Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

Porphyroblast inclusion-trail orientation data: eppure non son girate*!

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.     

A circular passive synthetic array: an inverse problem approach

Based on the general concept of the inverse acoustic radiation problem, the temporal scanning of a stationary acoustic field along a closed contour is used to simplify the measurement approach for obtaining information on source directionality. The mathematical formulation is derived from a model of the two-dimensional acoustic field. The formulation of the inverse problem is also investigated to establish a methodology for improving the angular resolution of the array processing. The fundamental relationship between the sound sources and the circular passive synthetic array is explored, utilizing existing mathematical methods, in order to develop the processing algorithm. Other subjects of practical interest, such as directional ambiguity, effect of Doppler frequency, interference noise, and processing gain are discussed. It is concluded that the results can be used to establish guidelines for engineering design and deployment of this type of synthetic array, and to further exploit the new array signal processing technique     

A sedimentary record from a deep Quaternary valley in the southern Lillebælt area, Denmark: Eemian and Early Weichselian lithology and chronology at Mommark

A unique sequence of Late Saalian, Eemian and Early Weichselian strata is exposed in a coastal outcrop at Mommark in the western Baltic. The sedimentary facies and faunas reflect palaeoenvironmental changes from an initial freshwater lake followed by marine transgression and interglacial deposition in a palaeo-Baltic sea. The upper part of the Eemian marine record indicates regression followed by lacustrine sedimentation and deposition of Early Weichselian aeolian sediments, which are truncated by an erosional unconformity overlain by a till bed. The lower and middle parts of the sequence have previously been correlated with the European glacial-interglacial stratigraphy on the basis of pollen analysis, while the upper part has been dated for the present study using optically stimulated luminescence (OSL) of samples from the aeolian and glacial deposits. A similar complete glacial-interglacial-glacial succession has not previously been recorded from this area. The Mommark sequence of conformable strata has been subjected to lateral compression, evidenced by folding and low-angle reverse faults. Seismic records from the adjacent waters in the western Baltic reveal a system of buried Quaternary valleys in the area. It is suggested that the interglacial deposition took place in a basin within one of these valleys and that a slab constituting the Mommark sequence, originating from the margin of a valley, has been glaciotectonically displaced northwestwards to the present location.     

Occurrence of varved lake sediment sequences in Varmland, west central Sweden: lake characteristics, varve chronology and AMS radiocarbon dating

Varved lake sediments can be used to set multiple environmental proxies within a calendar year time scale. We undertook a systematic survey of lakes in the Province of Värmland, west central Sweden, with the aim of finding continuous varved lake sediment sequences covering the majority of the Holocene. In Fennoscandia, such sediments have previously only been recorded in northern Sweden and in southern and central Finland. By following a selective process and fieldwork we discovered three new varved sites (i.e. Furskogstjärnet, Mötterudstjärnet and Kälksjön). We found that lakes with varved sediments have several common lake morphometry properties and lake catchment characteristics such as maximum water depth, maximum water depth/lake surface area ratio, catchment soil types, altitude and number of inflows. Varve chronologies, supported by AMS-¹⁴C dating and tephrochronology were established for two of the sediment profiles. These varve chronologies are the longest geological records with an annual resolution known to exist in Sweden. In Furskogstjärnet, the AMS- ¹⁴C dates based on terrestrial plant macrofossils at several levels deviate significantly from the varve based time-depth curve. In Motterudstjarnet, a fully reasonable time-depth model based on the ¹⁴C dates gives older ages in the lower part of the sequence compared to the varve chronology. These results highlight that seemingly acceptable AMS radiocarbon dates may be erroneous. They also point to the fact that varved lake sediments are reliable geological archives with respect to chronological control and accuracy. Thus, these archives should be of prime interest for studies of climate and environmental change undertaken with the aim of providing sub-decadal resolution proxy data sets.     

Effect of metamorphism and partial melting of host rocks on zircons

Abstract Zircons have been studied from different layers of migmatites (from Arvika, western Sweden and Nelaug, southern Norway) and from a paragneiss (from Arvika) associated with one of the migmatites. The main purpose of the investigation is to establish whether or not information about zircons can help in the elucidation of the parentage and rock-forming processes of migmatites.
The elongation ratio of zircons from all layers is small and characteristic of sedimentary zircons. Further, the absence of characteristic colours and the growth trends of the zircons (indicated by the reduced major axes) observed in the various samples both support a sedimentary parentage for these rocks. The zircons of all layers exhibit secondary growth (overgrowth, outgrowth and multiple growth) due to metamorphism. Compared with the zircons from the paragneiss, those of the migmatite layers are more clouded and less rounded, some of them becoming opaque or even skeletal; this is especially true of the zircons from the leucosomes. These observations indicate an alteration of the original sedimentary zircons in the migmatite, especially in the leucosomes, in response to the migmatization process, previously interpreted as partial melting.     

Bond rolling resistance and its effect on yielding of bonded granulates by DEM analyses

A discrete element modelling of bonded granulates and investigation on the bond effect on their behaviour are very important to geomechanics. This paper presents a two‐dimensional (2‐D) discrete element theory for bonded granulates with bond rolling resistance and provides a numerical investigation into the effect of bond rolling resistance on the yielding of bonded granulates. The model consists of mechanical contact models and equations governing the motion of bonded particles. The key point of the theory is that the assumption in the original bond contact model previously proposed by the authors (55th CSCE‐ASCE Conference, Hamilton, Ont., Canada, 2002; 313–320; J. Eng. Mech. (ASCE) 2005; 131 (11):1209–1213) that bonded particles are in contact at discrete points, is here replaced by a more reliable assumption that bonded particles are in contact over a width. By making the idealization that the bond contact width is continuously distributed with the normal/tangential basic elements (BE) (each BE is composed of spring, dashpot, bond, slider or divider), we establish a bond rolling contact model together with bond normal/tangential contact models, and also relate the governing equations to local equilibrium. Only one physical parameter β needs to be introduced in the theory in comparison to the original bond discrete element model. The model has been implemented into a 2‐D distinct element method code, NS2D. Using the NS2D, a total of 86 1‐D, constant stress ratio, and biaxial compressions tests have been carried out on the bonded granular samples of different densities, bonding strengths and rolling resistances. The numerical results show that: (i) the new theory predicts a larger internal friction angle, a larger yielding stress, more brittle behaviour and larger final broken contact ratio than the original bond model; (ii) the yielding stress increases nonlinearly with the increasing value of β, and (iii) the first‐yield curve (initiation of bond breakage), which define a zone of none bond breakage and which shape and size are affected by the material density, is amplified by the bond rolling resistance in analogous to that predicted by the original bond model. Copyright © 2006 John Wiley & Sons, Ltd.