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.     

Mercury speciation in surface and deep waters of the Mediterranean Sea

Mercury speciation and its distribution in surface and deep waters of the Mediterranean Sea were studied during two oceanographic cruises on board the Italian research vessel URANIA in summer 2003 and spring 2004 as part of the Med Oceaneor and MERCYMS projects. The study included deep water profiles of dissolved gaseous Hg (DGM), reactive Hg (RHg), total Hg (THg), monomethyl Hg (MeHg) and dimethyl Hg (DMeHg) in open ocean waters. Average concentrations of measured Hg species were characterized by seasonal and spatial variations. Overall average THg concentrations ranged between 0.41 and 2.65 pM (1.32 ± 0.48 pM) and were comparable to those obtained in previous studies of the Mediterranean Sea. A significant fraction of Hg was present as “reactive” Hg (average 0.33 ± 0.32 pM). Dissolved gaseous Hg (DGM), which consists mainly of Hg⁰, represents a considerable proportion of THg (average 20%, 0.23 ± 0.11 pM). The portion of DGM typically increased towards the bottom, especially in areas with strong tectonic activity (Alboran Sea, Strait of Sicily, Tyrrhenian Sea), indicating its geotectonic origin. No dimethyl Hg was found in surface waters down to the depth of 40 m. Below this depth, its average concentration was 2.67 ± 2.9 fM. Dissolved fractions of total Hg and MeHg were measured in filtered water samples and were 0.68 ± 0.43 pM and 0.29 ± 0.17 pM for THg and MeHg respectively. The fraction of Hg as MeHg was in average 43%, which is relatively high compared to other ocean environments. The concentrations reported in this study are among the lowest found in marine environments and the quality of analytical methods are of key importance. Speciation of Hg in sea water is of crucial importance as THg concentrations alone do not give adequate data for understanding Hg sources and cycling in marine environments. For example, photoinduced transformations are important for the presence of reactive and elemental mercury in the surface layers, biologically mediated reactions are important for the production/degradation of MeHg and DGM in the photic zones of the water column, and the data for DGM in deep sea indicate the natural sources of Hg in geotectonicaly active areas of the Mediterranean Sea.     

Contamination of organotin compounds and imposex in molluscs from Vancouver,Canada

Gastropods and bivalves were collected at 15 sites at Vancouver and Victoria, Canada between 24 May and 7 June, 1999, to establish tissue concentrations of butyltin and phenyltin compounds, to record imposex symptoms in gastropods, and to assess the present status of organotin contamination around Vancouver. No neogastropods (such as Nucella lima) were found around Vancouver. Neogastropod populations could have been extirpated by severe TBT contamination in Vancouver, as relatively high concentrations of TBT were detected in tissues of Mytilus trossulus from Vancouver, and the neogastropods distributed in Vancouver might be sensitive to TBT. Recovery from imposex, however, was observed in neogastropod populations from three sites at Victoria and Mission Point. TBT contamination has continued around Vancouver, arising from continuous use of TBT in antifouling paints for vessels larger than 25 m in length; however, TBT has decreased around Victoria and Mission Point. Different patterns of TBT accumulation in tissue were observed among the bivalve species from Vancouver. The highest TBT concentration detected in Tresus capax suggested some possible adverse effects. TBT was the most predominant butyltin component in almost all bivalve specimens surveyed, suggesting a low rate of TBT metabolism. Phenyltin compounds were not detected in any molluscan specimens in this study.     

Diet of albacore Thunnus alalunga from the waters of Mauritius (western Indian Ocean) inferred from stomach contents and fatty acid analysis

The diet of albacore Thunnus alalunga from their spawning ground in the waters of Mauritius was investigated. The stomach contents of 249 albacore individuals, caught by industrial longliners and artisanal fishers, was analysed, and the dominant prey taxa were selected for lipid and fatty acid (FA) analysis. The FA profiles of prey were compared with those of liver tissue of spawning-capable and post-spawning female albacore, using multivariate analysis. Whereas stomach content analysis identified cephalopods and crustaceans as the dominant prey items in number, FA-profile analysis identified crustaceans and fishes as the most-frequently consumed prey of post-spawning female albacore. In contrast, the FA profiles of spawning-capable albacore and those of prey showed very low similarity. Analysis of the prey suggests that although cephalopods, crustaceans and fishes could all provide albacore with the required lipids and FAs, cephalopod prey seem to be less desirable owing to their lower energy content (i.e. low in total lipid, triacylglycerol, 16:0, 18:0 and 18:1ω9). Instead, the most beneficial food appeared to be locally available fishes, which are more energy-rich and have a higher docosahexaenoic acid/ eicosapentaenoic acid ratio. These results provide new information on the trophic ecology of albacore, promote our understanding of the importance of prey type for successful reproduction of albacore, and highlight the advantages of FA profiling to study diet.     

Short period internal waves over the Huanghe (Yellow River) delta front

Internal waves with periods of about 5 minutes and trough to crest heights of up to 6.2 m were observed acoustically over the actively accreting delta front of the Huanghe (Yellow River) in the western portion of the Gulf of Bohai, Peoples Republic of China. The radian frequency of the internal waves was close to the locally-observed Brunt-Vaisala frequency. Through the relatively short (one hour) duration of an internal wave train, the amplitude was observed to decrease progressively with time. These internal waves may cause resuspension of delta-front sediments.     

Effect of shallow and narrow water on added mass of cylinders with various cross-sectional shapes

The sway, heave and roll added masses of three uniform cylinders with semi-circular, rectangular and triangular cross-sectional shapes in shallow and narrow water are numerically analysed. The method is based on simulation of the potential flow induced by the cylinder's mode of motion. The effects of shallow and narrow water on added mass are analysed and presented. It is concluded that the shallow and narrow water effects on added mass depend on the different cross-section shapes of the cylinders. In particular, the water depth effect on sway added mass is stronger than that on heave added mass while the narrow water effect on sway is weaker than that on heave. The shallow water effect on added mass tends to weaken the narrow water effect. Lastly the effect of shallow and narrow water on added mass on a rectangular cylinder is the strongest while that on a triangular cylinder is the weakest.     

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.     

Comments on the Gravity and Magnetic Anomalies of Saros Bay using Wavelet Approach

In this paper, residual and regional gravity and magnetic anomalies of Saros Bay are separated using wavelet method. Wavelet is one of the modern, stochastic image approaches processing technique in electronics. The vertical, horizontal and diagonal components of wavelet output are evaluated simultaneously and an underground model is obtained by suitable cross-sections. Thus the geological and tectonic properties of Saros Bay are extracted. Our proposed model is confirmed by deep and shallow seismic researches of Turkish Petroleum Cooperation (TPAO). The South-East region of Saros Graben is formed by strike slip Ganos Fault and Anafartalar reverse Fault that lies on the east of Ganos Fault. On the Northwest region, there is strike slip component fault resulting in the Enez Graben. Here we detected two new oval type geological structure, both of them starting from the Eastern direction of Canakkale Dardanelles and but one of them continuing through Gelibolu Peninsuls, while the other tending to the Enez Graben. We think that these structures are the ruins of a very old sea in this region. This revised version was published online in November 2006 with corrections to the Cover Date.