Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.     

A Solution to the Problem of Predicting the Suitability of Silty–clayey Materials for Cement-stabilization

Major geotechnical problems in construction involving silty–clayey soils are due to their low strength, durability and high compressibility of soft soils, and the swell–shrink nature of the overconsolidated swelling soils. Confronted with these problems, a suitable ground improvement technique is needed, for deep excavations in soft clays, for stability, durability and deformation control. Cement-stabilization is one of the alternatives. An increase in strength and durability, reduction in deformability are the main aims of this method. Conventional cement-stabilization methods are used mainly for surface treatment. However, the use of cement has recently been extended to a greater depth in which cement columns were installed to act as a type of soil reinforcement (deep cement–soil mixing and cement jet grouting). In situ engineering properties of these silty–clayey soils are often variable and difficult to predict. For this reason cement-stabilization methods have a basic target to control the aforementioned engineering properties of these clays so that the properties of a silty–clayey soil become more like the properties of a soft rock such as clayey shale or lightly cemented sandstone. So cement-stabilization of these soils is essential to control their engineering properties and to predict their engineering behaviour for construction. In an effort to predict, classify and study the suitability of silty–clayey soils for cement-stabilization both slaking and unconfined compressive strength tests were carried out on clayey–sand mixtures consisted of two types of clays, kaolin and bentonite. Finally diagrams were prepared to study the variation of slaking and strength due to compaction, curing time and cement percentage and also to predict areas of efficient cement-stabilization.     

Testing optically stimulated luminescence dating on sand-sized quartz of deltaic deposits from the Sperchios delta plain,central Greece

This study reports on the first investigation into the potential of luminescence dating to establish a chronological framework for the depositional sequences of the Sperchios delta plain, central Greece. A series of three borehole cores(20 m deep) and two shallow cores(4 m deep), from across the delta plain, were extracted, and samples were collected for luminescence dating. The luminescence ages of sand-sized quartz grains were obtained from small aliquots of quartz, using the Single-Aliquot Regenerative-dose(SAR) protocol.The equivalent dose determination included a series of tests and the selection of the Minimum Age Model(MAM) as the most appropriate statistical model. This made it possible to confirm the applicability of quartz Optically Stimulated Luminescence(OSL) dating to establish absolute chronology for deltaic sediments from the Sperchios delta plain.Testing age results of the five cores showed that the deltaic sediments were deposited during the Holocene.A relatively rapid deposition is implied for the top ~14 m possibly as a result of the deceleration in the rate of the sea-level rise and the transition to terrestrial conditions, while on the deeper parts, the reduced sedimentation rate may indicate a lagoonal or coastal environment.     

Efficiency of kriging estimation for square, triangular, and hexagonal grids

Although several researchers have pointed out some advantages and disadvantages of various soil sampling designs in the presence of spatial autocorrelation, a more detailed study is presented herein which examines the geometrical relationship of three sampling designs, namely the square, the equilateral triangle, and the regular hexagon. Both advantages and disadvantages exist in the use of these designs with respect to estimation of the semivariogram and their effect on the mean square error or variance of error. This research could be used to design optimal sampling strategies; it is based on the theory of regionalized variables, in which the intrinsic hypothesis is satisfied. Among alternative designs, an equilateral triangle design gives the most reliable estimate of the semivariogram. It also gives the minimum maximum mean square error of point estimation of the concentration over the other two designs for the same number of measurements when the nugget effect is small relative to the variance. If the nugget effect is large (.90 ² or more), and the linear sampling density is >0.85r where r is the range, the hexagonal design is best. This study computes and compares the maximum mean square error for each of these designs.     

Fate and groundwater impacts of produced water releases at OSPER “B” site,Osage County,Oklahoma

For the last 5 a, the authors have been investigating the transport, fate, natural attenuation and ecosystem impacts of inorganic and organic compounds in releases of produced water and associated hydrocarbons at the Osage-Skiatook Petroleum Environmental Research (OSPER) “A” and “B” sites, located in NE Oklahoma. Approximately 1.0 ha of land at OSPER “B”, located within the active Branstetter lease, is visibly affected by salt scarring, tree kills, soil salinization, and brine and petroleum contamination. Site “B” includes an active production tank battery and adjacent large brine pit, two injection well sites, one with an adjacent small pit, and an abandoned brine pit and tank battery site. Oil production in this lease started in 1938, and currently there are 10 wells that produce 0.2–0.5 m³/d (1–3 bbl/d) oil, and 8–16 m³/d (50–100 bbl/d) brine. Geochemical data from nearby oil wells show that the produced water source is a Na–Ca–Cl brine (∼150,000 mg/L TDS), with high Mg, but low SO₄ and dissolved organic concentrations. Groundwater impacts are being investigated by detailed chemical analyses of water from repeated sampling of 41 boreholes, 1–71 m deep. The most important results at OSPER “B” are: (1) significant amounts of produced water from the two active brine pits percolate into the surficial rocks and flow towards the adjacent Skiatook reservoir, but only minor amounts of liquid petroleum leave the brine pits; (2) produced-water brine and minor dissolved organics have penetrated the thick (3–7 m) shale and siltstone units resulting in the formation of three interconnected plumes of high-salinity water (5000–30,000 mg/L TDS) that extend towards the Skiatook reservoir from the two active and one abandoned brine pits; and (3) groundwater from the deep section of only one well, BR-01 located 330 m upslope and west of the site, appear not to be impacted by petroleum operations.     

Assessment of NO<Subscript>3</Subscript><Superscript>−</Superscript> contamination in a karstic aquifer,with the use of geochemical data and spatial analysis

Kopaida plain is a cultivated region of Eastern Greece, with specific characteristic related with the paleogeographic evolution and the changes in land use. The present article examines the contamination that derives from nitrates, in terms of contaminant levels, definition of sources and spatial distribution of contaminant plume. For this purpose, 50 water samples were collected from the karstic aquifer and analyzed for 15 parameters including major ions, trace elements, physicochemical parameters, and stable isotopes. The assessment of the above parameter values along with the notes derived by the statistical process revealed the existence of nitrate contamination which has been spatial defined with the aid of spatial interpolation techniques. The correlation of NO₃ ⁻ concentrations with the stable isotope values, defined the infiltration conditions and showed contaminant transport. Nitrate values revealed the potential environmental threat for local people, as 10% of the samples exceeded the parametric value of 50 ppm and 54% of them are above 25 ppm, indicating no optimal quality conditions. The origin of nitrate contamination seems to derive exclusively from the application of N-fertilizers, since the rest of potential sources were not verified by analytical data and field works.     

Indications of a climate effect on Mediterranean fisheries

Using the Food and Agriculture Organization’s (FAO) Mediterranean capture fisheries production dataset in conjunction with global and Mediterranean sea surface temperatures, we investigated trends in fisheries landings and landings per unit of effort of commercially important marine organisms, in relation to temperature oscillations. In addition to the overall warming trend, a temperature shift was detected in the Mediterranean Sea in the late 1990s. Fisheries landings fluctuations were examined for the most abundant commercial species (59 species) and showed significant year-to-year correlations with temperature for nearly 60 % of the cases. From these, the majority (~70 %) were negatively related and showed a reduction of 44 % on average. Increasing trends were found, mainly in the landings of species with short life spans, which seem to have benefited from the increase in water temperature. Τhe effect of oceanic warming is apparent in most species or groups of species sharing ecological (e.g. small and medium pelagic, demersal fish) or taxonomic (e.g. cephalopods, crustaceans) traits. A landings-per-unit-of-effort (LPUE) proxy, using data from the seven Mediterranean European Union member states, also showed significant correlation with temperature fluctuations for six out of the eight species examined, indicating the persistence of temperature influence on landings when the fishing effect is accounted for. The speed of response of marine landings to the warming of the Mediterranean Sea possibly shows both the sensitivity and the vulnerable state of the fish stocks and indicates that climate should be examined together with fisheries as a factor shaping stock fluctuations.     

Effective Acceleration Model for the Arrival Time of Interplanetary Shocks driven by Coronal Mass Ejections

In a previous work (Paouris and Mavromichalaki in Solar Phys. 292, 30, 2017), we presented a total of 266 interplanetary coronal mass ejections (ICMEs) with as much information as possible. We developed a new empirical model for estimating the acceleration of these events in the interplanetary medium from this analysis. In this work, we present a new approach on the effective acceleration model (EAM) for predicting the arrival time of the shock that preceds a CME, using data of a total of 214 ICMEs. For the first time, the projection effects of the linear speed of CMEs are taken into account in this empirical model, which significantly improves the prediction of the arrival time of the shock. In particular, the mean value of the time difference between the observed time of the shock and the predicted time was equal to +3.03 hours with a mean absolute error (MAE) of 18.58 hours and a root mean squared error (RMSE) of 22.47 hours. After the improvement of this model, the mean value of the time difference is decreased to ?0.28 hours with an MAE of 17.65 hours and an RMSE of 21.55 hours. This improved version was applied to a set of three recent Earth-directed CMEs reported in May, June, and July of 2017, and we compare our results with the values predicted by other related models.     

Multi-angle backscatter classification and sub-bottom profiling for improved seafloor characterization

This study applies three classification methods exploiting the angular dependence of acoustic seafloor backscatter along with high resolution sub-bottom profiling for seafloor sediment characterization in the Eckernförde Bay, Baltic Sea Germany. This area is well suited for acoustic backscatter studies due to its shallowness, its smooth bathymetry and the presence of a wide range of sediment types. Backscatter data were acquired using a Seabeam1180 (180 kHz) multibeam echosounder and sub-bottom profiler data were recorded using a SES-2000 parametric sonar transmitting 6 and 12 kHz. The high density of seafloor soundings allowed extracting backscatter layers for five beam angles over a large part of the surveyed area. A Bayesian probability method was employed for sediment classification based on the backscatter variability at a single incidence angle, whereas Maximum Likelihood Classification (MLC) and Principal Components Analysis (PCA) were applied to the multi-angle layers. The Bayesian approach was used for identifying the optimum number of acoustic classes because cluster validation is carried out prior to class assignment and class outputs are ordinal categorical values. The method is based on the principle that backscatter values from a single incidence angle express a normal distribution for a particular sediment type. The resulting Bayesian classes were well correlated to median grain sizes and the percentage of coarse material. The MLC method uses angular response information from five layers of training areas extracted from the Bayesian classification map. The subsequent PCA analysis is based on the transformation of these five layers into two principal components that comprise most of the data variability. These principal components were clustered in five classes after running an external cluster validation test. In general both methods MLC and PCA, separated the various sediment types effectively, showing good agreement (kappa >0.7) with the Bayesian approach which also correlates well with ground truth data (r²?>?0.7). In addition, sub-bottom data were used in conjunction with the Bayesian classification results to characterize acoustic classes with respect to their geological and stratigraphic interpretation. The joined interpretation of seafloor and sub-seafloor data sets proved to be an efficient approach for a better understanding of seafloor backscatter patchiness and to discriminate acoustically similar classes in different geological/bathymetric settings.