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.     

The Siberian Solar Radio Telescope: the current state of the instrument,observations, and data

The Siberian Solar Radio Telescope (SSRT) is one of the world's largest solar radio heliographs. It commenced operation in 1983, and since then has undergone several upgrades. The operating frequency of the SSRT is 5.7 GHz. Since 1992 the instrument has had the capability to make one-dimensional scans with a high time resolution of 56 ms and an angular resolution of 15 arc sec. Making one of these scans now takes 14 ms. In 1996 the capability was added to make full, two-dimensional images of the solar disk. The SSRT is now capable of obtaining images with an angular resolution of 21 arc sec every 2 min. In this paper we describe the main features and operation of the instrument, particularly emphasizing issues pertaining to the imaging process and factors limiting data quality. Some of the data processing and analysis techniques are discussed. We present examples of full-disk solar images of the quiet Sun, recorded near solar activity minimum, and images of specific structures: plages, coronal bright points, filaments and prominences, and coronal holes. We also present some observations of dynamic phenomena, such as eruptive prominences and solar flares, which illustrate the high-time-resolution observations that can be done with this instrument. We compare SSRT observations at 5.7 GHz, including computed `light curves', both morphologically and quantatively, with observations made in other spectral domains, such as 17 GHz radio images, Hα filtergrams and magnetograms, extreme-ultraviolet and X-ray observations, and dynamic radio spectra.     

Transient‐state groundwater flow in various geometries with wells at arbitrary positions: analytical methods

We have developed a method for analytically solving the porous medium flow equation in many different geometries for horizontal (two‐dimensional), homogeneous and isotropic aquifers containing impermeable boundaries and any number of pumping or injection wells located at arbitrary positions within the system. Solutions and results are presented for rectangular and circular aquifers but the method presented here is easily extendible to many geometries. Results are also presented for systems where constant head boundary conditions can be emulated internal to the aquifer boundary. Recommendations for extensions of the present work are briefly discussed. Copyright © 2003 John Wiley & Sons, Ltd.     

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.     

Laboratory measurement of the OI1173989 Å branching ratio

Laboratory measurements of the $\text{OI}\text{1173}\text{989}$ Å (3s' ³D° → 2p⁴¹D, 3s' ³D° → 2p⁴³P) branching ratio have been made with a value of 1.5 × 10^t-4 indicated. This value makes the branching transition at 1173 Å an order of magnitude stronger than the branch at 7990 Å (3s' 3D° → 3p ³P). The 1173 Å branching loss is still too weak a loss process for multiply scattered 989 Å photons to resolve the 989 Å intensity problem in the dayglow.     

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.     

Bond rolling resistance and its effect on yielding of bonded granulates by DEM analyses

A discrete element modelling of bonded granulates and investigation on the bond effect on their behaviour are very important to geomechanics. This paper presents a two‐dimensional (2‐D) discrete element theory for bonded granulates with bond rolling resistance and provides a numerical investigation into the effect of bond rolling resistance on the yielding of bonded granulates. The model consists of mechanical contact models and equations governing the motion of bonded particles. The key point of the theory is that the assumption in the original bond contact model previously proposed by the authors (55th CSCE‐ASCE Conference, Hamilton, Ont., Canada, 2002; 313–320; J. Eng. Mech. (ASCE) 2005; 131 (11):1209–1213) that bonded particles are in contact at discrete points, is here replaced by a more reliable assumption that bonded particles are in contact over a width. By making the idealization that the bond contact width is continuously distributed with the normal/tangential basic elements (BE) (each BE is composed of spring, dashpot, bond, slider or divider), we establish a bond rolling contact model together with bond normal/tangential contact models, and also relate the governing equations to local equilibrium. Only one physical parameter β needs to be introduced in the theory in comparison to the original bond discrete element model. The model has been implemented into a 2‐D distinct element method code, NS2D. Using the NS2D, a total of 86 1‐D, constant stress ratio, and biaxial compressions tests have been carried out on the bonded granular samples of different densities, bonding strengths and rolling resistances. The numerical results show that: (i) the new theory predicts a larger internal friction angle, a larger yielding stress, more brittle behaviour and larger final broken contact ratio than the original bond model; (ii) the yielding stress increases nonlinearly with the increasing value of β, and (iii) the first‐yield curve (initiation of bond breakage), which define a zone of none bond breakage and which shape and size are affected by the material density, is amplified by the bond rolling resistance in analogous to that predicted by the original bond model. Copyright © 2006 John Wiley & Sons, Ltd.