Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Modeling bed-load transport of coarse sediments in the Great Bay Estuary, New Hampshire

Current, sea level and bed-load transport are investigated in the Lower Piscataqua River section of the Great Bay Estuary, New Hampshire, USA—a well-mixed and geometrically complex system with low freshwater input, having main channel tidal currents ranging between 0.5 and 2 m s⁻¹. Current and sea level forced by the M₂M₄M₆ tides at the estuarine mouth are simulated by a vertically averaged, non-linear, time-stepping finite element model. The hydrodynamic model uses a fixed boundary computational domain and accounts for flooding–drying of tidal flats by making use of a groundwater component. Inertia terms are neglected in comparison with pressure gradient and bottom friction terms, which is consistent with the observed principal dynamic balance for this section of the system. The accuracy of hydrodynamic predictions in the study area is demonstrated by comparison with four tidal elevation stations and two cross-section averaged current measurements. Simulated current is then used to model bed-load transport in the vicinity of a rapidly growing shoal located in the main channel of the lower system. Consisting of coarse sand and gravel, the shoal must be dredged every five to eight years. Two approaches are taken—an Eulerian parametric method in which nodal bed-load flux vectors are averaged over the tidal cycle and a Lagrangian particle tracking approach in which a finite number of sediment particles are released and tracked. Both methods yield pathways and accumulations in agreement with the observed shoal formation and the long-term rate of sediment accumulation in the shoal area.     

The relationship between the amplitudinal characteristics of the high-frequency spectral components of wind-generated waves and the wind velocity over the sea

The relationship between the RMS amplitudes of the wind wave spectral components and the wind speed has been studied at ten frequencies in the band of 0.65–23 Hz. To measure the parameters of the high-frequenci waves, a resistance elevation wave gauge was operated, which was deployed in the Black See on an oceanographic platform near Katsively. The correlation between the wave amplitudes and the wind velocity at high frequencies of 5–23 Hz, corresponding to gravitation-capillary ripples, was found to reach a value of 0.8. At lower frequencies of 0.65–4.3 Hz, corresponding to short gravity waves, it dropped to 0.5–0.7. The response of spectral components to the wind speed variations in the gravity-capillary range is higher than in the range of short gravity waves. The results obtained differ from Phillips' idea about a saturated range for the frequency form of the spectrum of high-frequency gravity waves, since a linear dependence of the spectral amplitudes on the wind speed is established at a wind of force 1–8.Translated by Mikhail M. Trufanov.     

Glutathione S-transferase from an antarctic fish, Dissostichus mawsoni

Glutathione S-transferase activity was measured in the hepatic cytosol front Dissostichus mawsoni and Pagothenia borchgrevinki. Activity measures with 1-chloro-2,4-dinitrobenzene as substrate were 11·2 and 16·7 μmol/min/g tissue respectively. Little or no activity was detected when p-nitrobenzyl chloride or 3,4-dichloro-1-nitrobenzene were used as substrate. The hepatic glutathione S-transferases from D. mawsoni were partially purified using gel filtration and chromatofocusing. Three peaks of activity were resolved. The major isozyme (158-fold purification) eluting at pH7·1 appeared to be catalytically a homodimer. The isozyme was highly inhibited by triphenyltin chloride (IC₅₀ = 0·1 μ) while inhibition constants for Cibicron Blue 3GA, bromosulphophalein and hematin were 1·1, 20 and 34 μ respectively.     

Evidence of NW extension of the North Anatolian Fault Zone in the Marmara Sea: a new interpretation of the Marmara Sea (Izmit) earthquake on 17 August 1999

Active faults aligning in NW–SE direction and forming flower structures of strike-slip faults were observed in shallow seismic data from the shelf offshore of Avcılar in the northern Marmara Sea. By following the parallel drainage pattern and scarps, these faults were traced as NW–SE-directed lineaments in the morphology of the northern onshore sector of the Marmara Sea (eastern Thrace Peninsula). Right-lateral displacements in two watersheds of drainage and on the coast of the Marmara Sea and Black Sea are associated with these lineaments. This right-lateral displacement along the course of these faults suggests a new, active strike-slip fault zone located at the NW extension of the northern boundary fault of the ?ınarcık Basin in the Marmara Sea. This new fault zone is interpreted as the NW extension of the northern branch of the North Anatolian Fault Zone (NAFZ), extending from the ?ınarcık Basin of the Marmara Sea to the Black Sea coast of the Thrace Peninsula, and passing through B üy ük ?ekmece and K ü ? ük ?ekmece lagoons. These data suggest that the rupture of the 17 August 1999 earthquake in the NAFZ may have extended through Avcılar. Indeed, Avcılar and İzmit, both located on the Marmara Sea coast along the rupture route, were strongly struck by the earthquake whereas the settlements between Avcılar and İzmit were much less affected. Therefore, this interpretation can explain the extraordinary damage in Avcılar, based on the newly discovered rupture of the NAFZ in the Marmara Sea. However, this suggestion needs to be confirmed by further seismological studies.     

Implications from a field study regarding the relationship between polycyclic aromatic hydrocarbons and glutathione S-transferase activity in mussels

An aluminium smelter on the west coast of Scotland discharges an aqueous effluent containing polycyclic aromatic hydrocarbons (PAHs) at the head of Loch Leven. The loch also supports two mussel (Mytilus edulis) farms. Data are presented on burdens of PAHs in the soft tissues of mussels and the effect of these contaminants on glutathione S-transferase (GST) activity in mussel hepatopancreas. GST activity is shown to be correlated with total PAH burden and also with the concentrations of certain individual PAHs. These field data show that high molecular weight PAHs are closely correlated to GST activity, whereas low molecular weight PAHs are not. This suggests that 5- and 6-ring PAHs have a more pronounced role than 2- to 4-ring compounds in inducing GST activity in mussels from Loch Leven. It is proposed that it may be more appropriate to link GST activity with 5- and 6-ring compounds only, rather than with the total PAH burden.