Discrete time-delay control of an autonomous underwater vehicle: Theory and experimental results

A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties.     

Land use/land cover dynamics in Umngot watershed of Meghalaya using geospatial tools

Meghalaya is a landlocked state where the progress of industrialization is very slow. Majority of the population (rural) depends on agriculture. Agriculture in the state is carried on in primitive ways with Jhumming prevailing in many parts. This practice is considered destructive as vast forest areas are cleared and burnt. Such areas are used for cultivation and left out. After a gap of few years (2–3 years as of now and 15–20 years in past) the area is revisited for cultivation without allowing to rejuvenate. The present work provides a status and trend of Land use land cover dynamics in parts (at watershed level) of Meghalaya. The geospatial tools have been used to assess (a) the changes in land use land cover since 1970s to 2005; (b) patch dynamics for understanding the degree of fragmentation; (c) changes along the terrain topography. Umngot watershed of Meghalaya is taken as experimental area, which is a representative of mid-altitudinal watershed particularly in the Jaintia hills district of Meghalaya.     

Bearing capacity of strip foundations reinforced with geogrid sheets by using upper bound finite‐element limit analysis

By using the upper bound finite‐elements limit analysis, with an inclusion of single and two horizontal layers of reinforcements, the ultimate bearing capacity has been computed for a rigid strip footing placed over (i) fully granular, (ii) cohesive‐frictional, and (iii) fully cohesive soils. It is assumed that (i) the reinforcements are structurally strong so that no axial tension failure can occur, (ii) the reinforcement sheets have negligible resistance to bending, and (iii) the shear failure can take place between the reinforcement and soil mass. It is expected that the different approximations on which the analysis has been based would generally remain applicable for reinforcements in the form of geogrid sheets. A method has been proposed to incorporate the effect of the reinforcement in the analysis. The efficiency factors, η_c and η_γ, to be multiplied with N_c and N_γ , for finding the bearing capacity of reinforced foundations, have been established. The results have been obtained (i) for different values of ? in case of fully granular and cohesive‐frictional soils, and (ii) for different rates at which the cohesion increases with depth for a fully cohesive soil. The optimum positions of the reinforcements' layers have also been determined. The effect of the reinforcements' length on the results has also been analyzed. As compared to cohesive soils, the granular soils, especially with higher values of ?, cause a much greater increase in the bearing capacity. The results compare reasonably well with the available theoretical and experimental data from literature. Copyright © 2013 John Wiley & Sons, Ltd.     

Fluoride enrichment in aquifers of the Thar Desert: controlling factors and its geochemical modelling

The groundwater is the only source of drinking water in the Jaisalmer district of Rajasthan, India. The study area is a part of the Thar Desert. It has low and scattered population and no industries; hence, the possibility of anthropogenic input of fluoride is almost negligible. Thus, the enrichment of fluoride is only possible due to geochemical processes taking place in the groundwater of the region. A total of 100 groundwater samples, 34 samples from Jaisalmer and 66 samples from the Pokharan administrative blocks, were collected. It was observed that the concentration of fluoride ranged from 0.08 mg/l to 4.56 mg/l in the groundwater of Jaisalmer and from 0.56 mg/l to 6.60 mg/l in the samples of the Pokharan block. The alkaline condition (average pH, 7.7 ± 0.22 and 8.01 ± 0.25 in Jaisalmer and the Pokharan administrative block, respectively) in the region favours fluorite dissolution. Ion exchange, dissolution of calcite, semi‐arid climate, alkaline conditions and weathering are responsible for fluoride enrichment in the groundwater of the study area. Copyright © 2012 John Wiley & Sons, Ltd.     

Latitudinal variation of air sea fluxes in the western Indian ocean during austral summer and fall

Daily and zonal (latitudinal belt) averages of heat and momentum fluxes were computed using bulk aerodynamic formulae, from the meteorological parameters measured onboard M. S. Thuleland during the sixth Indian scientific expedition to Antarctica (26th November, 1986 to 22nd March, 1987). Both estimates showed significant variations, the momentum flux showing the largest variation. The maximum values of sensible and latent heat fluxes were observed over the 30°–40° S and 10°–20° S zones during the southern summer and fall respectively while the minimum values of latent heat flux were observed in the 60°–70° S zone for both seasons. The sensible heat flux minimum was observed in the 50°°60° S and 60°–70° S zones for summer and fall, respectively. Higher momentum flux values over the 40°–50° S zone in summer shifted to the 50°–60° S zone during fall.     

Surface heat budget of a polynya in the coastal waters off Queen Maud Land, Antarctica, during austral summer

The daily surface heat budget of a polynya in the coastal waters off Queen Maud Land, Antarctica is studied for the period from 23 December 1986 to February 1987 using the surface meteorological data collected on board the Swedish vessel M.S. Thuleland.The incoming solar radiation was found to be the most important component in the surface heat budget; its mean value for the study period was found to be about 209 W m⁻². The latent and sensible heat fluxes were found in opposition and nearly balancing each other out. The average net heat gain over the polynya, for the study period, was 141 W m⁻². From the mean heat storage values obtained from the temperature profiles, the heat gain at the surface is seen to be almost lost through advection and other interior physical processes in the top 50 m layer of the water column. This is reflected in sea surface temperature which was almost steady during the study period.     

Long-Term variability of the indian summer monsoon and related parameters

The long-term variability of the Indian summer monsoon rain-fall and related regional and global param-eters are studied. The cubic spline is used as a digital filter to smooth the high frequency signals in the time series of the various parameters. The length of the data series varies from 95 to 115 years during the period 1871-1985. The parameters studied within the monsoon system are: (a) monsoon rainfall of the country as a whole; (b) number of break-monsoon days during July and August; (c) number of storms/ depressions in Bay of Bengal and Arabian Sea during summer monsoon season; and (d) dates of onset of summer monsoon over South Kerala Coast. The parameters studied outside the monsoon system are: (a) the Wright’s Southern Oscillation Index (June-July-August); (b) the January mean Northern Hemi-spheric surface air temperature anomaly; and (c) the East-equatorial Pacific sea surface temperature anomaly.In order to examine the variability under various degrees of the smoothing, the series are filtered with splines of 50% variance reduction frequency of one cycle per 10, 20 and 30 years. It is observed that the smoothed time series of the parameters within the monsoon system comprise a common slowly varying com-ponent in an episodic manner distinctly showing the excess and deficient rainfall epochs. The change of intercorrelations between the time series with increasing degree of smoothing throws some light on the time scales of the dominant interactions. The relation between Southern Oscillation and East equatorial Pacific sea surface temperature and the Indian summer monsoon seems to be dominant on the interannual scale. The low frequency variations are found to have significantly contributed to the instability of the correlations of monsoon rainfall with parameters outside the monsoon system.     

Some results of night-time scintillations at low latitude

Ionospheric scintillation observations of VHF radio signals from FLEETSAT satellite (73°E longitude) at Bhopal from January 1990 to December 1990 have been used to study the characteristic variations of scintillation activity. It is found that scintillation occurrence is essentially a night-time phenomenon and day-time scintillations are very rare. Annual average nocturnal variation of percentage occurrence of scintillations shows maximum at around 2100–2200 hours LT. Seasonally, scintillations are most prominent during equinoxes and least during summer. Geomagnetic disturbances tend to decrease the occurrence of scintillations in the pre-midnight period.