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.     

A sedimentary record from a deep Quaternary valley in the southern Lillebælt area, Denmark: Eemian and Early Weichselian lithology and chronology at Mommark

A unique sequence of Late Saalian, Eemian and Early Weichselian strata is exposed in a coastal outcrop at Mommark in the western Baltic. The sedimentary facies and faunas reflect palaeoenvironmental changes from an initial freshwater lake followed by marine transgression and interglacial deposition in a palaeo-Baltic sea. The upper part of the Eemian marine record indicates regression followed by lacustrine sedimentation and deposition of Early Weichselian aeolian sediments, which are truncated by an erosional unconformity overlain by a till bed. The lower and middle parts of the sequence have previously been correlated with the European glacial-interglacial stratigraphy on the basis of pollen analysis, while the upper part has been dated for the present study using optically stimulated luminescence (OSL) of samples from the aeolian and glacial deposits. A similar complete glacial-interglacial-glacial succession has not previously been recorded from this area. The Mommark sequence of conformable strata has been subjected to lateral compression, evidenced by folding and low-angle reverse faults. Seismic records from the adjacent waters in the western Baltic reveal a system of buried Quaternary valleys in the area. It is suggested that the interglacial deposition took place in a basin within one of these valleys and that a slab constituting the Mommark sequence, originating from the margin of a valley, has been glaciotectonically displaced northwestwards to the present location.     

Finite element formulation and algorithms for unsaturated soils. Part II: Verification and application

The finite‐element formulation and integration algorithms developed in Part I are used to analyse a number of practical problems involving unsaturated and saturated soils. The formulation and algorithms perform well for all the cases analysed, with the robustness of the latter being largely insensitive to user‐defined parameters such as the number of coarse time steps and error control tolerances. The efficiency of the algorithms, as measured by the CPU time consumed, does not depend on the number of coarse time steps, but may be influenced by the error control tolerances. Based on the analyses presented here, typical values for the error control tolerances are suggested. It is also shown that the constitutive modelling framework presented in Part I can, by adjusting one constitutive equation and one or two material parameters, be used to simulate soils that expand or collapse upon wetting. Treating the suction as a strain variable instead of a stress variable proves to be an efficient and robust way of solving suction‐dependent plastic yielding. Moreover, the concept of the constitutive stress is a particularly convenient way of handling the transition between saturation and unsaturation. Copyright © 2003 John Wiley & Sons, Ltd.     

Structurally controlled gold and sulfosalt mineralization: the Altenberg example, Salzburg Province, Austria

Summary ?In the south-eastern Altenbergkar–Silbereck area in the eastern Tauern window (Lungau, Salzburg) structurally controlled precious-metal (Au–Ag) mineralization is hosted in marbles of the Permo(?)-Mesozoic Silbereck Formation and in the underlying Variscan Central gneiss. During the Alpine otogeny both lithologies were affected by ductile deformation (shearing, D1; folding, D2/D3) and subsequent brittle deformation (tension gashes, D4; normal faulting, D5) related to the uplift and exhumation of the Tauern window. Mineralization is controlled by brittle D4 structures. NE–SW trending steeply dipping tension gashes of the “Tauerngoldgang” type occur within the Central gneiss. Three different marble-hosted ore types following fracture systems as well as foliation and bedding planes can be distinguished: 1) metasomatic replacement ores, 2) ores in tension gashes and 3) ores in talc-bearing structures, often containing high-grade gold and silver mineralization (native gold in association with Ag–Pb–Bi–sulfosalts). Four stages of mineralization can be distinguished which occur in all ore types: arsenopyrite–pyrite–pyrrhotite (first stage), Au–(Ag–Pb–Bi–sulfosalts) (second stage), base-metal sulfides and tetrahedrite–tennantite (third stage) and Ag-rich galena (fourth stage). Preliminary fluid inclusion data indicate temperatures of ore formation well above 300 °C (346 °C mean) for the second stage within the Central gneiss and temperatures between 310 and 230 °C for the second and third stages in the marble. Received October 12, 2001; revised version accepted September 5, 2002 Published online March 10, 2003     

Relict mountain slope deposits of northern Portugal: facies,sedimentogenesis and environmental implications

This paper deals with the formation processes and the palaeoenvironmental significance of relict slope deposits located on the uppermost part of the north Portugal mountains. For this purpose, seven key sites representative of the different lithofacies have been selected and analysed in detail. The data show that three main dynamic processes are responsible for the emplacement of regional fossil slope deposits: runoff, debris flows and dry grain flows. The ubiquity of these processes and the lack of frost‐related features or landforms do not support the existence of severe Pleistocene climates in this part of the lberian Peninsula as postulated by previous work. Pedological data gathered at one of the study sites show that a subalpine environment was probably present at 700–800 m altitude between 29 and 14 kyr. Using data from the Pyrenees Mountains, a 6.5 to 12°C depression in mean annual temperature has been tentatively postulated for this Pleniglacial period. Copyright © 2003 John Wiley & Sons, Ltd.     

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.     

Tephrochronology and tephrostratigraphy of two Pleistocene continental fossiliferous successions from central Italy

The stratigraphical context of two Middle Pleistocene fossiliferous palaeosols from Central Italy (Abruzzo and Tuscany) have been studied. Small mammals and molluscs occur in both palaeosols, which are covered by tephra layers that were analysed using an interdisciplinary approach. Application of fission‐track dating to apatites separated from the Case Picconetto tephra (Pescara, Abruzzo), yielded an age of 0.48 ± 0.04 Ma, indistinguishable from those previously determined for the Campani Quarry (Lower Valdarno, Tuscany) (0.46 ± 0.05 Ma and 0.48 ± 0.05 Ma). Geochemical and petrographic investigations indicate that these tephra originated from different volcanoes, the Alban Hills Volcanic Complex and the Vico Volcano (Latium) respectively. Small mammal and mollusc assemblages indicate different palaeoclimatic and palaeoenvironmental conditions for the Case Picconetto and Campani Quarry palaeosols. Warm and humid conditions can be inferred for the Campani Quarry site, whereas open and cold conditions can be inferred for Case Picconetto. On the basis of faunal data, fission‐track dates and attribution of tephra to specific volcanic eruptions, we suggest a correlation of these faunas with marine oxygen isotope stage 14 (Case Picconetto) and with marine oxygen isotope stage 11 (Campani Quarry), respectively. Copyright © 2003 John Wiley & Sons, Ltd.     

Bond rolling resistance and its effect on yielding of bonded granulates by DEM analyses

A discrete element modelling of bonded granulates and investigation on the bond effect on their behaviour are very important to geomechanics. This paper presents a two‐dimensional (2‐D) discrete element theory for bonded granulates with bond rolling resistance and provides a numerical investigation into the effect of bond rolling resistance on the yielding of bonded granulates. The model consists of mechanical contact models and equations governing the motion of bonded particles. The key point of the theory is that the assumption in the original bond contact model previously proposed by the authors (55th CSCE‐ASCE Conference, Hamilton, Ont., Canada, 2002; 313–320; J. Eng. Mech. (ASCE) 2005; 131 (11):1209–1213) that bonded particles are in contact at discrete points, is here replaced by a more reliable assumption that bonded particles are in contact over a width. By making the idealization that the bond contact width is continuously distributed with the normal/tangential basic elements (BE) (each BE is composed of spring, dashpot, bond, slider or divider), we establish a bond rolling contact model together with bond normal/tangential contact models, and also relate the governing equations to local equilibrium. Only one physical parameter β needs to be introduced in the theory in comparison to the original bond discrete element model. The model has been implemented into a 2‐D distinct element method code, NS2D. Using the NS2D, a total of 86 1‐D, constant stress ratio, and biaxial compressions tests have been carried out on the bonded granular samples of different densities, bonding strengths and rolling resistances. The numerical results show that: (i) the new theory predicts a larger internal friction angle, a larger yielding stress, more brittle behaviour and larger final broken contact ratio than the original bond model; (ii) the yielding stress increases nonlinearly with the increasing value of β, and (iii) the first‐yield curve (initiation of bond breakage), which define a zone of none bond breakage and which shape and size are affected by the material density, is amplified by the bond rolling resistance in analogous to that predicted by the original bond model. Copyright © 2006 John Wiley & Sons, Ltd.