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.     

Evolutionary state of W UMa-type systems

The evolutionary status of a sample of 31 W UMa-type systems (20 of W, 9 of A, and 2 of A/W sub-class) is examined and discussed on the basis of their positions in the H-R, mass-radius and mass-luminosity diagrams. The absolute elements of these systems have been evaluated by use of their spectroscopic and photometric data as they were found in the literature. Since different analysis methods have been used by the various investigators this gives the opportunity to make different H-R, mass-radius and mass-luminosity diagrams, according to the method used, and compare the results.Moreover, from the spectral type-period diagram of those systems that have spectral types from O to G2 it was found that all of them lie in the evolved region. Finally, the log (L _l/L _s) log (M _l/M _s) diagrams are presented and discussed.     

Comparison of the Variations of CMEs and ICMEs with those of other Solar and Interplanetary Parameters During Solar Cycle 23

This paper examines the variations of coronal mass ejections (CMEs) and interplanetary CMEs (ICMEs) during solar cycle 23 and compares these with those of several other indices. During cycle 23, solar and interplanetary parameters had an increase from 1996 (sunspot minimum) to ∼2000, but the interval 1998–2002 had short-term fluctuations. Sunspot numbers had peaks in 1998, 1999, 2000 (largest), 2001 (second largest), and 2002. Other solar indices had matching peaks, but the peak in 2000 was larger than the peak in 2001 only for a few indices, and smaller or equal for other solar indices. The solar open magnetic flux had very different characteristics for different solar latitudes. The high solar latitudes (45^∘–90^∘) in both N and S hemispheres had flux evolutions anti-parallel to sunspot activity. Fluxes in low solar latitudes (0^∘–45^∘) evolved roughly parallel to sunspot activity, but the finer structures (peaks etc. during sunspot maximum years) did not match with sunspot peaks. Also, the low latitude fluxes had considerable N–S asymmetry. For CMEs and ICMEs, there were increases similar to sunspots during 1996–2000, and during 2000–2002, there was good matching of peaks. But the peaks in 2000 and 2001 for CMEs and ICMEs had similar sizes, in contrast to the 2000 peak being greater than the 2001 peak for sunspots. Whereas ICMEs started decreasing from 2001 onwards, CMEs continued to remain high in 2002, probably due to extra contribution from high-latitude prominences, which had no equivalent interplanetary ICMEs or shocks. Cosmic ray intensity had features matching with those of sunspots during 2000–2001, with the 2000 peak (on a reverse scale, actually a cosmic ray decrease or trough) larger than the 2001 peak. However, cosmic ray decreases started with a delay and ended with a delay with respect to sunspot activity.     

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.     

A high-resolution radio study of neutral gas in the starburst galaxy NGC 520

We present subarcsec angular resolution observations of the neutral gas in the nearby starburst galaxy NGC 520. The central kpc region of NGC 520 contains an area of significantly enhanced star formation. The radio continuum structure of this region resolves into ∼10 continuum components. By comparing the flux densities of the brightest of these components at 1.4 GHz with published 15-GHz data we infer that these components detected at 1.4 and 1.6 GHz are related to the starburst and are most likely to be collections of several supernova remnants within the beam. None of these components is consistent with emission from an active galactic nuclei. Both neutral hydrogen (H  i ) and hydroxyl (OH) absorption lines are observed against the continuum emission, along with a weak OH maser feature probably related to the star formation activity in this galaxy. Strong H  i absorption  ( N _H∼ 10²² atoms cm⁻²)  traces a velocity gradient of 0.5 km s⁻¹ pc⁻¹ across the central kpc of NGC 520. The H  i absorption velocity structure is consistent with the velocity gradients observed in both the OH absorption and in CO emission observations. The neutral gas velocity structure observed within the central kpc of NGC 520 is attributed to a kpc-scale ring or disc. It is also noted that the velocity gradients observed for these neutral gas components appear to differ with the velocity gradients observed from optical ionized emission lines. This apparent disagreement is discussed and attributed to the extinction of the optical emission from the actual centre of this source hence implying that optical ionized emission lines are only detected from regions with significantly different radii to those sampled by the observations presented here.     

The correlation of solar flare production with magnetic energy in active regions

An investigation of 531 active regions was made to determine the correlation between energy released by flares and the available energy in magnetic fields of the regions. Regions with magnetic flux greater than 10²¹ maxwell during the years 1967–1969, which included sunspot maximum, were selected for the investigation. A linear regression analysis of flare production on magnetic flux showed that the flare energy is correlated with magnetic energy with a coeificient of correlation of 0.78. Magnetic classification and field configuration also significantly affect the production of flares.This work was supported by the Aerospace Sponsored Research Program.     

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.