Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

Oxygen and Sulfides in Bottom Sediments of the Coastal Sevastopol Region of Crimea

Spatial variations in the distribution and fluxes of dissolved oxygen and sulfide in bottom sediments of Omega and Sevastopol bays have been studied. The results of analysis reveal that the distribution of dissolved oxygen and sulfide in pore water depends mostly on seasonal variations in the oxygen concentration in bottom water, grain size, the organic carbon content in bottom sediments, and, additionally for Sevastopol Bay, the iron content. The oxygen flux at the bottom of Sevastopol Bay is 20 times larger in winter–spring compared to that of Omega Bay. Anaerobic conditions in Sevastopol Bay sediments are observed much closer to the surface, with their subsequent development in bottom water.     

Diagnostics of solar wind streams and their sources in the solar corona

The studies are based on the experimental mass sounding of the interplanetary plasma near the Sun at radial distances of R = 4−70 R _S, performed at Pushchino RAO, Russian Academy of Sciences, and on the calculated magnetic fields in the solar corona based on the magnetic field strength and structure measured on the Sun’s surface at J. Wilcox Solar Observatory, United States. The experimental data make it possible to localize the position of the boundary closest to the Sun of the transition transonic region of the solar wind in the near-solar space (R ≈ 10−20 R _S) and to perform an interrelated study of the solar wind structure and its sources, namely, the magnetic field components in the solar corona based on these data. An analysis of the evolution of the flow types in 2000–2007 makes it possible to formulate the physically justified criterion responsible for the time boundaries of different epochs in the solar activity cycle.     

Occurrence, physiological responses and toxicity of nickel in plants

The focus of the review is on the specific aspects of nickel’s effects on growth, morphology, photosynthesis, mineral nutrition and enzyme activity of plants. The mobility of nickel in the environment and the consequent contamination in soil and water is of great concern. Also, the detrimental effects of excessive nickel on plant growth have been well known for many years. Toxic effects of nickel on plants include alterations in the germination process as well as in the growth of roots, stems and leaves. Total dry matter production and yield was significantly affected by nickel and also causes deleterious effects on plant physiological processes, such as photosynthesis, water relations and mineral nutrition. Nickel strongly influences metabolic reactions in plants and has the ability to generate reactive oxygen species which may cause oxidative stress. More recent evidence indicates that nickel is required in small amounts for normal plant growth and development. Hence, with the increasing level of nickel pollution in the environment, it is essential to understand the functional roles and toxic effects of nickel in plants.     

The effect of long-range atmospheric transport of organochlorine compounds by soil studies from Mongolia to the Arctic

The results of studies on the distribution regularities are presented for polychlorinated biphenyls (PCBs) of different degrees of chlorination and for organochlorine pesticides (OCPs): hexachlorobenzene (HCB), hexachlorocyclohexane (HCCH), and DDT with its metabolites in the soils along the Lena River valley and in background areas of Eastern Siberia and Mongolia. A statistically reliable correlation is found between the PCB–OCP and C_org concentrations. The highest levels of HCB are registered in the soils between 50 and 60° N. The concentrations of αand γ-HCCH increase reliably, while those of pp′-DDT and pp′-DDE decrease from south to north. A trend of the decrease in concentrations from Mongolia to the Laptev Sea is revealed for tri-, tetra-, and penta-chlorine-substituted PCB congeners. However, the soils sampled northwards from 60° N show a reliable increase in the concentrations of tetra-, penta-, and hexachlorine-substituted congeners.     

Taxonomic composition and biostratigraphic value of the Early Riphean organic-walled microfossil association from the Ust’-Il’ya Formation of the Anabar Uplift,Northern Siberia

It is demonstrated on the basis of the first monographic study of multiple and taxonomically variable organic-walled microfossils from the Ust’-Il’ya Formation of the Anabar Uplift that both prokaryotic and eukaryotic forms are present in the composition of this microbiota. They are divided into four formal groups on the basis of the specifics of the morphological indicators of the identified taxa. The review of the data on the isotopic age of hosting deposits showed that the Ust’-Il’ya Formation is of the Early Riphean in age which are currently evaluated as 1750 ± 10–1400 Ma. Relatively large and morphologically complex eukaryotic forms present in the Ust’-Il’ya Formation served in due time as the basis for an erroneous conclusion on the Late Riphean age of the specified formation and the overlying Lower Kotuikan Subformation of the Anabar Uplift. The paper provides a global comparative analysis of the Early Riphean microbiotas, demonstrates the position of the Ust’-Il’ya and Kotuikan microbiotas amidst the microbiotas of the same age, and shows that the relatively large acanthomorphic acritarchs Tappania, Valeria, Dictiosphaera, Satka, and Shuiyousphaeridium appeared in the geological history already during the Early Riphean Erathem. Moreover, the paper discusses the recently published data on the distribution of aerobic and anaerobic conditions in the Early Riphean paleobasins and provides the conclusion on the impact of the lateral change of these conditions on the taxonomic composition of the microbiota.     

Coral reef recovery status in south Andaman Islands after the bleaching event 2010

The Andaman and Nicobar Islands are one of the Union Territories of India, located in the eastern part of the Bay of Bengal. In 2010 summer, the increment in sea surface water temperature (up to 34℃) resulted in the bleaching of about 74% to 77% of corals in the South Andaman. During this event, coral species such as Acropora cerealis, A. humilis, Montipora sp., Favia pallida, Diploastrea sp., Goniopora sp. Fungia concinna, Gardineroseries sp., Porites sp., Favites abdita and Lobophyllia robusta were severely affected. This study is to assess the recovery status of the reef ecosystem by estimating the percentage of Live Coral cover, Bleached coral cover, Dead coral with algae, Rubble, Sandy flat, Algal assemblage and other associated organisms. The sedimentation rate (mg cm-2 d-1) and coral coverage (%) were assessed during this study period. The average sedimentation rate was ranged between 0.27 and 0.89 mg cm-2 d-1 . The observed post bleaching recovery of coral cover was 21.1% at Port Blair Bay and 13.29% at Havelock Island. The mortality rate of coral cover due to this bleaching was estimated as 2.05% at Port Blair Bay and 9.82% at Havelock Island. Once the sea water temperature resumed back to the normal condition, most of the corals were found recovered.