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.     

Estimates of the characteristics of the horizontal turbulent exchange in the northwestern part of the Pacific Ocean

Estimates of the characteristics of the horizontal turbulent exchange (coefficients of horizontal exchange, scales of deviations of the velocity of geostrophic currents from the background flows, and horizontal scales of perturbations) in the upper ocean layer were obtained on the basis of the data of expeditions held in 1978 and 1980 in the northwestern part of the Pacific Ocean. It is shown that the characteristics of the horizontal turbulent exchange strongly depend on the structure of the background flows, and one of the causes of their variability is related to tropical cyclones. A tendency to a decrease (to different degrees) of the turbulent coefficients in the wake of a tropical cyclone is noted.     

Manifestation of the Arctic Oscillation and El Niño-Southern Oscillation in the tropical stratosphere

Characteristics of the Arctic Oscillation and El Niño-Southern Oscillation effects manifested on interannual scales in the equatorial stratosphere are determined. Wavelet analysis of local phase shifts, coherence, and correlation is used to obtain correlation portraits of the largest factors of climate variability against the background of coherent variations in the equatorial stratospheric wind speed at the 50- and 15-hPa pressure levels. It is shown that the Arctic Oscillation and El Niño-Southern Oscillation signals may reach the tropical stratosphere. The signals are easily identified in a wide range of scales, including quasi-biennial, 3-to 5-year, and 10-to 11-year periods. The results obtained reflect a coherent pattern of the manifestation of these signals at the selected stratospheric levels. It is found that the El Niño-Southern Oscillation effect at periods close to 10–11 years reaches the stratospheric level rather rapidly, in the same or next month, while the effects of the Arctic Oscillation index are delayed by nine months. The estimates obtained show that a phase shift of almost 180° in the Arctic Oscillation index relative to the equatorial stratospheric wind occurred in almost all of the range of interannual periods in 1978 and 1992. For the El Niño-Southern Oscillation, an increase in local correlations on a scale of 3-to 5-year variations was observed in 1980–1990, a 180° phase shift occurred in 1992, and the correlation with stratospheric wind increased in 1992–2004. The estimates obtained are indicative of a change in the atmospheric circulation pattern that took place in the Northern Hemisphere in 1978–1991.     

Geological structure of the Curonian Spit (of the Baltic Sea) and its evolution history (revised)

The origin and evolution history of the Curonian Spit in the Baltic Sea are discussed based on geological and geomorphologic data. Evidence of the correlation between the spit formation stages and the Holocene sea level oscillations is presented. The ledges of moraine basement and marine accumulative features formed a single barrier. Its subsequent transformation occurred under the influence of the wave-related lithodynamic and eolian processes.     

The Pechora Sea: Past,recent, and future

The main stages in the development of the Pechora Sea are discussed. It is established that, during the high sea level stand corresponding to the warmest epoch of the Mikulino Interglacial, the Pechora Sea represented a more spacious, as compared with its present-day size, basin owing to the flooded valleys of river lower reaches. No sea in its present-day configuration existed during the last (Valdai) glaciation. At that time, the sea could have occupied only a narrow area along the southern coast of Novaya Zemlya, where marine sedimentation was in progress during the Late Pleistocene and Holocene. During the glaciation and postglacial time, the dried bottom of the former Pechora Sea accumulated large volumes of sand that are now concentrated largely in the accretion structures along its southern coast. In the current century, changes will occur mainly in the coastal zone of the Russkii Zavorot Peninsula, Pesyakov Island, the Varandei Settlement area, and the Medynskii Zavorot Peninsula, where a shoreline retreat for a distance of 0.5 km is expected.     

Supply and precipitation of hydrothermal iron in the rift valley of the Mid-Atlantic Ridge at 26° and 29° N

This publication considers the probing data on aquatic anomalies (hydrothermal plumes) in the areas of 26° and 29° N of the Mid-Atlantic Ridge (MAR). The mass of the hydrothermal iron supply and the intensity of the iron sedimentation onto the bottom were estimated by means of sediment traps. It was found that the plume of the TAG hydrothermal vent 6 km³ in volume contained about 67 t of suspended Fe; the plume of the Broken Spur field (up to 8.24 km³ in volume) contained 23.5 t or less because of the lower concentration. The data on the sedimentary matter fluxes showed that 0.3–0.5% of the hydrothermal iron was precipitated immediately from a plume of neutral buoyancy onto the bottom; the bulk of the iron was dissipated into the environment. From the dimensions of the plumes, the flow dynamics, the iron concentrations in the plumes, and the amounts of iron supplied by hydrothermal vents, it was found that the resident time of the plumes considered was from 5 to 10 days.     

Intense Arctic mesocyclones

Characteristics of polar mesoscale cyclones (PMCs) over the North European Basin are analyzed using cloud cover distribution data for 1981–1995. Special features of the annual cycle and interannual variations in characteristics of Arctic mesocyclones with a spiral and comma-shaped cloud structure are discussed. Against the background of large interannual variations, no statistically significant trends were found in the characteristics of Arctic mesocyclones over the North European Basin in the late 20th century. It is shown that the cumulative frequency distribution of PMCs is well approximated by an exponential function in a size range for Arctic mesocyclones from 50 to 400 km. The applicability of the Weibull distribution as an approximation of the PMC size distribution of the number of cyclone days is analyzed. It is shown that the correspondence between the real distribution and the Weibull distribution became worse in the 1990s than in the 1980s, especially the first half of the 1980s. Much of this was due to an increased local maximum in the 1990s in the distribution of polar mesocyclones with diameters about 400 km. This local maximum was found for all types of mesoscale vortices and for all analyzed five-year subperiods during 1981–1995. A large discrepancy between the frequency distribution functions for PMCs depending on their diameters was shown to exist for different types of Arctic mesocyclones.     

Mixed layer variability in Northern Arabian Sea as detected by an Argo float

Seasonal evolution of surface mixed layer in the Northern Arabian Sea (NAS) between 17° N–20.5° N and 59° E-69° E was observed by using Argo float daily data for about 9 months, from April 2002 through December 2002. Results showed that during April - May mixed layer shoaled due to light winds, clear sky and intense solar insolation. Sea surface temperature (SST) rose by 2.3 °C and ocean gained an average of 99.8 Wm⁻². Mixed layer reached maximum depth of about 71 m during June - September owing to strong winds and cloudy skies. Ocean gained abnormally low ∼18 Wm⁻² and SST dropped by 3.4 °C. During the inter monsoon period, October, mixed layer shoaled and maintained a depth of 20 to 30 m. November - December was accompanied by moderate winds, dropping of SST by 1.5 °C and ocean lost an average of 52.5 Wm⁻². Mixed layer deepened gradually reaching a maximum of 62 m in December. Analysis of surface fluxes and winds suggested that winds and fluxes are the dominating factors causing deepening of mixed layer during summer and winter monsoon periods respectively. Relatively high correlation between MLD, net heat flux and wind speed revealed that short term variability of MLD coincided well with short term variability of surface forcing.     

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.