Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

Porphyroblast inclusion-trail orientation data: eppure non son girate*!

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.     

Structurally controlled gold and sulfosalt mineralization: the Altenberg example, Salzburg Province, Austria

Summary ?In the south-eastern Altenbergkar–Silbereck area in the eastern Tauern window (Lungau, Salzburg) structurally controlled precious-metal (Au–Ag) mineralization is hosted in marbles of the Permo(?)-Mesozoic Silbereck Formation and in the underlying Variscan Central gneiss. During the Alpine otogeny both lithologies were affected by ductile deformation (shearing, D1; folding, D2/D3) and subsequent brittle deformation (tension gashes, D4; normal faulting, D5) related to the uplift and exhumation of the Tauern window. Mineralization is controlled by brittle D4 structures. NE–SW trending steeply dipping tension gashes of the “Tauerngoldgang” type occur within the Central gneiss. Three different marble-hosted ore types following fracture systems as well as foliation and bedding planes can be distinguished: 1) metasomatic replacement ores, 2) ores in tension gashes and 3) ores in talc-bearing structures, often containing high-grade gold and silver mineralization (native gold in association with Ag–Pb–Bi–sulfosalts). Four stages of mineralization can be distinguished which occur in all ore types: arsenopyrite–pyrite–pyrrhotite (first stage), Au–(Ag–Pb–Bi–sulfosalts) (second stage), base-metal sulfides and tetrahedrite–tennantite (third stage) and Ag-rich galena (fourth stage). Preliminary fluid inclusion data indicate temperatures of ore formation well above 300 °C (346 °C mean) for the second stage within the Central gneiss and temperatures between 310 and 230 °C for the second and third stages in the marble. Received October 12, 2001; revised version accepted September 5, 2002 Published online March 10, 2003     

Biological and granulometric controls on sedimentary organic matter of an intertidal mudflat

A variety of measures of organic matter concentration and quality were made on samples collected from the top few mm of intertidal mudflat sediment over the course of a year, in order to assess the relative importance of biological and sedimentological influences on sedimentary organic matter. Winter and summer were times of relatively fine-grained sediment accumulation, caused by biological deposition or stabilization processes and resulting in higher organic matter concentrations. Stable carbon isotope and Br:C ratios indicated a planktonic source of bulk organic matter. Ratios of organic carbon to specific surface area of the sediments were consistent with an organic monolayer coverage of sediment grains. Correction for changing grain size during the year showed no change in the organic concentration per unit surface area, in spite of organic matter inputs by in situ primary production, buildup of heterotroph biomass and mucus coatings, and biodeposition of organic-rich seston. There were also no indications of changes in bulk organic quality, measured as hydrolyzable carbohydrates and amino acids, in response to these biological processes. It is concluded that biological processes on a seasonal time scale affect the bulk organic matter of these sediments via a modulation of grain size rather than creation or decay of organic matter.     

Tephrochronology and tephrostratigraphy of two Pleistocene continental fossiliferous successions from central Italy

The stratigraphical context of two Middle Pleistocene fossiliferous palaeosols from Central Italy (Abruzzo and Tuscany) have been studied. Small mammals and molluscs occur in both palaeosols, which are covered by tephra layers that were analysed using an interdisciplinary approach. Application of fission‐track dating to apatites separated from the Case Picconetto tephra (Pescara, Abruzzo), yielded an age of 0.48 ± 0.04 Ma, indistinguishable from those previously determined for the Campani Quarry (Lower Valdarno, Tuscany) (0.46 ± 0.05 Ma and 0.48 ± 0.05 Ma). Geochemical and petrographic investigations indicate that these tephra originated from different volcanoes, the Alban Hills Volcanic Complex and the Vico Volcano (Latium) respectively. Small mammal and mollusc assemblages indicate different palaeoclimatic and palaeoenvironmental conditions for the Case Picconetto and Campani Quarry palaeosols. Warm and humid conditions can be inferred for the Campani Quarry site, whereas open and cold conditions can be inferred for Case Picconetto. On the basis of faunal data, fission‐track dates and attribution of tephra to specific volcanic eruptions, we suggest a correlation of these faunas with marine oxygen isotope stage 14 (Case Picconetto) and with marine oxygen isotope stage 11 (Campani Quarry), respectively. Copyright © 2003 John Wiley & Sons, Ltd.     

Chemical alteration of tephra in the depositional environment: theoretical stability modelling

The study of the chemical stability of vitreous material in aqueous media is well‐established. There has to date been little consideration of the implications of variations in the chemical durability of tephra in Quaternary tephrochronology. Chemical alteration can take the form of cationic leaching from the matrix, or complete destruction of the silica network, either of which could constrain the ability to chemically identify distal tephra. Here we apply established models of vitreous durability to the published chemical analyses of a large number of Icelandic tephras in order to predict their relative durabilities under equivalent conditions. This suggests that some important tephras have relatively poor chemical stability, and that rhyolitic tephras are, in general, more stable than basaltic. We conclude that tephras should be expected to show predictable differential chemical stability in the post‐depositional environment. Copyright © 2003 John Wiley & Sons, Ltd.     

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     

Vertical stress distribution due to an arbitrarily shaped foundation using triangulation and an analytical expression for a triangular loaded region

Using the basic Boussinesq's equation, the expression for the vertical stress distribution (σ_z) underneath any point on the ground surface due to a general triangular loaded region in a preferred orientation with a linearly varied loading has been successfully derived. When the triangle is not in a preferred orientation, a simple axis transformation is required and the expression will be equally applicable. Based on this expression, σ_z due to an arbitrarily shaped loaded foundation can simply be determined by first triangulating the loaded area and summing up the contributions from each generated triangular region. The procedures for triangulating and calculating the stress distribution can be simply automated through computer programs.     

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