response such filters can be used in practice due to a combination of the asymmetric nature of the impulse response and the fundamental nature of the prediction process. The findings are confirmed against actual sea-wave data.     

Ultimate strength of ship hulls under torsion

For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength characteristics of ships with large hatch openings. The primary aim of the present study is to investigate the ultimate strength characteristics of ship hulls with large hatch openings under torsion. Axial (warping) as well as shear stresses are normally developed for thin-walled beams with open cross sections subjected to torsion. A procedure for calculating these stresses is briefly described. As an illustrative example, the distribution and magnitude of warping and shear stresses for a typical container vessel hull cross section under unit torsion is calculated by the procedure. By theoretical and numerical analyses, it is shown that the influence of torsion induced warping stresses on the ultimate hull girder bending strength is small for ductile hull materials while torsion induced shear stresses will of course reduce the ship hull ultimate bending moment.     

The Mid-atlantic Ridge (31°S–34°30′S): Temporal and spatial variations of accretionary processes

The ridge located between 31° S and 34°30′S is spreading at a rate of 35 mm yr⁻¹, a transitional velocity between the very slow (≤20 mm yr⁻¹) opening rates of the North Atlantic and Southwest Indian Oceans, and the intermediate rates (60 mm yr⁻¹) of the northern limb of the East Pacific Rise, and the Galapagos and Juan de Fuca Ridges. A synthesis of multi-narrow beam, magnetics and gravity data document that in this area the ridge represents a dynamically evolving system. Here the ridge is partitioned into an ensemble of six distinct segments of variable lengths (12 to 100 km) by two transform faults (first-order discontinuities) and three small offset (< 30 km) discontinuities (second-order discontinuities) that behave non-rigidly creating complex and heterogeneous morphotectonic patterns that are not parallel to flow lines. The offset magnitudes of both the first and second-order discontinuities change in response to differential asymmetric spreading. In addition, along the fossil trace of second-order discontinuities, the lengths of abyssal hills located to either side of a discordant zone are observed to lengthen and shorten creating a saw-toothed pattern. Although the spreading rate remains the same along the length of the ridge studied, the morphology of the spreading segments varies from a deep median valley with characteristics analogous to the rift segments of the North Atlantic to a gently rifted axial bulge that is indistinguishable from the shape and relief of the intermediate rate spreading centers of the East Pacific Rise (i.e., 21°N). Like other carefully surveyed ridge segments at slow and fast rates of accretion, the along-axis profiles of each ridge segment are distinctly convex upwards, and exhibit along-strike changes in relief of 500m to 1500 between the shallowest portion of the segment (approximate center) and the segment ends. Such spatial variations create marked along-axis changes in the morphology and relief of each segment. A relatively low mantle Bouguer anomaly is known to be associated with the ridge segment characterized by a gently rifted axial bulge and is interpreted to indicate the presence of focused mantle upwelling (Kuo and Forsyth, 1988). Moreover, the terrain at the ends of each segment are known to be highly magnetized compared to the centers of each segment (Carbotte et al, 1990). Taken together, these data clearly establish that these profound spatial variations in ridge segment properties between adjoining segments, and along and across each segment, indicate that the upper mantle processes responsible for the formation of this contrasting architecture are not solely related to passive upwelling of the asthenosphere beneath the ridge axis. Rather, there must be differences in the thermal and mechanical structure of the crust and upper mantle between and along the ridge segments to explain these spatial variations in axial topography, crustal structure and magnetization. These results are consistent with the results of investigations from other parts of the ridge and suggest that the emplacement of magma is highly focused along segments and positioned beneath the depth minimum of a given segment. The profound differences between segments indicate that the processes governing the behavior of upwelling mantle are decoupled and the variations in the patterns of axis flanking morphology and rate of accretion indicate that processes controlling upwelling and melt production vary markedly in time as well. At this spreading rate and in this area, the accretionary processes are clearly three-dimensional. In addition, the morphology of a ridge segment is not governed so much by opening rate as by the thermal structure of the mantle which underlies the segment.