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.     

The carbon isotopic response of algae, (cyano)bacteria, archaea and higher plants to the late Cenomanian perturbation of the global carbon cycle: Insights from biomarkers in black shales from the Cape Verde Basin (DSDP Site 367)

The stable carbon isotopic compositions of free and sulfur (S)-bound biomarkers derived from algae, (cyano)bacteria, archaea and higher plants and total organic carbon (TOC) during the first phase of the late Cenomanian/Turonian oceanic anoxic event (OAE) were measured in black shales deposited in the southern proto-Atlantic Ocean in the Cape Verde basin (DSDP Site 367) to determine the response of these organisms to this major perturbation of the global carbon cycle resulting from widespread burial of marine organic matter. The average positive isotope excursions of TOC and biomarkers varied from 5.1‰ to 8.3‰. The δ¹³C values were cross correlated to infer potential common sources of biomarkers. This revealed common sources for C₃₁ and C₃₂ hopanes but no 1:1 relationship for pristane and phytane. The correlation of δ¹³C_TOC with the δ¹³C value of sulfur (S)-bound phytane is the strongest. This is because S-bound phytane is derived from phytol that originates from all marine primary producers (algae and cyanobacteria) and thus represents a weighted average of their carbon isotopic compositions. The δ¹³C values of S-bound phytane and C₃₅ hopane were also used to estimate pCO₂ levels. Before the OAE burial event, pCO₂ levels are estimated to be ca. 1300 ppmv using both biomarkers and the independent maximum Rubisco fractionation factors. At times of maximum organic carbon burial rates during the OAE, reconstructed pCO₂ levels are estimated to be ca. 700 ppmv. However, compared to other C/T OAE sections the positive isotope excursion of S-bound phytane is also affected by an increased production during the OAE. When we compensate for this, we arrive at pCO₂ levels around 1000 ppmv, a reduction of ca. 25%. This indicates that burial of organic matter can have a large effect on atmospheric CO₂ levels.     

Sea Level Variations and Geomorphological Changes in the Coastal Belt of Pakistan

The UNEP in its regional seas program in 1989 has included Pakistan in a group of countries which are vulnerable to the impact of rising sea level. If the present trend of sea level rise (SLR) at Karachi continues, in the next 50 years the sea level rise along the Pakistan Coast will be 50 mm (5 cm). Since the rising rates of sea level at Karachi are within the global range of 1-2 mm/year, the trends may be treated as eustatic SLR. Historical air temperature and sea surface temperature (SST) data of Karachi also show an increasing pattern and an increasing trend of about 0.67°C has been registered in the air temperature over the last 35 years, whereas the mean SST in the coastal waters of Karachi has also registered an increasing trend of about 0.3°C in a decade. Sindh coastal zone is more vulnerable to sea level rise than Baluchistan coast, as uplifting of the coast by about 1-2 mm/year due to subduction of Indian Ocean plate is a characteristic of Baluchistan coast. Within the Indus deltaic creek system, the area nearby Karachi is more vulnerable to coastal erosion and accretion than the other deltaic region, mainly due to human activities together with natural phenomena such as wave action, strong tidal currents, and rise in sea level. Therefore, The present article deals mainly with the study of dynamical processes such as erosion and accretion associated with sea level variations along the Karachi coast and surrounding Indus deltaic coastline. The probable beach erosion in a decade along the sandy beaches of Karachi has been estimated. The estimates show that 1.1 mm/year rise in sea level causes a horizontal beach loss of 110 mm per year. Therefore, coast eroded with rise in sea level at Karachi and surrounding sandy beaches would be 1.1 m during a period of next 10 years. The northwestern part of Indus delta, especially the Gizri and Phitti creeks and surrounding islands, are most unstable. Historical satellite images are used to analyze the complex pattern of sediment movements, the change in shape of coastline, and associated erosion and accretion patterns in Bundal and Buddo Islands. The significant changes in land erosion and accretion areas at Bundal and Buddo Islands are evident and appear prominently in the images. A very high rate of accretion of sediments in the northwestern part of Buddo Island has been noticed. In the southwest monsoon season the wave breaking direction in both these islands is such that the movement of littoral drift is towards west. Erosion is also taking place in the northeastern and southern part of Bundal Island. The erosion in the south is probably due to strong wave activities and in the northeast is due to strong tidal currents and seawater intrusion. Accretion takes place at the northwest and western parts of Bundal Island. By using the slope of Indus delta, sea encroachment and the land area inundation with rising sea level of 1 m and 2 m have also been estimated.     

Copper partitioning between olivine and melt inclusions and its content in primitive island-arc magmas of Kamchatka

Melt inclusions and hosting them highly magnesian olivine from rocks of Kamchatka and the Western Aleutian island arc were analyzed for copper content by LA-ICP-MS to determine the copper partition coefficient in primitive island-arc magmas. Based on measurements of 45 olivine–melt pairs, this coefficient was determined to be 0.028 ± 0.009 (2σ), which is the lowest value among previously published data. Mass-balance calculations of copper in a typical mantle peridotite using obtained partition coefficient indicate that its content in peridotite and primary mantle magmas is mainly determined by mantle sulfide. The Cu partition coefficient was also used to calculate the copper content in parental magmas of volcanoes of the Central Kamchatka Depression. Estimates obtained using copper content in phenocrysts of primitive olivine (Fo > 88 mol %) from these rocks are, on average, 139 ± 58 ppm (2σ), which exceed copper contents in primitive basalts (MgO > 8.5 wt %) of mid-ocean ridges (MORB 93 ± 31 ppm). This suggests the primary enrichment of Central Kamchatka magmas in copper and correlates with their more oxidizing conditions of formation as compared to MORB.     

Origin and history of hydrothermal fluids of the Reykjanes and Krafla geothermal fields,Iceland

The Reykjanes and Krafla geothermal fields are both examples of active high temperature systems and show similar assemblages of alteration minerals, but the fluid at Reykjanes is dominantly sea water whereas that at Krafla is meteoric. Oxygen isotope analyses of surface rock and of drill chip samples from different depths are presented, together with results for the Krafla fluid, which is close to local precipitation (δ ¹⁸ O = ?11.9‰, δD= ?86.8‰). Calcite in both systems is apparently in equilibrium with the present deep fluid at the present field temperature, except for the upper 250 m at Reykjanes where the fluid may be more meteoric than at depth. Feldspar gives similar results. Quartz separates at Reykjanes are anomalously lighter than coexisting feldspar and give exceptionally high quartz-fluid temperatures. It is suggested that quartz originally grew when the fluid was more nearly meteoric (? glacial period) and has not re-equilibrated. Bulk-rock ¹⁸ O depletion supports this interpretation of the history of the Reykjanes system. Quartz in the Krafla system is mostly in equilibrium at the present field conditions but anomalies occur near the boundary between the upper and lower parts of the system, suggesting that this is not entirely stable. A high fluid:rock ratio (10–100 minimum) is indicated for the Krafla field.     

Particle Filter-based assimilation algorithms for improved estimation of root-zone soil moisture under dynamic vegetation conditions

In this study, we implement Particle Filter (PF)-based assimilation algorithms to improve root-zone soil moisture (RZSM) estimates from a coupled SVAT-vegetation model during a growing season of sweet corn in North Central Florida. The results from four different PF algorithms were compared with those from the Ensemble Kalman Filter (EnKF) when near-surface soil moisture was assimilated every 3 days using both synthetic and field observations. In the synthetic case, the PF algorithm with the best performance used residual resampling of the states and obtained resampled parameters from a uniform distribution and provided reductions of 76% in root mean square error (RMSE) over the openloop estimates. The EnKF provided the RZSM and parameter estimates that were closer to the truth than the PF with an 84% reduction in RMSE. When field observations were assimilated, the PF algorithm that maintained maximum parameter diversity offered the largest reduction of 16% in root mean square difference (RMSD) over the openloop estimates. Minimal differences were observed in the overall performance of the EnKF and PF using field observations since errors in model physics affected both the filters in a similar manner, with maximum reductions in RMSD compared to the openloop during the mid and reproductive stages.     

Heavy metals in some New Zealand commercial sea fishes

To establish a base line against which future pollution may be measured, eight common commercial species of New Zealand sea fish were analysed for cadmium, chromium, copper, iron, lead, manganese, nickel, and zinc. One sample of edible muscle tissue was analysed for each of 70 samples of each species. The internal organs of up to five specimens of each species were also analysed. The fish studied were: kahawai, Arripis trutta, trevally, Caranx lutescens, tarakihi, Cheilodactylis macropterus, snapper, Chrysophrys auratus, moki, Latridopsis ciliaris, hapuku, Polyprion oxygeneios, kingfish, Seriola grandis and gurnard, Trigla kumu.

Although, none of the edible parts of the fish appeared to have trace element levels likely to be a public health problem (cadmium 0.002–0.02 ppm, chromium 0.01–0.04 ppm, copper 0.04–0.95 ppm, iron 0.9–13.5 ppm, lead ‘ 0.14–0.95 ppm, manganese 0.04–2.00 ppm, nickel 0.01–0.08 ppm, zinc 2.0–36.0 ppm), some of the organs (particularly the liver) had relatively high concentrations of elements such as cadmium (up to 54 ppm). Only if some industry were to seek to exploit internal organs of fish for human consumption would such levels become important. There was some evidence for a relationship between trace element concentrations and fish size for copper in kingfish and snapper, iron in hapuku, manganese in gurnard, and for zinc in kingfish and tarakihi. Some element pairs such as copper and zinc, iron and manganese, appeared to have concentrations which were mutually related. It was assumed that the elemental concentrations reported represent natural levels and are not the result of significant man‐made pollution because there are no major industries or large urban centres adjacent to the fishing grounds.