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.     

Modeling bed-load transport of coarse sediments in the Great Bay Estuary, New Hampshire

Current, sea level and bed-load transport are investigated in the Lower Piscataqua River section of the Great Bay Estuary, New Hampshire, USA—a well-mixed and geometrically complex system with low freshwater input, having main channel tidal currents ranging between 0.5 and 2 m s⁻¹. Current and sea level forced by the M₂M₄M₆ tides at the estuarine mouth are simulated by a vertically averaged, non-linear, time-stepping finite element model. The hydrodynamic model uses a fixed boundary computational domain and accounts for flooding–drying of tidal flats by making use of a groundwater component. Inertia terms are neglected in comparison with pressure gradient and bottom friction terms, which is consistent with the observed principal dynamic balance for this section of the system. The accuracy of hydrodynamic predictions in the study area is demonstrated by comparison with four tidal elevation stations and two cross-section averaged current measurements. Simulated current is then used to model bed-load transport in the vicinity of a rapidly growing shoal located in the main channel of the lower system. Consisting of coarse sand and gravel, the shoal must be dredged every five to eight years. Two approaches are taken—an Eulerian parametric method in which nodal bed-load flux vectors are averaged over the tidal cycle and a Lagrangian particle tracking approach in which a finite number of sediment particles are released and tracked. Both methods yield pathways and accumulations in agreement with the observed shoal formation and the long-term rate of sediment accumulation in the shoal area.     

Implications from a field study regarding the relationship between polycyclic aromatic hydrocarbons and glutathione S-transferase activity in mussels

An aluminium smelter on the west coast of Scotland discharges an aqueous effluent containing polycyclic aromatic hydrocarbons (PAHs) at the head of Loch Leven. The loch also supports two mussel (Mytilus edulis) farms. Data are presented on burdens of PAHs in the soft tissues of mussels and the effect of these contaminants on glutathione S-transferase (GST) activity in mussel hepatopancreas. GST activity is shown to be correlated with total PAH burden and also with the concentrations of certain individual PAHs. These field data show that high molecular weight PAHs are closely correlated to GST activity, whereas low molecular weight PAHs are not. This suggests that 5- and 6-ring PAHs have a more pronounced role than 2- to 4-ring compounds in inducing GST activity in mussels from Loch Leven. It is proposed that it may be more appropriate to link GST activity with 5- and 6-ring compounds only, rather than with the total PAH burden.     

Images of the seabed in the Faroe-Shetland Channel from commercial 3D seismic data

A large number of 3D deep seismic surveys in the Faroe-Shetland Channel gives continuous coverage over most of the region. These surveys were designed primarily to image depths in excess of 4 km, use low frequency sources and are recorded at low temporal sample rates. However, commercial 3D data can generate highly detailed images of the seabed due to the high spatial sample rate, typically 12.5 m. This is particularly true in waters below 200 m. Despite geophysical artefacts, the images reveal that there are a number of sedimentary processes at work adjacent to and within this channel. On the West Shetland Shelf, iceberg scouring and moraines reflect the impact of glaciation. On the West Shetland slope there is clear evidence for down-slope processes, such as debris flows, linear erosion channels, basal fans and (one case) slope failure. Along-slope processes are also active as indicated by the presence of sediment waves and contourite mounds. On the floor of the basin, polygonal cracking can be observed. The most spectacular feature appears to be the Judd Deeps, a system of cliffs approximately 200 m high and 40 km across. Traditionally, seabed investigation has been performed using high-resolution surveys. This study shows that deep exploration data can also provide useful images of the seafloor.     

An ecosystem model with iron limitation of primary production in the equatorial Pacific at 140°W

We construct a one-dimensional ecosystem model (nitrate, ammonium, phytoplankton, zooplnakton and detritus) with simple physics and biology in order to focus on the structural relations and intrinsic properties of the food web that characterizes the biological regime in the central equatorial Pacific at 140°W. When possible, data collected during the EgPac and other cruises were used to calibrate model parameters for two simulations that differ in the limiting nutrient, i.e. nitrogen or iron. Both simulations show annual results in good agreement with the data, but phytoplankton biomass and primary production show a more pronounced annual variability when iron is used as the limiting nutrient. This more realistically reproduces the variability of biological production and illustrates the greater coupling between vertical physical processes and biological production when the limiting nutrient is iron rather than nitrogen. The iron simulation also illustrates how iron supply controls primary production variability, how grazingbalances primary production and controls phytoplankton biomass, and how both iron supply and grazingcontrol primary production. These results suggest that it is not possible to capture primary production variability in the central equatorial Pacific with biological models using nitrogen as the limiting nutrient. Other indirect results of this modeling study were: (1) partitioning of export production between dissolved and particulate matter is almost equal, suggesting that the importance of DOC export may have been previously overestimated; (2) lateral export of live biomass has to be taken into account in order to balance the nitrogen budget on the equator at 140°W; and (3) preferential uptake of ammonium (i.e. nitrate uptake inhibition by ammonium) associated with high regeneration of nitrogen (low f ratio as a consequence of the food web structure imposed by iron limitation) largely accounts for the surface build-up of upwelled nitrate.