Underwater autonomous manipulation for intervention missions AUVs

Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.     

Temporal dynamics of phytoplankton communities in a semi-enclosed mariculture pond and their responses to environmental factors

Variations in physical-chemical factors, species composition, abundance and biomass of nano- and micro-phytoplankton assemblages, as well as their responses to environmental factors, were investigated over a complete cycle (6 months) in a semi-enclosed shrimp-farming pond near Qingdao, northern China. The aim was to establish the temporal patterns of phytoplankton communities and to evaluate protists as suitable bioindicators to water quality in mariculture systems. A total of 34 taxa with nine dominant species were identified, belonging to six taxonomic groups (dinoflagellates, diatoms, cryptophyceans, chlorophyceans, euglenophyceans and chrysophyceans). A single peak of protist abundance occurred in October, mainly due to chlorophyceans, diatoms and chrysophyceans. Two biomass peaks in July and October were primarily due to dinoflagellates and diatoms. Temporal patterns of the phytoplankton communities significantly correlated with the changes in nutrients, temperature and pH, especially phosphate, either alone or in combination with NO₃-N and NH₃-N. Species diversity, evenness and richness indices were clearly correlated with water temperature and/or salinity, whereas the biomass/abundance ratio showed a significant correlation with NO₃-N. The results suggest that phytoplankton are potentially useful bioindicators to water quality in semi-enclosed mariculture systems.     

Probabilistic seismic performance assessment of lap-spliced RC columns retrofitted by steel wrapping jackets

In this study, the seismic fragility curves of two reinforced concrete (RC) columns that were lap-spliced at the bottom and retrofitted with steel wrapping jackets were generated. Their seismic performance was probabilistically assessed in comparison to that of lap-spliced or continuous reinforcement RC columns. This study used two types of steel wrapping jackets, a full jacket and a split jacket. Analytical models of the four types of columns were developed based on the experimental results of the columns using OpenSEES, which is effective in conducting nonlinear time history analyses. A suite of ten artificial ground motions, modified from recorded ground motions, was used to perform nonlinear time history analyses of the analytical models with scaling of the peak ground acceleration from 0.1 g to 1.0 g in increments of 0.1 g. The steel wrapping jackets did not increase the medians for yield (slight damage state) of the lap-spiced column and did not exceed the corresponding median of the continuous reinforcement column. However, the two steel jackets increased the medians for failure by 1.872 and 2.017 times, respectively, and exceeded the corresponding median of the continuous reinforcement column by 11.8% and 20.5%, respectively.     

Synoptic characteristics of heavy snowfalls at Busan of Korea caused by polar lows over the East/Japan Sea

Theoretical and Applied Climatology - The results of the present study prove that snowfall occurred due to the polar low (PL) in the Korean Peninsula and six cases of snowfall exceeding a snow...     

Meteorological and Streamflow Droughts: Characteristics,Trends, and Propagation in the Milwaukee River Basin

This study examined meteorological and streamflow droughts for the period from 1951 to 2006 using the Milwaukee River basin in Wisconsin as the study area in an effort to improve the understanding of drought propagation. Specifically, this study aimed to answer the following research questions: (1) What are the temporal trends of meteorological and streamflow droughts identified by drought indicators? (2) How do the drought indicators manifest drought propagation? Meteorological droughts were identified using the Effective Drought Index (EDI), and streamflow droughts were identified using a threshold-level approach. The intensity and duration of both types of drought were found to have decreased over time, most likely due to increasing precipitation. Therefore, in the study area, and likely in the larger region, drought has become of less concern. The propagation of meteorological drought into streamflow drought was detected generally after moderate and severe sequences of negative EDI that eventually led to extreme meteorological drought events. The study finds that both EDI and the threshold-level approach are effective in diagnosing meteorological and streamflow drought events of all durations.     

Slope inclinometers for landslides

Slope inclinometers/indicators are used to determine the magnitude, rate, direction, depth, and type of landslide movement. This information is usually vitally important for understanding the cause, behavior, and remediation of a landslide. However, many inclinometer measurements fail to achieve these intended aims because of lack of appreciation of the many factors that need to be correctly implemented during installation, monitoring, and data reduction to yield useful data. This paper presents some guidelines for understanding, installing, and interpreting slope inclinometers and presents three case histories that illustrate some of the pitfalls that can develop if these guidelines are not followed.     

Description of a small goby, Trimma grammistes (Perciformes: Gobiidae), from Jeju Island, Korea

A small goby, Trimma grammistes, was described in detail as the first reliable record from Korea based on 10 specimens (27.8～34.0 mm SL) collected from the coastal waters of Jeju Island. The species is easily differentiated from congeners by having no scales on the predorsal region, VI-I, 10 dorsal fin rays modally, I, 10 anal fin rays, 18 pectoral fin rays, 27～30 longitudinal scales as well as two dark longitudinal bands on the body.     

Estimation of spawning area of <Emphasis Type="Italic">Pisodonophis sangjuensis</Emphasis> Ji and Kim, 2011 (Pisces: Ophichthidae) based on leptocephali size and distribution

Pre-metamorphic leptocephali of Pisodonophis sangjuensis (n = 91, 10.4?90.2 mm in total length, TL) were collected in the East China Sea for the first time. Pre-metamorphic leptocephali of P. sangjuensis, which were identified using mitochondrial DNA cytochrome c oxidase subunit I gene (mtDNA COI), are characterized by various combinations of morphological characters: 8 moderate to pronounced gut loops with the kidney terminating on the 6-7th loops; and 8 subcutaneous pigment patches on the tail just ventral to the notochord. Pisodonophis sangjuensis leptocephali were more numerously collected offshore than inshore around Jeju Island. The smallest leptocephali (< 15.0 mm TL) were collected from the south far from Jeju Island, and the largest leptocephali (> 100.0 mm TL) were collected from around Jeju Island and the southern coast of Korea. Our findings indicate that P. sangjuensis spawns offshore south of Jeju Island that is an area associated with high water temperature, and then the hatched leptocephali are transported to Jeju Island or the southern coast of Korea by the Tsushima Warm Current.     

The effect of weathering on optically stimulated luminescence dating

Optically stimulated luminescence (OSL) dating was applied to quartz samples recovered from the gravel sediments of deformed marine terrace at the Suryum site, southeastern Korea, but has yielded stratigraphically inconsistent ages. Micromorphological, chemical, and mineralogical analyses of the gravels indicate the possible influence of chemical weathering on the apparent OSL ages. In the course of weathering after emerging from beach environments, originally permeable gravels underwent infilling by halloysite-rich clays in their voids, export and import of radioactive elements, and loss of mechanical strength with the creation of a porosity within pebbles. Calculation based on the evolution of the weathering profile showed a severe fluctuation of dose rate caused by the change of water content and radioactive element concentrations. Samples recovered from the weathering profile inevitably include quartz grains derived from mechanically weakened pebbles or illuviated from the upper layer, making it difficult to determine the equivalent dose (D_e) values of exclusively depositional quartz sands. Quantitative evaluation of the change of fabric and chemistry of the sediments on the basis of pedologic insight significantly aids in the derivation of OSL ages consistent with geomorphology and other independent age controls.     

Persistent high concentration of ozone during windstorm conditions in southern Korea

Summary Prior to and following the development of a windstorm in the mountainous coastal area of southern Korea, ground level ozone (O₃)-concentrations near Kangnung city, on the lee side of the mountains, show a maximum value at approximately 1300 LST, owing to a photolytic cycle of NO₂–NO–O₃ during the day and a minimum in concentrations at night as a result of the reverse cycle. During the development period of the windstorm, ozone concentrations are generally high all day, and slightly higher during the night. This distribution pattern of ozone is very different from the typical distribution of ozone in the absence of windstorms. High daytime concentrations of ozone during the windstorm are due to both the increase in the amount of ozone from photochemical reactions involving NO_x and the increase in O₃-concentration due to a decrease in the convective boundary layer thickness under the influence of downslope windstorm conditions on the lee-side of the mountains. At night, the windstorm increases in intensity as the westerly winds combine with a katabatic wind blowing downslope toward the surface at the coast. This causes momentum transport of air parcels in the upper levels toward the surface at the coast and the development of internal gravity waves, which generate a hydraulic jump directed upward over the coast and the East sea, thereby reducing to very thin the thickness of the nocturnal surface inversion layer (NSIL). The higher O₃-concentration at night depends mainly upon the shallow NSIL and on some O₃ being transported by the momentum transfer from the upper troposphere toward the ground in windstorm conditions.