Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

The effects of gas flaring on crops in the Niger Delta,Nigeria

Flaring of associated gas from oil exploitation has several consequences on the environment. This study explores the spatial variability effects of gas flaring on the growth and development of cassava (Manihot esculenta), waterleaf (Talinum triangulare), and pepper (Piper spp.) crops commonly cultivated in the Niger Delta, Nigeria. Data was collected on soil and atmospheric temperature and moisture at a 20-m interval, starting at 40 m from the flare point to a distance of 140 m. Lengths and widths of crop leaves, height of crop plants and cassava yields were measured at the specified distances. The amino acid, ascorbic acid, starch, and sugar constituents of the cassava yields were determined. The results suggest that a spatial gradient exists in the effects of gas flares on crop development. Retardation in crop development manifests in decreased dimensions of leaf lengths and widths of cassava and pepper crops closer to the gas flare point. Statistical analysis also confirms that cassava yields are higher at locations further away from the flare point. In addition, the amount of starch and ascorbic acid in cassava decreased when the plant is grown closer to the gas flare. High temperatures around the gas flare appear to be the most likely cause of this retardation. The waterleaf crop, on the other hand, appears to thrive better around the gas flare point.     

Partitioning of polycyclic aromatic hydrocarbons between water and particles compared to bioaccumulation in mussels: a harbour case

Water and particles from three sites located in Halifax Harbour, near and further away from combined municipal sewage effluents (CMSE) were analysed for parental and alkylated polycyclic aromatic hydrocarbons (par and alkPAH). Bioavailability of PAH was compared for inter-tidal mussels collected at the same sites in April and November. The PAH fingerprint determined over 9 sampling times covering a period of 19 months differed more between phases (water and particles) and seasons, than between sites. In the spring, more alkPAH associated with diesel and gasoline were detected in the soluble phase, along with more bioaccumulation of alkPAH in inter-tidal mussels. A broader number of parPAH were detected in mussels collected in the fall. The mean sum of dissolved alkPAH concentrations was higher in water at the site closer to raw CMSE than at the other two sites and particles of that site. However, lowest bioconcentration factors (BCF) were determined in mussels of this more contaminated site. Similar biota-particle accumulation factors (BPAF) were determined for parPAH in mussels from the three sites, all lower than the BCF of alkPAH. The study indicates that sewage treatment plants will reduce the amount of parPAH especially larger than fluoranthene and pyrene from being deposited in the harbour; that alk naphthalenes and fluorenes present in water will continue to be discharged; that the disturbance of sediments can make particle-bound PAH available to mussels.     

Circulation

Low-frequency current and temperature variability on the southeast US continental shelf during summer conditions of weak wind forcing and vertical stratification was found to be similar in many aspects to previous findings for winter, when stronger wind forcing and vertical homogeneity prevails. Subtidal variability in the outer shelf is dominated by the weekly occurrence of Gulf Stream frontal eddies and meanders. These baroclinic events strongly affect the balance of momentum in the outer shelf, but not at mid-shelf. A negative alongshore sea level slope of order −10⁻⁷ is required to balance mean along-shelf momentum at the shelf edge, similar to oceanic estimates, and can contribute to the observed northward mean flow over the shelf.Low-frequency flow at mid-shelf and coastal sea level fluctuations appear to occur as a forced wave response to local alongshore wind stress events that are coherent over the shelf domain. Momentum balances indicate a trapped wave response similar to the arrested topographic wave found in the mid-Atlantic Bight (CSANADY, 1978). Density driven currents from river discharge do not appear to be significant at mid-shelf. Cold, subsurface intrusions of deeper, nutrient rich Gulf Stream waters can occasionally penetrate to mid- and inner-shelf regions north of Cape Canaveral, causing strong phytoplankton and zooplankton responses. These events were observed following the simultaneous occurrence of upwellings from northward winds and Gulf Stream frontal eddies at the shelf break during periods when the Stream was in an onshore position. Subsurface Gulf Stream intrusions to mid-shelf occur only during the summer, when the shelf is vertically stratified and cross-shelf density gradients do not present a barrier as in winter.     

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     

A time-dependent radiation condition for transient wave-structure interactions

An extrapolated version of a time-dependent nonreflecting boundary condition is developed for use at artificial boundaries to truncate infinite/semi-infinite domains for transient water wave problems. Test examples include single- and multiple-frequency flap wavemaker problems and free vibrations of a floating circular cylinder. The finite element results compare favorably to analytical solutions. It is shown that with the proposed boundary condition the numerical simulations have little reflections from the artificial boundaries.     

Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology

Four hurricanes impacted the reefs of Florida in 2005. In this study, we evaluate the combined impacts of hurricanes Dennis, Katrina, Rita, and Wilma on a population of Acropora palmata using a newly developed video‐mosaic methodology that provides a high‐resolution, spatially accurate landscape view of the reef benthos. Storm damage to A. palmata was surprisingly limited; only 2 out of 19 colonies were removed from the study plot at Molasses Reef. The net tissue losses for those colonies that remained were only 10% and mean diameter of colonies decreased slightly from 88.4 to 79.6 cm. In contrast, the damage to the reef framework was more severe, and a large section (6 m in diameter) was dislodged, overturned, and transported to the bottom of the reef spur. The data presented here show that two‐dimensional video‐mosaic technology is well‐suited to assess the impacts of physical disturbance on coral reefs and can be used to complement existing survey methodologies.     

Measurement of water particle velocities in waves

Water surface profiles and horizontal and vertical water particle velocity components have been measured to investigate the properties of intermediate depth waves generated in the laboratory. The data has been compared with linear wave theory. It was found that linear theory predicted the attenuation of velocity field with depth successfully and that it overestimates both components of velocity slightly.