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.     

A nitrate and silicate budget in the equatorial Pacific Ocean: a coupled physical–biological model study

A coupled physical–biological model was developed to simulate the low-silicate, high-nitrate, and low-chlorophyll (LSHNLC) conditions in the equatorial Pacific Ocean and used to compute a detailed budget in the Wyrtki box (5°N–5°S, 180–90°W) for the major sources and cycling of nitrogen and silicon in the equatorial Pacific. With the incorporation of biogenic silicon dissolution, NH₄ regeneration from organic nitrogen and nitrification of ammonia in the model, we show that silicon recycling in the upper ocean is less efficient than nitrogen. As the major source of nutrients to the equatorial Pacific, the Equatorial Undercurrent provides slightly less Si(OH)₄ than NO₃ to the upwelling zone, which is defined as 2.5°N–2.5°S. As a result, the equatorial upwelling supplies less Si(OH)₄ than NO₃ into the euphotic zone in the Wyrtki box, having a Si/N supply ratio of about 0.85 (2.5 vs. 2.96 mmolm⁻² day⁻¹). More Si(OH)₄ than NO₃ is taken up with a Si/N ratio of 1.17 (2.72 vs. 2.33 mmolm⁻² day⁻¹) within the euphotic zone. The difference between upwelling supply and biological uptake is balanced by nutrient regeneration and horizontal advection. Excluding regeneration, the net silicate and nitrate uptakes are nearly equal (1.76 vs. 1.84 mmolm⁻² day⁻¹). However, biogenic silica export production is slightly higher than organic nitrogen (1.74 vs. 1.59 mmolm⁻² day⁻¹) following a 1.1 Si/N ratio. In the central equatorial Pacific, low silicate concentrations limit diatom growth; therefore non-diatom new production accounts for most of the new production. Higher silicate supply in the east maintains elevated diatom growth rates and new production associated with diatoms dominate upwelling zone. In contrast, the new production associated with small phytoplankton is nearly constant or decreases eastward along the equator. The total new production has a higher rate in the east than in the west, following the pattern of surface silicate. This suggests that silicate regulates the diatom production, total new production, and thereby carbon cycle in this area. The modeled mean primary production is 48.4 mmolCm⁻² day⁻¹, representing the lower end of direct field measurements, while new production is 15.0 mmolCm⁻² day⁻¹, which compares well with previous estimates.     

Multi-bioindicator study of a small estuary in Vendée (France)

Surficial sediment (about 5 mm) was scraped off in 15 stations selected in the Vie Estuary, a small estuary on the French Atlantic coast. The samples, prepared using the suitable methods, were used for comparing the behaviour of periphytic algae, sporopollinic and other palynologic material, ostracoda and foraminifera for proposing a synthetic evaluation of the information provided by each of them. Dinoflagellate cysts, which are found in an almost monospecific assemblage in low-salinity water, are dispersed by tidal currents, but the location of tintinnids in only the lower reaches shows a limited inward transport. Sporopollinic material is clearly related to the adjacent vegetation, indicating a local origin, and then little influence of transport on the microbenthos, even if fragments of freshwater crustaceans and of Pediastrum alga are found down to the mouth in the sporopollinic deposits. This limited transport of microbenthos allows the use of periphytic algae, benthic ostracoda and benthic foraminifera as indicators of local environmental conditions. It was then possible to determine the extent of marine influence in the estuary, to discriminate between the main channel and adjacent basins, and between different stages of evolution of the basins, from a recently dug basin to a eutrophicated one.     

Recent developments in “added-mass” planing theory

The results of several recent isolated investigations in planing theory are consolidated in this paper, together with new insights generated by a recent numerical solution of the vertically impacting wedge problem by Zhao and Faltinsen [(1992), Water entry of two-dimensional bodies. J. Fluid Mech. 246, 593–612]. As a result, in contrast to some earlier studies, it is found that the “wetted width” associated with the added mass is not that of the intersection of the wedge with the undisturbed water surface, but the wetted width of the splashed-up water, as originally proposed by Wagner [(1932), Uber Stoss-und Gleitvorgange an der Oberflache von Flussig-Keiten, Zeitschrift für Angewandte Mathematik und Mechanik, Band 12, Heft 4 (August)]. However, the splash-up ratio is not the value of (π/2–1) which he proposed, but a value which decreases with increasing deadrise, originally proposed in the late-1940s by Pierson (“Pierson's hypothesis” in the paper). For 30° deadrise, for example, Pierson's splash-up ratio is two-thirds that of Wagner's.The new equations are employed to determine the increase in the “added mass” of prismatic hull sections due to chine immersion, using experimental data. If m_o^′ is the added amss of the hull section whose chines are just wetted, Payne [(1988), Design of High-speed Boats. Volume 1: Planing. Fishergate, Inc., Annapolis, Maryland, U.S.A.] postulated that the increase in added mass due to a chine submergence (z_c) would be

where b is the chine beam and k is a constant which Payne [(1988), Design of High-speed Boats. Volume 1: Planing. Fishergate, Inc., Annapolis, Maryland, U.S.A.] gave as .The present analysis includes the “one-sided flow” correction introduced in Payne [(1990), Planing and impacting forces at large trim angels. Ocean Engng 17, 201–234]. Partly for that reason and partly because of the more precise analysis of the experimental data, the present paper revises the value to k = 2 for wetted length to beam ratios normally employed. For deadrise angles in excess of 40° and wetted keel to beam ratios in excess of 2.0, there is some evidence that k < 2.0.The revised theoretical formulation is compared with eight different sets of experimental data for flat plate and prismatic hull forms and is found to be in excellent agreement when the speed is high enough for “dynamic suction” (a loss of buoyancy at low speeds and low wetted lenghts) to be unimportant. This is true for “chines-dry” operation with deadrise angles up to 50° and chines-wet operation at length to beam ratios far in excess of the most extreme conventional practice.The research involved in performing this analysis led to the realization that different towing tanks measure different wetted chine lengths for the same hulls and test conditions. Some consistently measure more splash-up than “theory” (based on Pierson's splash-up hypothesis) predicts and others measure somewhat less than the theory. Some examples are given in Appendix B. The reason for this is not understood.     

Measurement of stress effects (scope for growth) and contaminant levels in mussels (Mytilus edulis) collected from the Irish Sea

The objective of this research was to quantify the impact of pollution along the coastlines of the Irish Sea. Pollution assessment was based on the combined measurement of scope for growth (SFG), and chemical contaminants in the tissues of mussels (Mytilus edulis) collected from 38 coastal sites around the Irish Sea during June-July in 1996 and 1997. On the UK mainland coast, the SFG showed a general trend with a significant decline in water quality in the Liverpool and Morecambe Bay region. High water quality was recorded along the west coast of Wales, as well as southwest England and northwest Scotland (clean reference sites outside the Irish Sea). Along the coast of Ireland there was a similar trend with reduced SFG within the Irish Sea region. SFG was generally low north of Duncannon and then improved north of Belfast. The poor water quality on both sides of the Irish Sea is consistent with the prevailing hydrodynamics and the spatial distribution of contaminants associated with urban/ industrial development. The decline in SFG of mussels on both sides of the Irish Sea was associated with a general increase in contaminant levels in the mussels. Certain contaminants, including PAHs, TBT, sigmaDDT, Dieldrin, gamma-HCH, PCBs, and a few of the metals (Cd, Se, Ag, Pb), showed elevated concentrations. Many of these contaminants were particularly elevated in the coastal margins of Liverpool Bay, Morecambe Bay and Dublin Bay. A quantitative toxicological interpretation (QTI) of the combined tissue residue chemistry and SFG measurements indicated that at the majority of coastal sites, c. 50 to > 80% of the observed decline in SFG was due to PAHs as a result of fossil fuel combustion and oil spills. TBT levels were highest at major ports and harbours, but these concentrations only made a minor contribution to the overall reduction in SFG. At no sites were individual metals accumulated to concentrations that could cause a significant effect on SFG. The study identified many sites where the observed reduction in SFG was far greater than predicted from the limited number of chemical contaminants analysed, thus indicating the presence of additional 'unknown toxicants'. Sewage (containing domestic, agricultural and industrial components) appears to be an important contributor to reduced SFG and linear alkylbenzenes (LABs) and As may provide suitable 'sewage markers'. There was a highly significant positive correlation between SFG and As (P < 0.001). This relationship may be due to reduced As uptake by algal food material and mussels at sites with elevated P04 concentrations (e.g. at sites with sewage inputs). Phosphate is a known competitive inhibitor of As accumulation, at least in algae. The results highlight that further research is required on 'sewage markers' in mussels. The SFG approach therefore provides a rapid, cost-effective and quantitative measure of pollution impact, as well as a means of identifying the causes through a QTI of tissue contaminants levels. It also serves to identify the presence of unidentified toxicants and areas that require further study.     

Anthropogenic trace metals in sediment and settling particulate matter on a high-energy continental shelf (Sydney,Australia)

The anthropogenic contribution of trace metals to settling particulate matter (SPM) and surficial sediments was determined on the high-energy continental shelf adjacent to Sydney, Australia. Settling particulate matter and surficial sediment was collected in the vicinity of a major sewage outfall and at five control sites on the middle shelf (80-100 m water depth). Sediment traps were deployed on 10 occasions for up to 2 weeks during the summer and winter of 1995 and SPM was analyzed for Ag, Co, Cr, Cu, Fe, Mn, Ni, Pb and Zn. Cobalt, Fe, Mn and Ni act conservatively in SPM and in sediments regionally and are used as normalizing elements to determine anthropogenic enrichment. Surficial sediments and SPM are enriched in Ag, Cr, Cu, Pb and Zn near a major ocean outfall and at four of the five control sites, although sewage particles contribute < 5% of trace metals in the total sample. Silver is the most sensitive trace metal tracer for establishing the presence of sewage particulate matter. Sewage particulate matter flux near the outfall was estimated using a two end-member mixing model and is below 0.5 g m(-2) day(-1) during all deployment periods. The mean sewage particulate matter flux at sampling locations 30 km and 60 km north of the outfall are <0.13 g m(-2) day(-1) and <0.01 g m(-2) day(-1), respectively, indicating an efficient dispersal of anthropogenic material on this high energy continental shelf.     

Modelling of the ecosystem of the Black-Sea shelf zone near the estuary of the Danube

We analyze the results of numerical calculations performed according to the three-dimensional interdisciplinary model of an ecological system of the Black-Sea shelf zone near the estuary of the Danube. The complete system of equations of hydrothermodynamics is solved together with transport equations of the advection-diffusion-reaction type used to describe the transformation of a substance (nitrogen) between the components of the characteristic vectors of the ecosystem: plankton, detritus, and biogenic elements (nitrates). We describe the distinctive features of the circumcontinental distribution of components obtained as a result of numerical experiments and present arguments for the conclusion that the ecosystem of the Danube estuary water area plays the role of a buffer zone between the press of the Danubian biogenic pollutions and the neighbouring areas of the shelf zone and open sea. Translated by Peter V. Malyshev and Dmitry V. Malyshev     

Dynamics of a moored barge under regular and random waves

Developments in the study of wave forces and construction techniques in deep water by the offshore oil industry have increased the use of marine terminals at deep water locations. A thorough understanding of moored ship dynamics when subjected to waves, wind and current combined with the use of flexible mooring lines would help to design berthing terminals for exposed areas. In this paper, the three dimensional problem of wave interactions with a barge moored to a single point is dealt with, based on the finite element method. The effect of flexibility of the mooring line and the point of mooring on the response of the barge as well as the mooring line tension is investigated. The paper compares the numerical results with model tests carried out on a barge moored to a fixed support under regular and random waves in head sea. The effect of stiffness of the mooring line on the barge response for different mooring points is discussed, which would be useful for the designers. The effect of viscous damping is also considered. The analytical results are in good agreement with the experimental results in both regular and random waves.     

A unified, polynomial approach for the approximate solution of thermoelastic problems in rectangular plates

The present paper, of a tutorial nature, solves two different thermoelastic problems using a unified approach: (a) thermoelastic stresses and deflections in thin, rectangular plates with edges elastically restrained against rotation when small-deflection theory is used and stress resultants in the middle plane of the plates are neglected; and (b) thermoelastic plane stress situations in rectangular plates with stress-free edges subjected to a two-dimensional temperature distribution.The first problem is attacked using polynomial coordinate functions which identically satisfy the governing boundary conditions, and the Ritz method is used to determine the plate response. When the flexibility coefficients approach zero (clamped edge conditions) the calculated results practically coincide with the exact solution for the test case treated in this paper. On the other hand this degenerate solution turns out to be a very convenient approximation for obtaining a solution to Airy's problem described in the second place and which is also solved in a straightforward manner using a variational approach.