Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control

Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification Toolbox^TM is used to obtain a mathematical model of the glider ballast-buoyancy, ballast-depth and ballast-pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider.     

Propagation of Coronal Mass Ejections Observed During the Rising Phase of Solar Cycle 24

In this study, we investigate the interplanetary consequences and travel time details of 58 coronal mass ejections (CMEs) in the Sun–Earth distance. The CMEs considered are halo and partial halo events of width \({>}\,120\)°. These CMEs occurred during 2009?–?2013, in the ascending phase of the Solar Cycle 24. Moreover, they are Earth-directed events that originated close to the centre of the solar disk (within about \(\pm30\)° from the Sun’s centre) and propagated approximately along the Sun–Earth line. For each CME, the onset time and the initial speed have been estimated from the white-light images observed by the LASCO coronagraphs onboard the SOHO space mission. These CMEs cover an initial speed range of \({\sim}\,260\,\mbox{--}\,2700~\mbox{km}\,\mbox{s}^{-1}\). For these CMEs, the associated interplanetary shocks (IP shocks) and interplanetary CMEs (ICMEs) at the near-Earth environment have been identified from in-situ solar wind measurements available at the OMNI data base. Most of these events have been associated with moderate to intense IP shocks. However, these events have caused only weak to moderate geomagnetic storms in the Earth’s magnetosphere. The relationship of the travel time with the initial speed of the CME has been compared with the observations made in the previous Cycle 23, during 1996?–?2004. In the present study, for a given initial speed of the CME, the travel time and the speed at 1 AU suggest that the CME was most likely not much affected by the drag caused by the slow-speed dominated heliosphere. Additionally, the weak geomagnetic storms and moderate IP shocks associated with the current set of Earth-directed CMEs indicate magnetically weak CME events of Cycle 24. The magnetic energy that is available to propagate CME and cause geomagnetic storm could be significantly low.     

Diffuse Component Spectra of Solar Active Regions at Submillimeter Wavelengths

Solar maps at 212 and 405 GHz obtained by the Solar Submillimetric Telescope (SST) show regions of enhanced brightness temperature, which coincide with the location of active regions. A statistical study of the radio emission from these active regions was performed for the first time at such high frequencies during 23 days on June and July 2002, when the atmospheric opacity was low. The brightest regions on the maps were chosen for this study, where the brightness excess observed varies from 3 to 20% above quiet Sun levels (i.e., 200–1000 K) at both wavelengths. Sizes of the regions of enhanced emission calculated at half the maximum value were estimated to be between 2′ and 7′. These sizes agree with observed sizes of active regions at other wavelengths such as Hα and ultraviolet. An important result is that the flux density spectra of all sources increase toward submillimeter frequencies, yielding flux density spectral index with an average value of 2.0. The flux density of the active region sources were complemented with that from maps at 17 and 34 GHz from the Nobeyama Radio Heliograph. The resulting spectra at all four frequencies were fit considering the flux density to be due to thermal bremsstrahlung from the active region. In the calculations, the source radius was assumed to be the mean of the measured values at 212 and 405 K. The effective temperatures of the radio emitting source, assumed homogeneous, obtained from this fit were 0.6–2.9 × 10⁴ K, for source diameters of 2′–7′.     

Analytic network process for criteria selection in sustainable coastal land use planning

The coastal lands are very important boundaries in the natural system. But these areas are under pressure that has threatened their health by short-sighted planning policies. The management options have focused on economic production and human benefits rather than the natural systems that guaranty sustainability of them. Evaluation of sustainability in coastal lands needs some critical criteria and indicators. The purpose of this paper is to demonstrate an innovative reliable method for identification of the most important criteria and indicators using multi criteria techniques, especially the Analytic Network Process (ANP). Analytic Network Process as a new approach has potential to be applied into the field of coastal land use development. This is the first time ANP has been used for criteria selection to ensure sustainability in coastal land use planning. The integration of social, economic and environmental criteria within the planning framework in this paper has provided a holistic approach for integrated coastal land use development.     

Outline of the Somalian basement

A sequence of events which has been recognized in the two basement regions of Somalia is outlined on the basis of new field and petrographic data and pre-existing published and unpublished reports. The evolution of the Somalian basement took place during the Pan-African event, However, much detailed work is necessary before the history of the basement can be integrated into the more detailed Pan-African picture recognized in the neighbouring regions.

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Zusammenfassung Eine Folge von Ereignissen, die sich in den zwei Basement-Regionen Somalias erkennen lie\en, wird auf der Basis neuer GelÄnde- und petrographischer Daten und früherer publizierter und nicht publizierter Berichte umrissen. Das Basement von Somalia entwickelte sich wÄhrend des Panafrikanischen Ereignisses.Viel Detailarbeit ist jedoch noch zu leisten, bis die Geschichte des Basements in das detailliertere Bild Panafrikas, wie es aus den Nachbarregionen gewonnen wurde, integriert werden kann.

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Résumé Dans les deux régions de la Somalie ou le socle affleure, on a reconnu une succession d'événements sur la base de nouvelles données géologiques et pétrographiques et de travaux pré-existants, publiés et non publiés. L'évolution du socle de la Somalie se déroula pendant l'événement Pan-Africain. Toutefois, beaucoup de travail doit Être encore fait avant que l'histoire du socle somalien puisse Être intégrée dans un cadre Pan-Africain plus détaillé, tel qu'on le connait dans les régions voisines.

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