Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

Trajectoires rectilignes du problème des 3 corps,lorsque la constante des forces vives est nulle

This problem is reducible to the integration of the EulerChazy's differential equation. We give a new simplified version of the equation, and we interpret in the corresponding diagram the study of two extreme degenerate cases.

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Presenté à la Conference du Mécanique Céleste, Oberwolfach, Germany, août 27–septembre 2, 1972.     

Process-based 2DH morphodynamic modeling of tidal inlets: A comparison with empirical classifications and theories

The economical and ecological importance of tidal inlets has fostered the development of empirical tools for inlet management during the last century. This study aims at confronting these empirical theories with results obtained with a process-based numerical model, MORSYS2D. This 2DH morphodynamic modeling system is applied to an idealized tidal inlet/lagoon system with different combinations of significant wave height, tidal range and tidal prism. The numerical model predictions are compared to the empirical models of Hayes, Bruun, O'Brien and FitzGerald and to morphologies observed at natural tidal inlets. The results present good accordance with observations as well as with some key behaviors predicted with the empirical theories. The predicted morphologies satisfy the relation of O'Brien between the tidal prism and the cross-sectional area, the model reproduces the conceptual model of sand by-passing by ebb-tidal delta breaching of FitzGerald and the classifications of Hayes and Bruun are generally respected. However, some inconsistencies between model results and Hayes classification highlight the limitations of applying this classification, which only considers the yearly-averaged significant wave height and tidal range, to a single tidal inlet case.     

A wavelet for predicting the time-domain response of vertically tethered systems

The response wavelets for tether tension and the displacement of a package on the end of a tether are derived from a linear, frequency-domain model of vertically tethered systems using inverse fourier transform techniques. These wavelets are convolved with a record of ship displacement to predict the instantaneous tension and displacement to an accuracy of better than 20% for a typical system. Although snap loads are non-linear and the response cannot be calculated while the tether is slack, the onset of zero tension — a precursor to snap loads — is predicted by the wavelet. Thus, extreme and potentially hazardous conditions are foreseeable with the wavelet and this information can be used in real-time to guide operations at sea.     

Lateritic concentrations of manganese oxyhydroxides and oxides

Latentes result from the weathering of a variety of rocks under humid tropical conditions. When developed at the expenses of Mn²⁺-bearing parent rocks, laterite consists of a thick mantle made up of manganese oxides and hydroxides. Two main examples are described from tropical Africa. The first example displays a lateritic profile on metamorphic rock; the second example deals with lateritic profiles developed on a Precambrian sedimentary rock. From the base to the top of the studied profiles, different Mn hydroxide and oxide sequences have differentiated. Their composition depends on (i) the constitutive parent minerals with vary ing weathering rates, (ii) the intensity of weathering which progresses towards the profile top permitting pseudomorphic replacement of Mn⁴⁺ oxides for early formed Mn³⁺ hydroxides. Most of the manganese ore result from a relative accumulation. However, Mn can also be mobilized in different places of weathering profiles leading to accumulations in other places, mainly at the base of weathering profiles. That absolute accumulation can occur in non-Mn-bearing weathering horizons (kaolinitic horizons) to form Mn nodules in which kaolinite is dissolved. This process provides Al which combines to Mn³⁺ forming Al-Mn hydroxides (lithiophorite).From these petrographical observations, stability field diagrams are proposed to explain the general evolution of Mn components under chemical lateritic conditions. These diagrams illustrate interactions between ions and manganese species.

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Zusammenfassung Latente entstehen durch Verwitterung verschiedener Gesteine in tropisch-feuchten Klimaten. Bildet sich Laterit aus Mn²⁺-führenden Ausgangsgestein, so besteht er aus einer dicken Schicht von Mangan-Oxiden und -Hydroxiden. Hier sollen zwei Beispiele aus tropischen Regionen Afrikas beschrieben werden:Das erste Beispiel ist ein Lateritprofil, daß das Hangende von Metamorphiten bildet; das zweite Laterite, die sich auf einem präkambrischen Sedimentgestein entwickelt haben. Von der Basis bis zu dem Top der jeweiligen Profile haben sich unterschiedliche Mangan-Hydroxid und -Oxid-Sequenzen herausgebildet. Die Zusammensetzung hängt ab von:(i) Den wesentlichen Ausgangsmineralien unter wechselnden Verwitterungspenoden und (ii) der Verwitterungsintensität, die zum Top des Profils zunimmt und damit die pseudomorphe Substitution von Mn³⁺-Hydroxiden zu Mn⁴⁺-Oxiden ermöglicht. Der Hauptanteil der Manganlagerstätte resultiert aus einer relativen Anreicherung. Allerdings kann Mn auch in verschiedenen Teilen des Verwitterungsprofiles mobilisiert werden, was zu einer Anreicherung in anderen Bereichen führt und zwar hauptsächlich an der Basis eines Profiles. Diese absolute Anreicherung kann in Mangan-freien Verwitterungshorizonten (Kaolinithorizonte) zur Bildung von Mangankonkretionen führen, in denen Kaolinit gelöst wird. Bei diesem Vorgang wird Al frei, das sich mit Mn³⁺ verbindet, um Al-Mn-Hydroxide (Lithiophorite) zu bilden.Mit Hilfe dieser petrographischen Beobachtungen werden Stabilitäts-Diagramme erstellt, die die allgemeine Entwicklung der Mn-Komponenten unter lateritischen Bedingungen zu erklären versuchen. Diese Diagramme erleutern die zwischen Ionen und Mangan stattfindenen Reaktionen.

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Résumé Les latérites résultent de l'altération chimique de roches de types variés, sous conditions tropicales humides. Les latérites se développent sur roches-mères à minéraux manganésifères à Mn²⁺ sous forme de cuirasses épaisses constituées d'oxydes et d'hydroxydes de manganèse. Deux exemples d'Afrique tropicale sont étudiés. Le premier exemple montre un profil d'altération latéritique développé sur roche métamorphique; le deuxième exemple traite de profils latéritiques développés sur une roche sédimentaire précambrienne. De la base vers le sommet des profils étudiés, se différencient des séquences d'oxydes et hydroxydes de manganèse. Elles sont fonction (1) des minéraux primaires dont les vitesses d'altération varient d'une phase à une autre, (2) de l'intensité de l'altération qui est d'autant plus forte que l'on monte dans le profil et qui permet le remplacement pseudomorphique d'hydroxydes à Mn³⁺ formés précocement par des oxydes à Mn⁴⁺. La plupart des gisements de manganèse résultent d'une accumulation relative; cependant, Mn peut être mobile à différents niveaux dans les profils d'altération et s'accumuler de manière absolue à d'autres, et en particulier à la base des profils. Cette accumulation absolue peut se produire dans des horizons non manganésifères (horizons kaolinitiques) et former des nodules de manganèse dans lesquels la kaolinite est dissoute libérant de l'aluminium qui se combine avec Mn³⁺ pour former un hydroxyde alumineux et manganésifère: la lithiophorite.A partir de ces observations pétrographiques, et après les avoir comparées avec celles d'autres gisements africains et brésiliens, des diagrammes de champs de stabilité sont proposés pour expliquer l'évolution générale des phases manganésifères sous conditions d'altération latéritique. Ces diagrammes illustrent les interactions entre ions en solution et minéraux manganésifères.

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Oxygen and carbon isotope composition of structural carbonate in weathering apatites from laterites, southern Brazil and western Senegal

The oxygen (δ¹⁸O_c) and carbon (δ¹³C_c) isotope compositions of the structural carbonate group (CO₃) in apatites from lateritic profiles were investigated. The weathering profiles, located in southern Brazil and in western Senegal, are developed on three different types of apatite-rich parent rock: carbonatite, metamorphosed marine phosphorite and sedimentary marine phosphorite. The parent rock apatites are of magmatic, hydrothermal, metamorphic and sedimentary origins. The in situ formation of apatite of weathering origin in the profiles is well documented petrographically and geochemically.The overall range of measured δ¹⁸O_c and δ¹³C_c values of apatites of weathering origin (22 to 27 SMOW for δ¹⁸O_c and −15 to −10 PDB for δ¹³C_c) is much smaller than the range of measured and/or published isotope compositions of parent rock apatites (4–35 for δ¹⁸O_c and −11 to +1 for δ¹³C_c). In any profile, the apatites of weathering origin can exhibit lower, similar or higher δ¹⁸O_c values than parent rock apatites. In contrast, their δ¹³C_c values are systematically and significantly lower than those of the parent rock apatites. Apatites formed as a result of weathering in laterites can therefore be readily distinguished from apatites of other origin on the basis of their isotope composition.Assuming that apatite CO₃ fractionates O in a way similar to calcite CO₃, the structural carbonate group of the apatites of weathering origin appears to form in approximate isotopic equilibrium with the weathering solutions. The very low δ¹³C_c values exhibited by these apatites indicate that the dominant sources of dissolved CO₂ in the soil water are organic. The isotope composition of structural carbonate in apatite of weathering origin in lateritic profiles may provide useful information for paleoenvironmental studies.     

Model Validation and Performance Evaluation for The Multi-Tethered Aerostat Subsystem of the Large Adaptive Reflector

The Canadian design for the Square Kilometre Array radio telescope includes a large multi-tethered aerostat to support the telescope’s receiver. To validate this design concept, two parallel tracks have been undertaken: a numerical simulation of the multi-tethered aerostat system has been assembled, and a one-third scale prototype of the system has been constructed. This paper describes the experimental facility, presents results from initial tests of the uncontrolled system and compares these results to the predictions of the computer model of the system. Generally, the results compare very favourably. Using the simulation, we arrive at two important design philosophies to be used in the design of the full-scale system: (a) perturbations on the confluence point should be minimized, and (b) the system stiffness should be maximized to ensure minimum response to disturbances.     

Les equations aux variations et la 11e integrale du probleme desN corps

LetH=T(p)?U(q) the Hamiltonian of theN-body problem in cartesian coordinates. In his ‘Nouvelles Méthodes de la Mécanique Céleste’ (tome 1, p. 172) Poincaré observes that the equations leave invariant the differential form $$\alpha = \Sigma (q \delta p + \tfrac{1}{2}p \delta q) - \tfrac{3}{2}t \delta H.$$ This property was rediscovered by Elie Cartan in the framework of his ‘Leçons sur les Invariants Intégraux’ (p. 89, last line). We propose to study some applications of this fact from the point of view of Poincaré, that is: the point of view of the equations of variation.     

Pétrologie du gisement latéritique manganésifère d'Azul (Brésil)

At Azul (state of Para, Brazil) the lateritic weathering of organic shales with rhodochrosite and phyllosilicates (mainly muscovite) has led to one of the largest maganese deposits of Brazil (45 Mt of reserves with 42.65% Mn).The oxidation of the rhodochrosite-rich levels produces ore that typically breaks into plates preserving the original bedding of the rock. This oxidation corresponds to a sequence of transformation (rhodochrosite cryptomelane nsutite pyrolusite) by pseudomorphic replacement of the initial textures. At the top of this platy ore layer the late weathering of the micas releases potassium, and the nsutite and pyrolusite plasmas undergo a true retromorphic evolution toward cryptomelane, which is subsequently epigenized by lithiophorite.The geochemical balance computation at each stage and the modeling of this evolution show that acid and reducing conditions of the superficial layer favor the recycling of the Mn to the bottom of the profiles. Cryptomelane and lithiophorite constitute the more stable forms of manganese in the superficial layers of the lateritic profiles.     

Can UV radiation affect benthic deposit-feeders through biochemical alteration of food resources? An experimental study with juveniles of the benthic polychaete Eupolymnia nebulosa

The growth, tentacle development and feeding activity of the benthic polychaete Eupolymnia nebulosa were examined to determine whether UV might affect marine deposit-feeders indirectly through the modification of the nutritional quality of their resources. Since marine invertebrates have higher nutritional requirements during the period following settlement, we tested the effect of UV-altered phytodetritus on freshly settled juveniles of E. nebulosa. Phytodetritus was prepared from cultures of the diatom Skeletonema costatum either grown under or sheltered from UVB radiation. Sterol content of phytodetritus was unmodified by UV radiation. Conversely, phytodetritus was noticeably depleted in polyunsaturated fatty acids. Growth and tentacle development of juveniles fed on altered phytodetritus were reduced by 35% and 15% respectively, suggesting potential deficiencies in essential nutrients. In response to the lower quality of the phytodetritus, juveniles explored a wider area as they search for food, a strategy that could compensate for low food quality.