A neural network approach to ship track-keeping control

This paper presents an on-line trained neural net work controller for ship track-keeping problems. Following a brief review of the ship track-keeping control development since the 1980's, an analysis of various existing backpropagation-based neural controllers is provided. We then propose a single-input multioutput (SIMO) neural control strategy for situations where the exact mathematical dynamics of the ship are not available. The aim of this study is to build an autonomous neural controller which uses rudder to regulate both the tracking error and heading error. During the whole control process, the proposed SIMO neural controller adapts itself on-line from a direct evaluation of the control accuracy, and hence the need for a “teacher” or an off-line training process can be removed. With a relatively modest amount of quantitative knowledge of the ship behavior, the design philosophy enables real time control of a nonlinear ship model under random wind disturbances and measurement noise. Three different track-keeping tasks have been simulated to demonstrate the effectiveness of the training method and the robust performance of the proposed neural control strategy     

Comparison of results from several AOGCMs for global and regional sea-level change 1900–2100

 Sea-level rise is an important aspect of climate change because of its impact on society and ecosystems. Here we present an intercomparison of results from ten coupled atmosphere-ocean general circulation models (AOGCMs) for sea-level changes simulated for the twentieth century and projected to occur during the twenty first century in experiments following scenario IS92a for greenhouse gases and sulphate aerosols. The model results suggest that the rate of sea-level rise due to thermal expansion of sea water has increased during the twentieth century, but the small set of tide gauges with long records might not be adequate to detect this acceleration. The rate of sea-level rise due to thermal expansion continues to increase throughout the twenty first century, and the projected total is consequently larger than in the twentieth century; for 1990–2090 it amounts to 0.20–0.37 m. This wide range results from systematic uncertainty in modelling of climate change and of heat uptake by the ocean. The AOGCMs agree that sea-level rise is expected to be geographically non-uniform, with some regions experiencing as much as twice the global average, and others practically zero, but they do not agree about the geographical pattern. The lack of agreement indicates that we cannot currently have confidence in projections of local sea-level changes, and reveals a need for detailed analysis and intercomparison in order to understand and reduce the disagreements. Received: 1 September 2000 / Accepted: 20 April 2001     

Rift-related Jurassic basaltic phreatomagmatic volcanism in the central Transantarctic Mountains: precursory stage to flood-basalt effusion

 The Middle Jurassic Kirkpatrick flood basalts and comagmatic Ferrar intrusions in the Transantarctic Mountains represent a major pulse of tholeiitic magmatism related to early stages in the breakup of Gondwana. A record of the volcano-tectonic events leading to formation of this continental flood-basalt province is provided by strata underlying and only slightly predating the Kirkpatrick lavas. In the central Transantarctic Mountains, the lavas rest on widespread (≥7500 km²) tholeiitic pyroclastic deposits of the Prebble Formation. The Prebble Formation is dominated by lahar deposits and is an unusual example of a regionally developed basaltic lahar field. Related, partly fault-controlled pyroclastic intrusions cut underlying strata, and vents are represented by the preserved flanks of two small tephra cones associated with a volcanic neck. Lahar and air-fall deposits typically contain 50–60% accidental lithic fragments and sand grains derived from underlying Triassic – Lower Jurassic strata in the upper part of the Beacon Supergroup. Juvenile basaltic ash and fine lapilli consist of nonvesicular to scoriaceous tachylite, sideromelane, and palagonite, and have characteristics indicating derivation from hydrovolcanic eruptions. The abundance of accidental debris from underlying Beacon strata points to explosive phreatomagmatic interaction of basaltic magma with wet sediment and groundwater, which appears to have occurred in particular where rising magma intersected upper Beacon sand aquifers. Composite clasts in the lahar deposits exhibit complex peperitic textures formed during fine-scale intermixing of basaltic magma with wet sand and record steps in subsurface fuel-coolant interactions leading to explosive eruption. The widespread, sustained phreatomagmatic activity is inferred to have occurred in a groundwater-rich topographic basin linked to an evolving Jurassic rift zone in the Transantarctic Mountains. Coeval basaltic phreatomagmatic deposits of the Mawson and Exposure Hill Formations, which underlie exposures of the Kirkpatrick Basalt up to 1500 km to the north along strike in Victoria Land, appear to represent other parts of a regional, extension-related Middle Jurassic phreatomagmatic province which developed immediately prior to rapid outpouring of the flood basalts. This is consistent with models which assign an important role to lithospheric stretching in the generation of flood-basalt provinces. Received: 28 August 1995 / Accepted: 18 April 1996     

A techno-economic comparison of power systems for autonomousunderwater vehicles

This paper compares lead-acid batteries, sodium-sulfur batteries, solid polymer fuel cells and closed-cycle diesel engines for autonomous underwater vehicle (AUV) applications. The service is described in terms of a parametric mission and life cycle. A generic AUV is used as a basis for comparison. Power systems are evaluated by two criteria: (1) submerged endurance capability and (2) life cycle cost. This study determines categories of service for which each power system is preferred. The solid polymer fuel cell can provide greater submerged endurance than other power systems examined. For extremely long duration AUV missions, the fuel cell is the required system, indicating a possible market niche for today's fuel cell technology. Considering cost projections for each power system, the results also show that the SPFC can become cost-competitive with conventional technologies, particularly for services characterized by high levels of utilization     

A 2000-YEAR CONTEXT FOR MODERN CLIMATE CHANGE

ABSTRACT. Although considerable attention has been paid to the record of temperature change over the last few centuries, the range and rate of change of atmospheric circulation and hydrology remain elusive. Here, eight latitudinally well-distributed (pole-equator-pole), highly resolved (annual to decadal) climate proxy records are presented that demonstrate major changes in these variables over the last 2000 years. A comparison between atmospheric ¹⁴C and these changes in climate demonstrates a first-order relationship between a variable Sun and climate. The relationship is seen on a global scale.     

Coulometric TCO2 analyses for marine studies; an introduction

Progress in the introduction of coulometry for the analysis of total carbon dioxide (TCO₂) in marine waters is described. An extractor—stripper removes CO₂ that is measured coulometrically by the quantity of electricity (coulombs) used to electrogenerate OH^? ions for the titration of the acid formed by the reaction of CO₂ and ethanolamine. The equivalence point is detected photometrically with thymolphthalein as the indicator, and Faraday's Law relates coulombs to equivalents of titrant generated and CO₂ determined so that there are no standard curves needed or titrants to standardize or store. Accuracy was determined by adding gelatin capsules containing 100–1500 μg C of pure CaCO₃ into the stripper, and accuracies of better than ± 1 μg C were achieved. The best precision for natural seawater (± 1 standard error) of ± 0.5 μmol l^?1 was found for 17 samples of Bermuda coastal waters having a mean TCO₂ of 2007.2 μmol l^?1 (0.05% CV). Sources of error and precautions are discussed. This method, which has been used successfully at sea, can be used to study a variety of marine phenomena involving TCO₂.     

Characterization of soil's structural crust by spectral reflectance in the SWIR region (1.2–2.5 μm)

Structural crust is a thin layer formed on the soil surface after a rainstorm. The crust is the result of a physical segregation and rearrangement of soil particles in a way that affects some of the soil properties, such as infiltration, runoff and soil erosion. In practice, there is no rapid, in situ method for monitoring, assessing and mapping crust intensity and quality. In this study, a controlled spectral investigation of the structural crust across the NIR–SWIR spectral region was conducted on three selected Israeli soils, to study the potential of reflectance radiation to detect structural crust in soils. Two major factors served as the driving forces for this study: (1) there is no valid method for in situ assessment of the crust's characteristics in the agriculture field, and (2) the crust might bias thematic remote sensing of soils, because the thin layer of crust blocks photon–matter interaction, which represents the relevant soil body. Through the use of a laboratory rainfall simulator and a sensitive spectrometer, it was revealed that for three selected soils, significant spectral differences occurred between the crust and its bulk soil. The spectral information was found to be related to changes in particle size distribution and texture at the surface of the soil. This conclusion was based on indications of absorption of OH in clay lattice, OH in adsorbed water and CO₃ in carbonates. It was concluded that the structural crust is a phenomenon that should not be ignored by remote-sensing users. In fact, in the field of agriculture, the spectral properties of crust can be used as tools for estimating the crust's intensity.     

About Darcy's law in non-Galilean frame

This paper is aimed towards investigating the filtration law of an incompressible viscous Newtonian fluid through a rigid non-inertial porous medium (e.g. a porous medium placed in a centrifuge basket). The filtration law is obtained by upscaling the flow equations at the pore scale. The upscaling technique is the homogenization method of multiple scale expansions which rigorously gives the macroscopic behaviour and the effective properties without any prerequisite on the form of the macroscopic equations. The derived filtration law is similar to Darcy's law, but the tensor of permeability presents the following remarkable properties: it depends upon the angular velocity of the porous matrix, it verifies Hall–Onsager's relationship and it is a non-symmetric tensor. We thus deduce that, under rotation, an isotropic porous medium leads to a non-isotropic effective permeability. In this paper, we present the results of numerical simulations of the flow through rotating porous media. This allows us to highlight the deviations of the flow due to Coriolis effects at both the microscopic scale (i.e. the pore scale), and the macroscopic scale (i.e. the sample scale). The above results confirm that for an isotropic medium, phenomenological laws already proposed in the literature fails at reproducing three-dimensional Coriolis effects in all types of pores geometry. We show that Coriolis effects may lead to significant variations of the permeability measured during centrifuge tests when the inverse Ekman number Ek⁻¹ is 𝒪(1). These variations are estimated to be less than 5% if Ek⁻¹<0.2, which is the case of classical geotechnical centrifuge tests. We finally conclude by showing that available experimental data from tests carried out in centrifuges are not sufficient to determining the effective tensor of permeability of rotating porous media. Copyright © 2004 John Wiley & Sons, Ltd.     

A stepwise method for determining the number of component distributions in a mixture

This paper considers the problem of estimatingm, the number of components in a finite mixture of distributions from a parametric family. A step-up procedure using the bootstrap method is proposed. Some properties of the procedure are illustrated with simulation studies. An example of the method, applied to orientation of beach clasts, is given.