Design and implementation of time efficient trajectories for autonomous underwater vehicles

This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle.     

Distribution pattern of zooplankton in the han river estuary with respect to tidal cycle

The monthly distribution of zooplankton communities in Han River estuary was investigated at two stations from July 1998 to June 1999. Monthly mean abundance of total zooplankton varied remarkably, with the range from 20 indiv.·m^-3 to 19,600 indiv.·m^-3. During the study period, dominant species of zooplankton community were dinoflagellateNoctiluca scintillans, copepodsParacalanus indicus, Paracaanus crassirostris, Acartia hongi, Acartia ohtsukai, and meroplanton cirriped larvae. According to tidal states, relative high abundance occurred at high tide without regard to season. The temporal distribution of abundance implied that the reduced salinity probably limited the zooplankton populations and the fluctuations of salinity were an important factor in the variation of abundance. However, the results of salinity tolerance test shows that the variations in salinity do not directly influence the decrease of abundance. This study shows that the relatively high abundance of zooplankton near high tide seems to be related with the expansion of abundant zooplankton inhabiting Incheon coastal waters through tidal currents.     

An analysis of second-order wave forces on floating bodies by using a higher-order boundary element method

The wave diffraction and radiation problem is studied numerically by using a higher-order boundary element method. The convergence of the higher-order boundary element method is tested systematically for bodies of different shapes. For the second-order force, particular attention is paid to the contribution of the second-order potential, following the line of Molin's approach. For numerical evaluation, the free surface is divided into three subregions; inner, intermediate and outer ones. In the inner region, the integral is evaluated numerically by using higher-order boundary elements. In the intermediate region, semi-analytic form is constructed with the help of eigen functions. In the outer domain, the analytic solution is available. This subdivision scheme reduces the numerical burden remarkably.     

Clay mineral weathering and contaminant dynamics in a caustic aqueous system: I. Wet chemistry and aging effects

Caustic high level radioactive waste induces mineral weathering reactions that can influence the fate of radionuclides released in the vicinity of leaking storage tanks. The uptake and release of Cs^I and Sr^II were studied in batch reactors of 2:1 layer-type silicates—illite (Il), vermiculite (Vm) and montmorillonite (Mt)—under geochemical conditions characteristic of leaking tank waste at the Hanford Site in WA (0.05 m Al_T, 2 m Na⁺, 1 m NO₃⁻, pH ∼14, Cs and Sr present as co-contaminants). Time series (0 to 369 d) experiments were conducted at 298 K, with initial [Cs]₀ and [Sr]₀ concentrations from 10⁻⁵ to 10⁻³ mol kg⁻¹. Clay mineral type affected the rates of (i) hydroxide promoted dissolution of Si, Al and Fe, (ii) precipitation of secondary solids and (iii) uptake of Cs and Sr. Initial Si release to solution followed the order Mt > Vm > Il. An abrupt decrease in soluble Si and/or Al after 33 d for Mt and Vm systems, and after 190 d for Il suspensions was concurrent with accumulation of secondary aluminosilicate precipitates. Strontium uptake exceeded that of Cs in both rate and extent, although sorbed Cs was generally more recalcitrant to subsequent desorption and dissolution. After 369 d reaction time, reacted Il, Vm and Mt solids retained up to 17, 47 and 14 mmol kg⁻¹ (0.18, 0.24 and 0.02 μmol m⁻²) of Cs, and 0, 27 and 22 mmol kg⁻¹ (0, 0.14 and 0.03 μmol m⁻²) Sr, respectively, which were not removed in subsequent Mg exchange or oxalic acid dissolution reactions. Solubility of Al and Si decreased with initial Cs and Sr concentration in Mt and Il, but not in Vm. High co-contaminant sorption to the Vm clay, therefore, appears to diminish the influence of those ions on mineral transformation rates.     

Regional-scale relationships between aerosol and summer monsoon circulation, and precipitation over northeast Asia

We investigated the regional-scale relationships between columnar aerosol loads and summer monsoon circulation, and also the precipitation over northeast Asia using aerosol optical depth (AOD) data obtained from the 8-year MODIS, AERONET Sun/sky radiometer, and precipitation data acquired under the Global Precipitation Climatology Project (GPCP). These high-quality data revealed the regional-scale link between AOD and summer monsoon circulation, precipitation in July over northeast Asian countries, and their distinct spatial and annual variabilities. Compared to the mean AOD for the entire period of 2001–2008, the increase of almost 40–50% in the AOD value in July 2005 and July 2007 was found over the downwind regions of China (Yellow Sea, Korean peninsula, and East Sea), with negative precipitation anomalies. This can be attributable to the strong westerly confluent flows, between cyclone flows by continental thermal low centered over the northern China and anticyclonic flows by the western North Pacific High, which transport anthropogenic pollution aerosols emitted from east China to aforementioned downwind high AOD regions along the rim of the Pacific marine airmass. In July 2002, however, the easterly flows transported anthropogenic aerosols from east China to the southwestern part of China in July 2002. As a result, the AOD off the coast of China was dramatically reduced in spite of decreasing rainfall. From the calculation of the cross-correlation coefficient between MODIS-derived AOD anomalies and GPCP precipitation anomalies in July over the period 2001–2008, we found negative correlations over the areas encompassed by 105–115°E and 30–35°N and by 120–140°E and 35–40°N (Yellow Sea, Korean peninsula, and East Sea). This suggests that aerosol loads over these regions are easily influenced by the Asian monsoon flow system and associated precipitation.     

Multi-proxy Stratigraphy and Paleoceanographic Variations in Sediment from the Korea Plateau,East Sea (Japan Sea), Over the Last 500 kyr

Ocean Science Journal - High-resolution geochemical measurements were performed on core E09-08, which was taken from the top flat area of the Korea Plateau in the East Sea (Japan Sea). Based on...     

Macrobenthos habitat mapping in a tidal flat using remotely sensed data and a GIS-based probabilistic model

This paper proposes and tests a method of producing macrofauna habitat potential maps based on a weights-of-evidence model (a probabilistic approach) for the Hwangdo tidal flat, Korea. Samples of macrobenthos were collected during field work, and we considered five mollusca species for habitat mapping. A weights-of-evidence model was used to calculate the relative weights of 10 control factors that affect the macrobenthos habitat. The control factors were compiled as a spatial database from remotely sensed data combined with GIS analysis. The relative weight of each factor was integrated as a species potential index (SPI), which produced habitat potential maps. The maps were compared with the surveyed habitat locations, revealing a strong correlation between the potential maps and species locations. The combination of a GIS-based weights-of-evidence model and remote sensing techniques is an effective method in determining areas of macrobenthos habitat potential in a tidal flat setting.     

Analytical Interpretation of Slug Test in a Vertical Cutoff Wall

An analysis method for slug tests performed in a partially penetrating well within a vertical cutoff wall is presented. A steady‐state shape factor for evaluating hydraulic conductivity of the material within the wall was derived by applying the method of images to the previously developed analytical solution of Zlotnik et al. (2010) for an infinite aquifer. Two distinct boundary conditions were considered: constant‐head boundary for the case of direct contact between the wall and the aquifer, and no‐flux boundary representing an impermeable filter cake on the sides of the wall. The constant‐head and no‐flux boundary conditions yield significantly higher and lower shape factors, respectively, than those for the infinite aquifer. Consequently the conventional line‐fitting method for slug test analysis would yield an inaccurate estimate of the hydraulic conductivity of a vertical cutoff wall.     

Analytical solution for transient groundwater flow during slug test in vertical cutoff walls

An analysis method for transient groundwater flow during slug tests performed in vertical cutoff walls is presented. The analytical solution for evaluating hydraulic conductivity of vertical cutoff walls is derived by applying the method of images to the previously developed analytical solution that is exclusively applicable to an infinite aquifer. Two distinct boundary conditions are considered to account for the configuration of the vertical cutoff wall: the wall‐soil formation interfaces with or without the existence of filter cakes, that is, constant‐head boundary and no‐flux boundary conditions. A series of type curves is constructed from the analytical solution and compared with those of a partially penetrated well within an aquifer. The constant‐head boundary condition provides faster hydraulic head recovery than the aquifer case. On the other hand, the no‐flux boundary condition leads to a delayed hydraulic head recovery. The greater the shape factor and well offset from the center of the cutoff wall, and the smaller the width of the cutoff wall, the greater the effect of the boundary condition observed in the type curves. This result shows the significance of considering proper boundary conditions at the vertical cutoff wall in analyzing slug tests. Copyright © 2014 John Wiley & Sons, Ltd.     

The Korean Integrated Model (KIM) System for Global Weather Forecasting

The Korea Institute of Atmospheric Prediction Systems (KIAPS) began a national project to develop a new global atmospheric model system in 2011. The ultimate goal of this 9-year project is to replace the current operational model at the Korea Meteorological Administration (KMA), which was adopted from the United Kingdom’s Meteorological Office’s unified model (UM) in 2010. The 12-km Korean Integrated Model (KIM) system, consisting of a spectral-element non-hydrostatic dynamical core on a cubed sphere grid and a state-of-the-art physics parameterization package, has been launched in a real-time forecast framework, with initial conditions obtained via the advanced hybrid four-dimensional ensemble variational data assimilation (4DEnVar) over its native grid. A development strategy for KIM and the evolution of its performance in medium-range forecasts toward a world-class global forecast system are described. Outstanding issues in KIM 3.1 as of February 2018 are discussed, along with a future plan for operational deployment in 2020.