Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle

The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected     

Numerical simulation of unsteady free-surface motions using a boundary integral formulation

A numerical time simulation method is described to solve fluid flow problems including unsteady free surface motion. The method is based on potential flow theory. At every time step, the problem is solved using a boundary integral formulation of the fluid domain. The linearized free surface conditions are integrated in time and the solution is marched forward. Computational results simulating the free surface motion for the cases of a linear progressive wave, wave propagating into a region of calm water and the wave maker motion are presented. Comparison with theoretical results demonstrate the feasibility of the proposed simulation scheme.     

Bacterial sulphate reduction in sediments of a european salt marsh: Acid-volatile and tin-reducible products

The products of ³⁵S-sulphate reduction by sedimentary bacteria were measured at two sites in a salt marsh on the east coast of England. Non-acid-volatile products were measured, after acid-volatile sulphide was removed, by their reduction to sulphide by digestion with tin. The proportion of the sulphate reduced to tin-reducible products varied between 25% in a salt marsh pan and 61% in creek sediment, over a 0–25 cm depth profile. There were also variations with depth at each site in the proportions of sulphate reduced to tin-reducible products. Further examination revealed differences in the proportions of sulphate which were reduced to free sulphide, acid-volatile sulphide, sulphur or pyrite at the two sites. The data suggest that previous work which did not measure non-acid-volatile products underestimated sulphate reduction rates by three-fold in the creek site, but by only one third in the pan.     

A case study of a modified gravity type cage and mooring system using numerical and physical models

A modified gravity-type cage, developed by SADCO Shelf Ltd., was examined using numerical and physical models to determine if the cage and mooring system is suitable for an exposed site south of the Isles of Shoals, NH. The 3000-m/sup 3/ SADCO Shelf Submersible Fish Cage has angled stays between the upper framework and the ballasted bottom rim (in addition to net) to resist the horizontal shear deformation. The mooring system consists of three legs-each made up of a taut vertical chain and an angled rope, both leading to deadweight anchors. Normalized response amplitudes (response amplitude operators) were found for motion response in heave, surge and pitch, and load response in the anchor and bridle lines, in regular (single frequency) waves. In addition, a stochastic approach was taken to determine the motion and load transfer functions in random waves using a spectrum representative of seas at the selected site. In general, the system motion had a highly damped response, with no resonant peaks within the wave excitation range of 0.05 to 0.45 Hz. The anchor line force response was at all frequencies below 5 kN per meter of wave amplitude. The physical model tests showed consistently more conservative (larger) results compared to those for the numerical model.     

Specific Features of the Structure and Dynamics of Waters and Their Influence on the Distribution of Krill and Salpae in the Weddell and Scotia Seas in March–April, 1997–1998

We present the results of biological and oceanographic investigations performed in the Weddell and Scotia Seas within the framework of the first (January–June, 1997) and second (January–June, 1998) Ukrainian Antarctic marine expeditions. We reveal some regularities in the space distribution of the aggregations of krill and salpae depending on the abiotic (hydrophysical) environmental factors and discuss possible mechanisms promoting the formation of aggregations of krill and salpae in the Antarctic waters.     

Application of the Genetic Algorithm to the Problem of Reconstruction of Missing Data

We study the problem of reconstruction (interpolation and extrapolation) of the vertical profiles of hydrochemical and hydrobiological elements according to incomplete sets of data with simultaneous filtration of short-period components based on expansions in empirical orthogonal functions. The genetic algorithm is used to compute the coefficients of expansion of profiles with missing data. We present the results of processing the data arrays on oxygen, chlorophyll A, and biogenic elements collected in the Black Sea in 1982–1993. The mean error of reconstruction of the profiles enables us to conclude that the proposed method has considerable advantages over the conventional approaches.     

Release into the environment of metals by two vascular salt marsh plants

Metals in contaminated salt marshes are mainly locked in the anaerobic layer of sediments, where they are tightly bound as sulfides and organic complexes. Vascular plants survive in saturated soils in part by pumping O2 into their root zones, changing their microenvironment to an oxic one. This, along with chelating exudates, mobilizes metals, allowing uptake by the roots. We compared the common reed Phragmites australis and cordgrass Spartina alterniflora in lab and field studies for ways in which they handle trace metals. Both plants store most of their metal burden in their roots, but some is transported to aboveground tissues. Spartina leaves contain approximately 2-3 x more Cr, Pb, and Hg than Phragmites leaves, but equivalent Cu and Zn. Furthermore, Spartina leaves have salt glands, so leaf excretion of all metals is twice that of Phragmites. In-depth studies with Hg indicate that Hg excretion correlates with Na release but not with transpiration, which is 2.2 x higher in Phragmites; and that more Hg accumulates in early-appearing leaves than in upper (i.e. later) leaves in both species. Spartina thus makes more metals available to salt marsh ecosystems than Phragmites by direct excretion and via dead leaves which will enter the food web as detritus.