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.     

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.     

High-resolution sediment echosounding off Peru: Late Quaternary depositional sequences and sedimentary structures of a current-dominated shelf

About 6000 km of both bathymetric and high-resolution acoustic profiles were acquired on the shelf and upper slope offshore Peru between 9° S and 14° S. Two new sediment echosounder systems – SEL-96 and SES-2000DS – provided details of the sedimentary structures of the Quaternary sequences within the Sechura-Salaverry, Huacho and Pisco Basins. To a great extent, the poleward undercurrent determines the distribution of sediments. The undercurrent has generated numerous erosional unconformities, it has winnowed hardgrounds and has created mudwaves common between 250 m and 400 m water depth. Distinct subbottom reflectors within sedimentary units represent hiatuses due to periods of intensified winnowing or non-deposition. Erosional unconformities usually marked by pronounced reflectors suggest shifts of the undercurrent system related to climatic changes and eustatic variations of sea level. On a larger scale, the stacked prograding depositional sequences reflect the sea-level cycles of the Middle Pleistocene to the Holocene. Based on the stratigraphy of our piston cores and that of Ocean Drilling Program (ODP) Site 680, the depositional sequences limited by extended unconformities were assigned to oxygen isotope stages 1 to 7. Other sedimentary structures are small straight channels that were conduits for downslope sediment transport. Deformed sediments associated with synsedimentary normal faults result from creep movements indicating beginning slope failure.     

Spatial and Temporal Variations of Sound Speed at the PN Section

Gridded sound speed data were calculated using Del Grosso's formulation from the temperature and salinity data at the PN section in the East China Sea covering 92 cruises between February 1978 and October 2000. The vertical gradients of sound speed are mainly related to the seasonal variations, and the strong horizontal gradients are mainly related to the Kuroshio and the upwelling. The standard deviations show that great variations of sound speed exist in the upper layer and in the slope zone. Empirical orthogonal function analysis shows that contributions of surface heating and the Kuroshio to sound speed variance are almost equivalent. This revised version was published online in July 2006 with corrections to the Cover Date.     

Contamination of organotin compounds and imposex in molluscs from Vancouver,Canada

Gastropods and bivalves were collected at 15 sites at Vancouver and Victoria, Canada between 24 May and 7 June, 1999, to establish tissue concentrations of butyltin and phenyltin compounds, to record imposex symptoms in gastropods, and to assess the present status of organotin contamination around Vancouver. No neogastropods (such as Nucella lima) were found around Vancouver. Neogastropod populations could have been extirpated by severe TBT contamination in Vancouver, as relatively high concentrations of TBT were detected in tissues of Mytilus trossulus from Vancouver, and the neogastropods distributed in Vancouver might be sensitive to TBT. Recovery from imposex, however, was observed in neogastropod populations from three sites at Victoria and Mission Point. TBT contamination has continued around Vancouver, arising from continuous use of TBT in antifouling paints for vessels larger than 25 m in length; however, TBT has decreased around Victoria and Mission Point. Different patterns of TBT accumulation in tissue were observed among the bivalve species from Vancouver. The highest TBT concentration detected in Tresus capax suggested some possible adverse effects. TBT was the most predominant butyltin component in almost all bivalve specimens surveyed, suggesting a low rate of TBT metabolism. Phenyltin compounds were not detected in any molluscan specimens in this study.     

Diet of albacore Thunnus alalunga from the waters of Mauritius (western Indian Ocean) inferred from stomach contents and fatty acid analysis

The diet of albacore Thunnus alalunga from their spawning ground in the waters of Mauritius was investigated. The stomach contents of 249 albacore individuals, caught by industrial longliners and artisanal fishers, was analysed, and the dominant prey taxa were selected for lipid and fatty acid (FA) analysis. The FA profiles of prey were compared with those of liver tissue of spawning-capable and post-spawning female albacore, using multivariate analysis. Whereas stomach content analysis identified cephalopods and crustaceans as the dominant prey items in number, FA-profile analysis identified crustaceans and fishes as the most-frequently consumed prey of post-spawning female albacore. In contrast, the FA profiles of spawning-capable albacore and those of prey showed very low similarity. Analysis of the prey suggests that although cephalopods, crustaceans and fishes could all provide albacore with the required lipids and FAs, cephalopod prey seem to be less desirable owing to their lower energy content (i.e. low in total lipid, triacylglycerol, 16:0, 18:0 and 18:1ω9). Instead, the most beneficial food appeared to be locally available fishes, which are more energy-rich and have a higher docosahexaenoic acid/ eicosapentaenoic acid ratio. These results provide new information on the trophic ecology of albacore, promote our understanding of the importance of prey type for successful reproduction of albacore, and highlight the advantages of FA profiling to study diet.     

Short period internal waves over the Huanghe (Yellow River) delta front

Internal waves with periods of about 5 minutes and trough to crest heights of up to 6.2 m were observed acoustically over the actively accreting delta front of the Huanghe (Yellow River) in the western portion of the Gulf of Bohai, Peoples Republic of China. The radian frequency of the internal waves was close to the locally-observed Brunt-Vaisala frequency. Through the relatively short (one hour) duration of an internal wave train, the amplitude was observed to decrease progressively with time. These internal waves may cause resuspension of delta-front sediments.     

Effect of shallow and narrow water on added mass of cylinders with various cross-sectional shapes

The sway, heave and roll added masses of three uniform cylinders with semi-circular, rectangular and triangular cross-sectional shapes in shallow and narrow water are numerically analysed. The method is based on simulation of the potential flow induced by the cylinder's mode of motion. The effects of shallow and narrow water on added mass are analysed and presented. It is concluded that the shallow and narrow water effects on added mass depend on the different cross-section shapes of the cylinders. In particular, the water depth effect on sway added mass is stronger than that on heave added mass while the narrow water effect on sway is weaker than that on heave. The shallow water effect on added mass tends to weaken the narrow water effect. Lastly the effect of shallow and narrow water on added mass on a rectangular cylinder is the strongest while that on a triangular cylinder is the weakest.