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.     

The Continuous Plankton Recorder: concepts and history, from Plankton Indicator to undulating recorders

Alister Hardy conceived the Continuous Plankton Recorder (CPR) survey in the 1920s as a means of mapping near-surface plankton in space and time, interpreting the changing fortunes of the fisheries and relating plankton changes to hydrometeorology and climatic change. The seed he planted has grown to become the most extensive long-term survey of marine organisms in the world and the breadth of his vision becomes ever more apparent. The survey has now run for over 70 years and its value increases with every passing decade. Operating from ‘ships of opportunity’ the machines used are robust, reliable and easy to handle. Wherever possible, all the sampling and analytical methods have not been changed to maintain the consistency of the time series. Computerisation and the development of new statistical approaches have increased our ability to handle the large quantities of information generated and enhance the sensitivity of the data analyses. This overview, based on almost 900 papers, recounts the various phases in the history of the survey. It starts with the Indicator Survey (1921–1934), the deployment of the first CPR on the Discovery Expedition (1924–1927) and the early CPR survey in the North Sea (1931–1939). The survey reopened in 1946 after the Second World War and expanded across the North Atlantic to North America from 1959. Taxonomic studies were initiated and an emphasis was placed on patterns of distribution, which were seen to reflect the varying oceanographic conditions. The years 1968–1976 saw further expansion with operations even in the American Great Lakes, publication of a Plankton Atlas and initial evidence for a downward trend in plankton biomass. At about this time electronic instrumentation was attached to CPRs to make additional measurements and work was started on the development of a new generation of undulating Continuous Plankton and Environmental Recorders (CPERs). In 1976 the survey moved to Plymouth. Scientific priorities in the UK changed in the subsequent decade and funding became more difficult to secure even though some of the CPR papers being published at the time are now regarded as classics in plankton ecology. In 1988 the UK Natural Environment Research Council (NERC) decided to close the survey. An international rescue operation led to the creation of the Sir Alister Hardy Foundation for Ocean Science (SAHFOS) in 1990, which has continued with consortium funding from a number of countries, and from 1999 again included NERC. The scientific rationale of the survey has gained credibility as concern over climate change and other anthropogenic effects has grown and as the key role that plankton plays as an indicator of large-scale environmental conditions becomes ever more apparent. Recently, the survey became an integral component of the Global Ocean Observation System (GOOS) and expanded into the North Pacific. It plays a complementary role in many large international and multidisciplinary projects and is providing inspiration, advice and support to daughter surveys elsewhere in the world. At the start of a new millennium, Hardy’s vision from the 1920s is a powerful driving force not just in international biological oceanography, but in global environmental science.     

Caught in the act: the 20 December 2001 gravity flow event in Monterey Canyon

A sediment gravity flow descended through the axis of Monterey Canyon on 20 December 2001 at 13:35 Pacific standard time. The timing of this event is documented by a current-meter package which recorded an 11.9-dbar pressure increase in less than 10 min and was found 550 m down-canyon from its deployment site, buried completely within a >70-cm-thick gravity flow deposit. This event is believed to have started in less than 290 m of water because an instrument at this location was also lost at the same time. A 178-cm core collected after the event from the axis of the canyon at 1,297-m water depth contained fresh, greenish, chlorophyll-rich organic material at 32-cm sub-bottom depth, suggesting the event extended to this water depth. The only trigger identified for this mass movement event appears to be moderate sea and surf conditions. Thus, gravity flow events of this magnitude do not require an exceptional triggering event.     

Geologic evolution of the Canarian Islands of Lanzarote, Fuerteventura, Gran Canaria and La Gomera and comparison of landslides at these islands with those at Tenerife, La Palma and El Hierro

In this paper we discuss the results of a swath bathymetric investigation of the Canary archipelago offshore area. These new data indicate that volcanism is pervasive throughout the seafloor in the region, much more that would be suggested by the islands. We have mapped tens of volcanic edifices between Fuerteventura and Gran Canaria and offshore Tenerife, La Gomera, El Hierro and La Palma. Volcanic flows are present between Tenerife and La Gomera and salic necks dominate the eastern insular slope of La Gomera. This bathymetry also supports land geologic studies that indicate that the oceanic archipelago has acquired its present morphology in part by mass wasting, a consequence of the collapse of the volcanic edifices. In the younger islands, Tenerife, La Palma and El Hierro, the Quaternary (1.2 to 0.15 Ma) debris avalanches are readily recognizable and can be traced offshore for distances measured in tens of km. Off the older islands, Lanzarote, Fuerteventura, Gran Canaria and La Gomera (<20 to 3.5 Ma), the avalanches have been obscured by subsequent turbidity current deposition and erosion as well as hemipelagic processes. The failure offshore western Lanzarote is in the form of a ramp at the base of the insular slope bound on the seaward side by a scarp. Its size and the lack of evidence of rotation along its landwards side precludes the possibility that it is a slump. It probably represents a slide whose outer scarp is caused by break-up of the slide. Mounds on the ramp’s surface may represent post-displacement volcanic structures or exotic blocks transported to their present locations by the slide. The failures offshore Fuerteventura are so large that, although they occurred in the Miocene-Pliocene, exotic blocks displaced from upslope are still recognizable in the insular margin morphology. The Canary Island insular margin appears to be a creation of Miocene-Pliocene mass wasting and more recent turbidity current deposition and erosion, and hemilepagic deposition. Failures offshore La Gomera are due to debris flows and/or turbidity currents. These events have obscured earlier mass wasting events. An erratum to this article is available at .     

A comparative study of some directional sea models

Current specification of the ocean wave environment for the design of offshore platforms does not adequately describe the directional nature of a real seaway. The strong wave frequency dependent nature of the directional behavior of observed seas is often over-simplified for design. A general formulation encompassing a wide range of directional sea models is presented. Parameter values used in some of the more popular directional sea models are examined. Approximate expressions for the two frequency dependent parameters in a modified Longuet-Higgins cosine wave spreading model are presented. A general procedure which allows an engineer to estimate parameters for alternate wave spreading models is discussed. To illustrate this procedure an empirically based modified cosine spreading model is used as the basis to estimate frequency dependent parameters for circular normal and wrapped Gaussian wave spreading models. A comparison of the contours of the various directional sea models and the prediction of the root-mean-square velocity distribution is presented.     

Seasonal variation of Mn adsorption on to calcareous surfaces in the English Channel, and its implication on the manganese distribution coefficient

Dissolved and particulate manganese in seawater samples derived from the English Channel has been analyzed using graphite furnace atomic absorption (GFAAS), and inductively coupled plasma atomic emission (ICP—AES) spectroscopies. Because of the high contents of carbonate minerals found in the suspended matter samples, the English Channel constitutes an ideal field area for the study of the Mn²⁺/Ca²⁺/CaCO₃ system. Owing to the chemical speciation of particulate manganese and the combined use of the X-ray diffraction and electron spin resonance spectroscopy we have shown the importance of the carbonate phase in the stabilization of manganese (II). This has been confirmed by p-pH measurements in the field. All these studies have also indicated that: (1) manganese is associated with calcite in the form of a solid solution, Mn_xCa_1−xCO₃; and (2) significant increases in the concentrations of particulate manganese, especially in offshore waters, occur in summer. This seasonal phenomenon has been attributed to the proliferation of coccolithophorids, which are known to be covered with calcified skeletons at high specific surface areas. To appraise the implication of the coccolithophorid-blooms phenomenon on the Mn²⁺/Ca²⁺/CaCO₃ system, we have used the manganese distribution coefficient, D_i, between the liquid phase and CaCO₃ particles. Overall we have shown that: (1) D_i in summer (i.e. when coccoliths considered as very fine-grained calcite are abundant) is much higher than that obtained in winter; and (2) in the vicinity of the French coast, D_i does not vary significantly even in summer. This is because of the high content of chalk-derived particles found in the near-shore waters.     

On the vertical structure of temperature anomalies in the North Atlantic

The expansion of the temperature anomaly field in the North Atlantic is considered using natural orthogonal functions of depth. It is shown that the first few components of this expansion describe the field both at the surface and in the upper 1000 m layer accurately enough. The relation between the water temperature anomaly at some levels and the above components is estimated for various regions of the ocean.Translated by Mikhail M. Trufanov.     

The Mid-atlantic Ridge (31°S–34°30′S): Temporal and spatial variations of accretionary processes

The ridge located between 31° S and 34°30′S is spreading at a rate of 35 mm yr⁻¹, a transitional velocity between the very slow (≤20 mm yr⁻¹) opening rates of the North Atlantic and Southwest Indian Oceans, and the intermediate rates (60 mm yr⁻¹) of the northern limb of the East Pacific Rise, and the Galapagos and Juan de Fuca Ridges. A synthesis of multi-narrow beam, magnetics and gravity data document that in this area the ridge represents a dynamically evolving system. Here the ridge is partitioned into an ensemble of six distinct segments of variable lengths (12 to 100 km) by two transform faults (first-order discontinuities) and three small offset (< 30 km) discontinuities (second-order discontinuities) that behave non-rigidly creating complex and heterogeneous morphotectonic patterns that are not parallel to flow lines. The offset magnitudes of both the first and second-order discontinuities change in response to differential asymmetric spreading. In addition, along the fossil trace of second-order discontinuities, the lengths of abyssal hills located to either side of a discordant zone are observed to lengthen and shorten creating a saw-toothed pattern. Although the spreading rate remains the same along the length of the ridge studied, the morphology of the spreading segments varies from a deep median valley with characteristics analogous to the rift segments of the North Atlantic to a gently rifted axial bulge that is indistinguishable from the shape and relief of the intermediate rate spreading centers of the East Pacific Rise (i.e., 21°N). Like other carefully surveyed ridge segments at slow and fast rates of accretion, the along-axis profiles of each ridge segment are distinctly convex upwards, and exhibit along-strike changes in relief of 500m to 1500 between the shallowest portion of the segment (approximate center) and the segment ends. Such spatial variations create marked along-axis changes in the morphology and relief of each segment. A relatively low mantle Bouguer anomaly is known to be associated with the ridge segment characterized by a gently rifted axial bulge and is interpreted to indicate the presence of focused mantle upwelling (Kuo and Forsyth, 1988). Moreover, the terrain at the ends of each segment are known to be highly magnetized compared to the centers of each segment (Carbotte et al, 1990). Taken together, these data clearly establish that these profound spatial variations in ridge segment properties between adjoining segments, and along and across each segment, indicate that the upper mantle processes responsible for the formation of this contrasting architecture are not solely related to passive upwelling of the asthenosphere beneath the ridge axis. Rather, there must be differences in the thermal and mechanical structure of the crust and upper mantle between and along the ridge segments to explain these spatial variations in axial topography, crustal structure and magnetization. These results are consistent with the results of investigations from other parts of the ridge and suggest that the emplacement of magma is highly focused along segments and positioned beneath the depth minimum of a given segment. The profound differences between segments indicate that the processes governing the behavior of upwelling mantle are decoupled and the variations in the patterns of axis flanking morphology and rate of accretion indicate that processes controlling upwelling and melt production vary markedly in time as well. At this spreading rate and in this area, the accretionary processes are clearly three-dimensional. In addition, the morphology of a ridge segment is not governed so much by opening rate as by the thermal structure of the mantle which underlies the segment.     

Volcanogenic complexes of the Sea of Okhotsk and the Sea of Japan (Comparative analysis)

Several coeval volcanogenic complexes indicating synchronous volcanic events in the Sea of Japan and the Sea of Okhotsk are defined. Volcanics from different-age complexes of the Sea of Okhotsk show many features in common and are attributed to the Pacific type of calc-alkaline series. They were formed in geodynamic settings of the active continental margin and point to its origination on the continental crust of the fragmented Asian continent margin. The volcanic rocks developed in the Sea of Japan reflect different rifting stages. The initial stage was marked by an eruption of calc-alkaline lavas (Paleocene-Eocene complex). At the stage of the marginal-sea spreading, erupted volcanics of the middle Miocene-Pliocene complex were melted from the depleted mantle and magmatism terminated by an eruption of postspreading Pliocene-Holocene volcanics melted from the enriched mantle EM I. Along with the differences, the magmatism in the Sea of Japan and Sea of Okhotsk has some features in common. In both cases, the sialic component of the lithosphere substantially influenced the magma generation.