Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

Some vibrational bands of theC-X system of V0 molecules in the umbral spectrum of the Sun

Vibrational transition probabilities namely Franck-Condon factors and r-centroids have been evaluated using an approximate analytical method for theC-X system of V0. Morse potential energy curves forX _{4 –} andC _{4 –} states of V0 have been constructed using the latest spectroscopic data. The value of r-centroids for the band have been found to increase linearly with the corresponding wavelength. We show results for new transition and ten new bands in the umbral spectrum of the Sun.     

Hall effects on heat and mass transfer flow with variable suction and heat generation

A study of the combined buoyancy effects of thermal and mass diffusion on MHD convection flow in the presence of Hall currents with variable suction and heat generation has been carried out. Analytical expressions for the velocity and the temperature of the fluid are given. The effects of Hall currents, parameterm, and heat source parameter on the velocity are discussed.     

Bianchi type-II,VIII, and IX in certain new theories of gravitation

Bianchi type-II, VIII, and IX models have been investigated in scalar-tensor theories developed by Saez (1985), Saez and Ballester (1985), and Lau and Prokhovnik (1986) (under the assumption of a certain relationship between the cosmological term and the scalar field ). The dynamical behaviour of these models has been studied.     

Distribution analysis of salt affected soils under canal and non-canal command area in a part of Etah district,U. P., using remote sensing technique

A World Bank-aided project on sodic land reclamation in Uttar Pradesh is being executed by U.P. Bhumi Sudhar Nigam, Lucknow, and Remote Sensing Applications Centre, U.P., Lucknow has the responsibility of sodic land mapping for the execution of land reclamation programme at the cadastral level. Sodic lands are mainly concentrated in the Gangetic alluvial plains but the problem of sodicity is particularly acute in the canal-irrigated areas. A study of the distribution pattern of sodic lands in canal and noncanal command areas in a reclamation site (covering 60 villages out of which sodic lands were mapped in 51 villages) of Etah district in Uttar Pradesh, indicates that 18.39 per cent area of the canal command villages was barren sodic which was 13.41 per cent of the total geographical area of the site (15417 ha), however, 11.69 per cent area was recorded to be barren sodic in the non-canal command villages which was only 3.16 per cent of the geographical area of the site. The results of soil chemical analysis indicate that barren sodic lands of canal command area are saline-sodic with higher concentration of soluble salts (pH₂ >8.5, EC₂ >4 dSm⁻¹), however, those of non-canal command area are sodic (pH₂ >8.5, EC₂ <4 dSm⁻¹). The post-monsoon ground level in the canal-irrigated areas was in the critical and semicritical zone (< 3.0 mbgl) whereas it was well below the semi-critical zone in the non-canal command area, which indicates that the high ground water level is a major factor to higher the area under sodicity.     

Coseismic responses and the mechanism behind MW 5.1 earthquake of March 14, 2005 in the Koyna–Warna region, India

An earthquake of M_w 5.1 occurred on March 14, 2005, in the seismically active Koyna–Warna region in western India, the site known for the largest reservoir triggered seismicity (RTS) in the world. For more than four decades, earthquakes with M  4.0 have occurred in this region at regular intervals. Impoundment of reservoirs and changes in lake levels can trigger earthquakes by two processes of stress modifications, namely direct loading effect of the reservoir and diffusion through various faults and fractures. In this paper we analysed the reservoir water level data at Koyna and Warna reservoirs prior to the occurrence of the March 14, 2005 earthquake, to explain the dominant mechanism behind its occurrence and its correlation with the observed coseismic changes. We conclude that the diffusion process, not the reservoir load effect, is the dominating mechanism triggering earthquakes in the region. The coseismic changes in deep well water levels sensitive to earth tides are found to be to the order of 1–12 cm.     

Artificial neural network and liquefaction susceptibility assessment: a case study using the 2001 Bhuj earthquake data,Gujarat, India

This study pertains to prediction of liquefaction susceptibility of unconsolidated sediments using artificial neural network (ANN) as a prediction model. The backpropagation neural network was trained, tested, and validated with 23 datasets comprising parameters such as cyclic resistance ratio (CRR), cyclic stress ratio (CSR), liquefaction severity index (LSI), and liquefaction sensitivity index (LSeI). The network was also trained to predict the CRR values from LSI, LSeI, and CSR values. The predicted results were comparable with the field data on CRR and liquefaction severity. Thus, this study indicates the potentiality of the ANN technique in mapping the liquefaction susceptibility of the area.     

Attenuation relations for strong seismic ground motion in the Himalayan region

Strong motion data from various regions of India have been used to study attenuation characteristics of horizontal peak acceleration and velocity. The strong ground motion data base considered in the present work consists of various earthquakes recorded in the northern part of India since 1986 with magnitudes 5.7 to 7.2. Using these data, relations for horizontal peak acceleration and velocity, which are $$\begin{gathered} log_{10} a = 1.14 + 0.31M + 0.65log_{10} R \hfill \\ log_{10} v = 0.571 + 0.41M + 0.768log_{10} R \hfill \\ \end{gathered} $$ have been proposed wherea is the peak horizontal acceleration in cm/sec²,v is the peak horizontal velocity in mm/sec,M is body wave magnitude, andR is the hypocentral distance in km. The proposed relations are in reasonable agreement with the small amount of strong ground motion data available for the northern part of India. The present results will be useful in estimating strong ground motion parameters and in the earthquake resistant design in the Himalayan region.     

Whistler observations of the quiet time plasmasphere-ionosphere coupling fluxes at low latitude

Observations of whistlers during quiet times made at low-latitude ground station Nainital (geomag. lat. 19 1 N) are used to deduce plasmasphere-ionosphere coupling fluxes. The whistler data from 3 magnetically quiet days are presented that show a smooth decrease in dispersion with time. This decrease in dispersion is interpreted in terms of a corresponding decrease in electron content of tubes of ionization. The electron densities, electron tube contents (10¹⁶ el/m²-tube) and coupling fluxes (10 el m^–1 s^–2) are computed by means of an accurate curve fitting method developed by Tarcsai (1975) and are in good agreement with the results reported by other workers.     

Mixed-layer characteristics as related to the monsoon climate of New Delhi,India

Annual variations of mixed-layer characteristics at New Delhi, India have been studied for a weak monsoon (1987) and a strong monsoon (1988) year. In the weak monsoon year (1987), the maximum mixing depthh _max was found to have a value of around 3000 m during the pre-monsoon, less than 2000 m during the summer monsoon, around 2000 m during the post-monsoon, and less than 1000 m in the winter season. For the strong monsoon year (1988),h _max values were less than 1987 values for comparable periods throughout the year. The seasonal and yearly differences ofh _max were explained by the surface energy balance and potential temperature gradient at a time close to sunrise. According to the spatial patterns of obtained by an objective analysis of the 850 to 700 hPa layers. mixed-layer characteristics obtained at New Delhi are representative of the north and central regions of India.