Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Modeling bed-load transport of coarse sediments in the Great Bay Estuary, New Hampshire

Current, sea level and bed-load transport are investigated in the Lower Piscataqua River section of the Great Bay Estuary, New Hampshire, USA—a well-mixed and geometrically complex system with low freshwater input, having main channel tidal currents ranging between 0.5 and 2 m s⁻¹. Current and sea level forced by the M₂M₄M₆ tides at the estuarine mouth are simulated by a vertically averaged, non-linear, time-stepping finite element model. The hydrodynamic model uses a fixed boundary computational domain and accounts for flooding–drying of tidal flats by making use of a groundwater component. Inertia terms are neglected in comparison with pressure gradient and bottom friction terms, which is consistent with the observed principal dynamic balance for this section of the system. The accuracy of hydrodynamic predictions in the study area is demonstrated by comparison with four tidal elevation stations and two cross-section averaged current measurements. Simulated current is then used to model bed-load transport in the vicinity of a rapidly growing shoal located in the main channel of the lower system. Consisting of coarse sand and gravel, the shoal must be dredged every five to eight years. Two approaches are taken—an Eulerian parametric method in which nodal bed-load flux vectors are averaged over the tidal cycle and a Lagrangian particle tracking approach in which a finite number of sediment particles are released and tracked. Both methods yield pathways and accumulations in agreement with the observed shoal formation and the long-term rate of sediment accumulation in the shoal area.     

The relationship between the amplitudinal characteristics of the high-frequency spectral components of wind-generated waves and the wind velocity over the sea

The relationship between the RMS amplitudes of the wind wave spectral components and the wind speed has been studied at ten frequencies in the band of 0.65–23 Hz. To measure the parameters of the high-frequenci waves, a resistance elevation wave gauge was operated, which was deployed in the Black See on an oceanographic platform near Katsively. The correlation between the wave amplitudes and the wind velocity at high frequencies of 5–23 Hz, corresponding to gravitation-capillary ripples, was found to reach a value of 0.8. At lower frequencies of 0.65–4.3 Hz, corresponding to short gravity waves, it dropped to 0.5–0.7. The response of spectral components to the wind speed variations in the gravity-capillary range is higher than in the range of short gravity waves. The results obtained differ from Phillips' idea about a saturated range for the frequency form of the spectrum of high-frequency gravity waves, since a linear dependence of the spectral amplitudes on the wind speed is established at a wind of force 1–8.Translated by Mikhail M. Trufanov.     

Implications from a field study regarding the relationship between polycyclic aromatic hydrocarbons and glutathione S-transferase activity in mussels

An aluminium smelter on the west coast of Scotland discharges an aqueous effluent containing polycyclic aromatic hydrocarbons (PAHs) at the head of Loch Leven. The loch also supports two mussel (Mytilus edulis) farms. Data are presented on burdens of PAHs in the soft tissues of mussels and the effect of these contaminants on glutathione S-transferase (GST) activity in mussel hepatopancreas. GST activity is shown to be correlated with total PAH burden and also with the concentrations of certain individual PAHs. These field data show that high molecular weight PAHs are closely correlated to GST activity, whereas low molecular weight PAHs are not. This suggests that 5- and 6-ring PAHs have a more pronounced role than 2- to 4-ring compounds in inducing GST activity in mussels from Loch Leven. It is proposed that it may be more appropriate to link GST activity with 5- and 6-ring compounds only, rather than with the total PAH burden.     

Impact of Satellite Altimetry on Simulations of Sea Level Variability by an Indian Ocean Model

This article describes the impact of satellite altimeter data on the simulations of sea level variability (SLV) by a nonlinear reduced gravity model of the entire Indian Ocean. The model has been forced by 6-hourly analyzed wind stress data containing SSM/I observations and has been able to produce realistic circulation features. However, SLV values observed by Topex/Poseidon altimeter do not fit these simulations because of imperfect initial data. Hence an attempt has been made to initialize the model using altimeter data. The initialized model-generated SLVvalues have been compared with SLV derived by altimeter for monsoon as well as nonmonsoon months of 1996. Experimental runs have been performed for 10 days, 20 days, and one month. It has been found that the initialized model results on the final day of these experiments are in very good agreement with altimeter data of the same day. It is thus possible, in principle, to hindcast and forecast sea level variations in the time scale of 10 days to one month with the availability of good quality wind data for forcing the model and altimeter observations of sea level for initializing it.     

Modelling of the ecosystem of the Black-Sea shelf zone near the estuary of the Danube

We analyze the results of numerical calculations performed according to the three-dimensional interdisciplinary model of an ecological system of the Black-Sea shelf zone near the estuary of the Danube. The complete system of equations of hydrothermodynamics is solved together with transport equations of the advection-diffusion-reaction type used to describe the transformation of a substance (nitrogen) between the components of the characteristic vectors of the ecosystem: plankton, detritus, and biogenic elements (nitrates). We describe the distinctive features of the circumcontinental distribution of components obtained as a result of numerical experiments and present arguments for the conclusion that the ecosystem of the Danube estuary water area plays the role of a buffer zone between the press of the Danubian biogenic pollutions and the neighbouring areas of the shelf zone and open sea. Translated by Peter V. Malyshev and Dmitry V. Malyshev     

Images of the seabed in the Faroe-Shetland Channel from commercial 3D seismic data

A large number of 3D deep seismic surveys in the Faroe-Shetland Channel gives continuous coverage over most of the region. These surveys were designed primarily to image depths in excess of 4 km, use low frequency sources and are recorded at low temporal sample rates. However, commercial 3D data can generate highly detailed images of the seabed due to the high spatial sample rate, typically 12.5 m. This is particularly true in waters below 200 m. Despite geophysical artefacts, the images reveal that there are a number of sedimentary processes at work adjacent to and within this channel. On the West Shetland Shelf, iceberg scouring and moraines reflect the impact of glaciation. On the West Shetland slope there is clear evidence for down-slope processes, such as debris flows, linear erosion channels, basal fans and (one case) slope failure. Along-slope processes are also active as indicated by the presence of sediment waves and contourite mounds. On the floor of the basin, polygonal cracking can be observed. The most spectacular feature appears to be the Judd Deeps, a system of cliffs approximately 200 m high and 40 km across. Traditionally, seabed investigation has been performed using high-resolution surveys. This study shows that deep exploration data can also provide useful images of the seafloor.