Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

Porphyroblast inclusion-trail orientation data: eppure non son girate*!

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.     

A circular passive synthetic array: an inverse problem approach

Based on the general concept of the inverse acoustic radiation problem, the temporal scanning of a stationary acoustic field along a closed contour is used to simplify the measurement approach for obtaining information on source directionality. The mathematical formulation is derived from a model of the two-dimensional acoustic field. The formulation of the inverse problem is also investigated to establish a methodology for improving the angular resolution of the array processing. The fundamental relationship between the sound sources and the circular passive synthetic array is explored, utilizing existing mathematical methods, in order to develop the processing algorithm. Other subjects of practical interest, such as directional ambiguity, effect of Doppler frequency, interference noise, and processing gain are discussed. It is concluded that the results can be used to establish guidelines for engineering design and deployment of this type of synthetic array, and to further exploit the new array signal processing technique     

A sedimentary record from a deep Quaternary valley in the southern Lillebælt area, Denmark: Eemian and Early Weichselian lithology and chronology at Mommark

A unique sequence of Late Saalian, Eemian and Early Weichselian strata is exposed in a coastal outcrop at Mommark in the western Baltic. The sedimentary facies and faunas reflect palaeoenvironmental changes from an initial freshwater lake followed by marine transgression and interglacial deposition in a palaeo-Baltic sea. The upper part of the Eemian marine record indicates regression followed by lacustrine sedimentation and deposition of Early Weichselian aeolian sediments, which are truncated by an erosional unconformity overlain by a till bed. The lower and middle parts of the sequence have previously been correlated with the European glacial-interglacial stratigraphy on the basis of pollen analysis, while the upper part has been dated for the present study using optically stimulated luminescence (OSL) of samples from the aeolian and glacial deposits. A similar complete glacial-interglacial-glacial succession has not previously been recorded from this area. The Mommark sequence of conformable strata has been subjected to lateral compression, evidenced by folding and low-angle reverse faults. Seismic records from the adjacent waters in the western Baltic reveal a system of buried Quaternary valleys in the area. It is suggested that the interglacial deposition took place in a basin within one of these valleys and that a slab constituting the Mommark sequence, originating from the margin of a valley, has been glaciotectonically displaced northwestwards to the present location.     

Occurrence of varved lake sediment sequences in Varmland, west central Sweden: lake characteristics, varve chronology and AMS radiocarbon dating

Varved lake sediments can be used to set multiple environmental proxies within a calendar year time scale. We undertook a systematic survey of lakes in the Province of Värmland, west central Sweden, with the aim of finding continuous varved lake sediment sequences covering the majority of the Holocene. In Fennoscandia, such sediments have previously only been recorded in northern Sweden and in southern and central Finland. By following a selective process and fieldwork we discovered three new varved sites (i.e. Furskogstjärnet, Mötterudstjärnet and Kälksjön). We found that lakes with varved sediments have several common lake morphometry properties and lake catchment characteristics such as maximum water depth, maximum water depth/lake surface area ratio, catchment soil types, altitude and number of inflows. Varve chronologies, supported by AMS-¹⁴C dating and tephrochronology were established for two of the sediment profiles. These varve chronologies are the longest geological records with an annual resolution known to exist in Sweden. In Furskogstjärnet, the AMS- ¹⁴C dates based on terrestrial plant macrofossils at several levels deviate significantly from the varve based time-depth curve. In Motterudstjarnet, a fully reasonable time-depth model based on the ¹⁴C dates gives older ages in the lower part of the sequence compared to the varve chronology. These results highlight that seemingly acceptable AMS radiocarbon dates may be erroneous. They also point to the fact that varved lake sediments are reliable geological archives with respect to chronological control and accuracy. Thus, these archives should be of prime interest for studies of climate and environmental change undertaken with the aim of providing sub-decadal resolution proxy data sets.     

Biological and granulometric controls on sedimentary organic matter of an intertidal mudflat

A variety of measures of organic matter concentration and quality were made on samples collected from the top few mm of intertidal mudflat sediment over the course of a year, in order to assess the relative importance of biological and sedimentological influences on sedimentary organic matter. Winter and summer were times of relatively fine-grained sediment accumulation, caused by biological deposition or stabilization processes and resulting in higher organic matter concentrations. Stable carbon isotope and Br:C ratios indicated a planktonic source of bulk organic matter. Ratios of organic carbon to specific surface area of the sediments were consistent with an organic monolayer coverage of sediment grains. Correction for changing grain size during the year showed no change in the organic concentration per unit surface area, in spite of organic matter inputs by in situ primary production, buildup of heterotroph biomass and mucus coatings, and biodeposition of organic-rich seston. There were also no indications of changes in bulk organic quality, measured as hydrolyzable carbohydrates and amino acids, in response to these biological processes. It is concluded that biological processes on a seasonal time scale affect the bulk organic matter of these sediments via a modulation of grain size rather than creation or decay of organic matter.     

Effect of metamorphism and partial melting of host rocks on zircons

Abstract Zircons have been studied from different layers of migmatites (from Arvika, western Sweden and Nelaug, southern Norway) and from a paragneiss (from Arvika) associated with one of the migmatites. The main purpose of the investigation is to establish whether or not information about zircons can help in the elucidation of the parentage and rock-forming processes of migmatites.
The elongation ratio of zircons from all layers is small and characteristic of sedimentary zircons. Further, the absence of characteristic colours and the growth trends of the zircons (indicated by the reduced major axes) observed in the various samples both support a sedimentary parentage for these rocks. The zircons of all layers exhibit secondary growth (overgrowth, outgrowth and multiple growth) due to metamorphism. Compared with the zircons from the paragneiss, those of the migmatite layers are more clouded and less rounded, some of them becoming opaque or even skeletal; this is especially true of the zircons from the leucosomes. These observations indicate an alteration of the original sedimentary zircons in the migmatite, especially in the leucosomes, in response to the migmatization process, previously interpreted as partial melting.     

Middle-ear stiffness of the bottlenose dolphin tursiops truncatus

Previous research on the cetacean auditory system has consisted mostly of behavioral studies on a limited number of species. Little quantitative physiologic data exists on cetacean hearing. The frequency range of hearing varies greatly across different mammalian species. Differences among species correlate with differences in the middle-ear transfer function. Middle-ear transfer functions depend on the mechanical stiffness of the middle ear and the cochlear input impedance. The purpose of this study was to measure the middle-ear stiffness for the bottlenose dolphin (Tursiops truncatus), a species specialized for underwater high-frequency hearing and echolocation. Middle-ear stiffness was measured with a force probe that applied a known displacement to the stapes and measured the restoring force. The average middle-ear stiffness in ten dolphin ears was 1.37 N//spl mu/m, which is considerably higher than that reported for most terrestrial mammals. The relationship between middle-ear stiffness and low-frequency hearing cutoff in Tursiops was shown to be comparable to that of terrestrial mammals.