Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

非常规管节点疲劳寿命分析与计算

对非常规管节点的疲劳寿命进行了分析研究，用SESAM计算疲劳载荷，应用精细有限元分析计算热点应力，用规范的S—N曲线计算管节点的疲劳寿命。通过实例计算表明，这些处理对非常规管节点疲劳寿命分析与计算是很有效的。     

Comments on the Gravity and Magnetic Anomalies of Saros Bay using Wavelet Approach

In this paper, residual and regional gravity and magnetic anomalies of Saros Bay are separated using wavelet method. Wavelet is one of the modern, stochastic image approaches processing technique in electronics. The vertical, horizontal and diagonal components of wavelet output are evaluated simultaneously and an underground model is obtained by suitable cross-sections. Thus the geological and tectonic properties of Saros Bay are extracted. Our proposed model is confirmed by deep and shallow seismic researches of Turkish Petroleum Cooperation (TPAO). The South-East region of Saros Graben is formed by strike slip Ganos Fault and Anafartalar reverse Fault that lies on the east of Ganos Fault. On the Northwest region, there is strike slip component fault resulting in the Enez Graben. Here we detected two new oval type geological structure, both of them starting from the Eastern direction of Canakkale Dardanelles and but one of them continuing through Gelibolu Peninsuls, while the other tending to the Enez Graben. We think that these structures are the ruins of a very old sea in this region. This revised version was published online in November 2006 with corrections to the Cover Date.     

On the adequacy of second-order models to predict abnormal waves

The paper is intended to extend the investigations about the nature of abnormal waves that have been reported in the work of Guedes Soares et al. (Characteristics of abnormal waves in North Sea states. Applied Ocean Research 25, [337–344]). The same dataset gathered at the oil platform North Alwyn in the North Sea during the November storm in 1997 is used along with the time series from the Draupner platform, in which an abnormal wave occurred. The data are reanalyzed from the viewpoint of the applicability of second-order models to fit large waves. The observed results confirm that the second-order approximation is not adequate to describe highly asymmetric and abnormal waves.     

Analysis of seabed instability using element free Galerkin method

Wave-induced seabed instability, either momentary liquefaction or shear failure, is an important topic in ocean and coastal engineering. Many factors, such as seabed properties and wave parameters, affect the seabed instability. A non-dimensional parameter is proposed in this paper to evaluate the occurrence of momentary liquefaction. This parameter includes the properties of the soil and the wave. The determination of the wave-induced liquefaction depth is also suggested based on this non-dimensional parameter. As an example, a two-dimensional seabed with finite thickness is numerically treated with the EFGM meshless method developed early for wave-induced seabed responses. Parametric study is carried out to investigate the effect of wavelength, compressibility of pore fluid, permeability and stiffness of porous media, and variable stiffness with depth on the seabed response with three criteria for liquefaction. It is found that this non-dimensional parameter is a good index for identifying the momentary liquefaction qualitatively, and the criterion of liquefaction with seepage force can be used to predict the deepest liquefaction depth.     

Protracted Environmental Issues on a Proposed Titanium Minerals Development in Kenya's South Coast

This study takes cognizance of the fact that the TIOMIN (TIOMIN Resources Inc. of Canada) project has resulted in controversy over its handling of environmental issues and especially the Environmental Impact Assessment (EIA). The authors address many of the protracted issues that have slowed the development of the mining project in Kwale. The main emphasis is on the impacts of the mining and mineral separation processes on the environment, including the governing legislation, the role of consultation and public participation, and socioeconomic issues. In their public documents TIOMIN has specified neither the type of minerals it wants to extract from the area nor their chemical composition. It is well known, however that the titanium minerals and zircon targeted have impurities of iron, thorium and uranium. In the absence of an Environmental Management Plan, the effects of stockpiling radioactive wastes and other impurities that could possibly lead to environmental degradation in both the terrestrial and marine environments have not been publically addressed. The measures proposed to mitigate ecological damage as a result of the establishment of a minerals processing plant in the area seem inadequate. Pollution resulting from accidental spillage or breakage could have significant impact on marine life and residents living near the mining site. Other issues that have not been addressed satisfactorily pertain to the use of surface and underground water. The area already faces a huge water deficit and the calculations presented on aquifer recharge and stream flow rates do not indicate the large quantities of water that would be required in the mineral processing plant. The project, if approved in its present state, risks violation of international conventions. Furthermore, it could cause a conflict between Kenya and Tanzania in the event of an oil spill at the proposed ship loading facility at Shimoni. The proposed mining area includes the district's most fertile land, is home to many fisherfolk and is a major tourist destination. An analysis of the effects of this project on other available opportunities must be thoroughly understood to ascertain the economic and environmental benefits and costs of the mining venture. The proposed compensation rate of $1,000 per acre, for resettlement for example, appears to be grossly inadequate. Compensation should take into account family size and structure family assets and the cost of relocation.     

莱州湾东部滨海水域砂金分布特征

通过对莱州湾东部滨海水域地球物理和地质钻综合调查，业已查明该海区地质的构造和古地理环境特征，并发现区内砂金分布较普遍，本文从砂金分布的地貌单元，沉积物类型，砂金成因类型，物质来源，古气候，构造作用，砂金成因等诸方面，研究了该海域内砂金特征。