Oxygen Isotope Evidence for Chemical Interaction of Ki lauea Historical Magmas with Basement Rocks

Klauea historical summit lavas have a wide range in matrix ¹⁸O_VSMOWvalues (4·9–5·6) with lower values in rockserupted following a major summit collapse or eruptive hiatus.In contrast, ¹⁸O values for olivines in most of these lavasare nearly constant (5·1 ± 0·1). The disequilibriumbetween matrix and olivine ¹⁸O values in many samples indicatesthat the lower matrix values were acquired by the magma afterolivine growth, probably just before or during eruption. BothMauna Loa and Klauea basement rocks are the likely sources ofthe contamination, based on O, Pb and Sr isotope data. However,the extent of crustal contamination of Klauea historical magmasis probably minor (< 12%, depending on the assumed contaminant)and it is superimposed on a longer-term, cyclic geochemicalvariation that reflects source heterogeneity. Klauea's heterogeneoussource, which is well represented by the historical summit lavas,probably has magma ¹⁸O values within the normal mid-ocean ridgebasalt mantle range (5·4–5·8) based on thenew olivine ¹⁸O values. KEY WORDS: Hawaii; Klauea; basalt; oxygen isotopes; crustal contamination     

An experimental facility for testing loaded structures in a high hydrostatic pressure environment and an application to axially loaded columns

An experimental facility is described for the testing of structures under a combined axial load and hydrostatic pressure load. This facility was used to determine the effects of hydrostatic pressure (up to 6000 psi) on the load-carrying capacity of slender metal columns. There appeared to be no significant effect in this case.     

Geometrical aspects of a sonar-based navigation system for underwater vehicles

A novel self-contained navigation system has been devised for underwater vehicles operating in and around offshore installations. This system matches data from a sector-scanning sonar device to a computer model of the installation. The paper begins by highlighting the existing approaches to subsea navigation before outlining the main features of the proposed system. It then concentrates on a key component of this system which is a method for calculating the position and heading of an underwater vehicle navigating in the vincinity of tubular steel structures. An iterative solution method is presented which incorporates six degree of freedom vehicle motions and this is verified in a series of laboratory experiments with various arrangements of structural members and using a commercial sonar device. The key features, applications and performance of this method are discussed. The main conclusion is that the proposed method for calculating the position and heading of an underwater vehicle contributes towards achieving an accurate and reliable subsea navigation capability.     

Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations