Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

Application of a two-dimensional depth-averaged hydrodynamic tidal model

A two-dimensional hydrodynamic model application to the San Francisco Bay was performed using the Boundary-Fitted HYDROdynamic model (BFHYDRO). The model forcing functions consist of tidal elevations along the open boundary and fresh water flows from the Delta Outflow. The model-predicted surface elevations compare well with the observed surface elevations at five stations in San Francisco Bay. Mean error in the model predicted surface elevations and currents are less than 7 and 9%, respectively. Correlation coefficients for surface elevations and currents are higher than 0.94 and 0.95, respectively. The amplitudes and phases of the principal tidal constituents at 24 tidal stations in San Francisco Bay, obtained from a harmonic analysis of a 90-day simulation compare well with the observed data. The predicted amplitude and phase of the M₂ tidal constituent at these stations are respectively within 8 cm and 8° of the observed data. Maximum errors in the K₁ harmonic amplitudes and phases are less than 3 cm and 7° respectively. The asymmetric diurnal and semi-diurnal tidal ranges and spring and neap tidal cycles of the surface elevations and currents are well reproduced in the model at all stations.     

Effects of water-borne copper on metallothionein and lipid peroxidation in the marine amphipod Gammarus locusta

The aim of the current work was to determine over 10 days the effects of water-borne exposure of the marine amphipod Gammarus locusta to 4 microgCu l(-1) on the metallothionein (MT; measured by differential pulse polarography) protection system and lipid peroxidation (LP: thiobarbituric acid-reactive malondialdehyde equivalents) as a measure of oxidative damage. MT levels in exposed animals increased significantly at day 2 (36% > control; P < 0.001) and remained high at days 6 and 10 (55 and 38%, respectively, P < 0.001). The maximum level of MT at day 6 coincided with the highest Cu body-burden. LP increased within I day of exposure, indicative of Cu as an oxidative stressor. However, in contrast to MT, the highest LP level was seen at day 4 (68% > control, P < 0.001) before returning to control values by day 6, indicating a protective role of MT against the pro-oxidant effects of Cu.     

Abundance of the introduced seastar, Asterias amurensis, and spatial variability in soft sediment assemblages in SE Tasmania: Clear correlations but complex interpretation

The northern Pacific seastar, Asterias amurensis, was first collected in southeast Tasmania in 1986. Mistaken for the endemic asteroid Uniophora granifera, its true identity was not realised until 1992. It is now a conspicuous predator in soft sediment habitats in this region, and is considered a major threat to native assemblages and commercial species. We examined the structure of soft sediment assemblages at different spatial scales in southeast Tasmania, and correlated spatial variation in community composition with seastar abundances. We found that the structure of soft sediment assemblages is highly variable at a range of spatial scales from metres to tens of kilometres. Clear differences in the composition of assemblages and abundances of major taxa were detected between areas with and without seastars and between areas with low and high seastar densities. However, the nature of these patterns suggests that they are more likely due to differences in sediment characteristics than due to impacts of the seastar. Thus, spatial differences in soft sediment assemblages might have been erroneously attributed to seastars without detailed information on important physical factors such as sediment characteristics. A second survey, using larger sampling units (1 m²) but across a more limited spatial extent, targeted bivalves and heart urchins that were identified as important prey of the seastar in observations of feeding and in experimental studies. Large-scale patterns of abundance and size structure were consistent with seastar effects anticipated from small-scale experimental and feeding studies for some, but not all, species. While the field survey ultimately provided evidence about the presence or absence of seastar impacts at large-scales, the identification of key ecological variables in experimental and feeding studies proved crucial to both the design and interpretation of patterns observed in the large-scale surveys. Overall, this work highlighted the necessity to consider multiple lines of evidence rather than relying on a single ‘inferential’ test, in the absence of pre-impact data.     

A Sensitivity Analysis of the Waterline Method of Constructing a Digital Elevation Model for Intertidal Areas in ERS SAR scene of Eastern England

A sensitivity analysis of the waterline method of constructing a Digital Elevation Model (DEM) of an intertidal zone using remote sensing and hydrodynamic modelling is described. Variation in vertical height accuracy as a function of beach slope is investigated using a set of nine ERS Synthetic Aperture Radar (SAR) images of the Humber/Wash area on the English east coast acquired between 1992 and 1994. Waterlines from these images are heighted using a hydrodynamic tide-surge model and interpolated using block kriging. On 1:500 slope beaches, an average block height estimation standard deviation of 18–22 cm is achieved. This rises to 27 cm on 1:100 slope beaches, and 32 cm on 1:30 slope beaches. The average heighting error at different slopes is decomposed into components due to waterline heighting error, inadequate sensor resolution and interpolation inaccuracy. It is shown that, at 1:500 slope, waterline heighting error and interpolation inaccuracy are the main error sources, whilst at 1:30 slope, errors due to inadequate sensor resolution become dominant. The ability of the technique to generate intertidal DEMs for almost the entire coastal zone in a complete ERS SAR scene covering 100×100 km is demonstrated.     

Large-scale vertical hydroacoustic structure of the North Atlantic and its seasonal variability

A classification based on the number and types of large-scale acoustic waveguides is proposed for the mean seasonal profiles of sound speed propagation. A scheme for North Atlantic zoning, using typical curves of the sound speed vertical distribution, is given. The channel axis's position is shown not to depend on the water mass haline properties, being controlled by the temperature field vertical stratification.Translated by Vladimir A. Puchkin.     

Automatic Registration of TOBI Side-Scan Sonar and Multi-Beam Bathymetry Images for Improved Data Fusion

Deep towed side-scan sonar vehicles such as TOBI acquire high quality imagery of the seafloor with very high spatial resolution but poor locational accuracy. Fusion of the side-scan sonar data with bathymetry data from an independent source is often desirable to reduce ambiguity in geological interpretations, to aid in slant-range correction and to enhance seafloor representation. The main obstacle to fusion is accurate registration of the two datasets.The application of hierarchical chamfer matching to the registration of TOBI side-scan sonar images and multi-beam swath bathymetry is described. This matches low level features such as edges in the TOBI image, with corresponding features in a synthetic TOBI image created by simulating the flight of the TOBI vehicle through the bathymetry. The method is completely automatic, relatively fast and robust, and much easier than manual registration. It allows accurate positioning of the TOBI vehicle, enhancing its usefulness as a research tool. The method is illustrated by automatic registration of TOBI and multi-beam bathymetry data from the Mid-Atlantic Ridge.