Approximate optimal tracking control for near-surface AUVs with wave disturbances

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.     

Rotation Center and Horizontal Bearing Capacity of the Bucket Foundation in Soft Ground

In the last 20 years, the bucket foundation has been developed as a new type of offshore platform structure. Because of its short period of application to engineering practices, the theoretical decision on the rotation center and horizontal bearing capacity of the bucket foundation has yet to be agreed. A limit analysis method is used to determine the updated rotation center position and horizontal bearing capacity to evaluate the failure mechanisms of the bucket foundations. The results are compared with numerical simulation and experiments, and also with other theoretical methods. The proposed method can satisfactorily consider the engineering conditions and the result is accurate in determining the rotation center and horizontal bearing capacity.     

Antioxidant system responses in two co-occurring green-tide algae under stress conditions

Green tides have occurred every year from 2007 to 2014 in the Yellow Sea. Ulva prolifera(Müller) J. Agardh has been identified as the bloom-forming alga,co-occurring with U. intestinalis. We observed distinct strategies for both algal species during green tides. U. prolifera exhibited a high abundance initially and then decreased dramatically,while U. intestinalis persisted throughout. The antioxidant system responses of these two macroalgae were compared in the late phase of a green tide(in-situ) and after laboratory acclimation. Lipid peroxidation and antioxidant system responses differed significantly between the two. Malondialdehyde and hydrogen peroxide contents increased significantly in-situ in U. prolifera,but not in U. intestinalis. In U. prolifera,we observed a significant decrease in total antioxidant ability(T-AOC),antioxidant enzymes(SOD and Apx),and non-enzyme antioxidants(GSH and As A) in-situ. U. intestinalis showed the same pattern of T-AOC and SOD,but its Gpx,Apx,and GSH responses did not differ significantly. The results suggest that U. prolifera was more susceptible than U. intestinalis to the harsh environmental changes during the late phase of a Yellow Sea green tide. The boom and bust strategy exhibited by U. prolifera and the persistence of U. intestinalis can be explained by differences in enzyme activity and antioxidant systems.