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     

The Monahans chondrite and halite: Argon‐39/argon‐40 age,solar gases,cosmic‐ray exposure ages,and parent body regolith neutron flux and thickness

Abstract— The Monahans H‐chondrite is a regolith breccia containing light and dark phases and the first reported presence of small grains of halite. We made detailed noble gas analyses of each of these phases. The ³⁹Ar‐⁴⁰Ar age of Monahans light is 4.533 ± 0.006 Ma. Monahans dark and halite samples show greater amounts of diffusive loss of ⁴⁰Ar and the maximum ages are 4.50 and 4.33 Ga, respectively. Monahans dark phase contains significant concentrations of He, Ne and Ar implanted by the solar wind when this material was extant in a parent body regolith. Monahans light contains no solar gases. From the cosmogenic ³He, ²¹Ne, and ³⁸Ar in Monahans light we calculate a probable cosmic‐ray, space exposure age of 6.0 ± 0.5 Ma. Monahans dark contains twice as much cosmogenic ²¹Ne and ³⁸Ar as does the light and indicates early near‐surface exposure of 13–18 Ma in a H‐chondrite regolith. The existence of fragile halite grains in H‐chondrites suggests that this regolith irradiation occurred very early. Large concentrations of ³⁶Ar in the halite were produced during regolith exposure by neutron capture on ³⁵Cl, followed by decay to ³⁶Ar. The thermal neutron fluence seen by the halite was (2–4) × 10¹⁴ n/cm². The thermal neutron flux during regolith exposure was ～0.4‐0.7 n/cm²/s. The Monahans neutron fluence is more than an order of magnitude less than that acquired during space exposure of several large meteorites and of lunar soils, but the neutron flux is lower by a factor of ≤5. Comparison of the ³⁶Ar_n/²¹Ne_cos ratio in Monahans halite and silicate with the theoretically calculated ratio as a function of shielding depth in an H‐chondrite regolith suggests that irradiation of Monahans dark occurred under low shielding in a regolith that may have been relatively shallow. Late addition of halite to the regolith can be ruled out. However, irradiation of halite and silicate for different times at different depths in an extensive regolith cannot be excluded.     

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.     

Evolutionary state of W UMa-type systems

The evolutionary status of a sample of 31 W UMa-type systems (20 of W, 9 of A, and 2 of A/W sub-class) is examined and discussed on the basis of their positions in the H-R, mass-radius and mass-luminosity diagrams. The absolute elements of these systems have been evaluated by use of their spectroscopic and photometric data as they were found in the literature. Since different analysis methods have been used by the various investigators this gives the opportunity to make different H-R, mass-radius and mass-luminosity diagrams, according to the method used, and compare the results.Moreover, from the spectral type-period diagram of those systems that have spectral types from O to G2 it was found that all of them lie in the evolved region. Finally, the log (L _l/L _s) log (M _l/M _s) diagrams are presented and discussed.     

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.     

Structurally controlled gold and sulfosalt mineralization: the Altenberg example, Salzburg Province, Austria

Summary ?In the south-eastern Altenbergkar–Silbereck area in the eastern Tauern window (Lungau, Salzburg) structurally controlled precious-metal (Au–Ag) mineralization is hosted in marbles of the Permo(?)-Mesozoic Silbereck Formation and in the underlying Variscan Central gneiss. During the Alpine otogeny both lithologies were affected by ductile deformation (shearing, D1; folding, D2/D3) and subsequent brittle deformation (tension gashes, D4; normal faulting, D5) related to the uplift and exhumation of the Tauern window. Mineralization is controlled by brittle D4 structures. NE–SW trending steeply dipping tension gashes of the “Tauerngoldgang” type occur within the Central gneiss. Three different marble-hosted ore types following fracture systems as well as foliation and bedding planes can be distinguished: 1) metasomatic replacement ores, 2) ores in tension gashes and 3) ores in talc-bearing structures, often containing high-grade gold and silver mineralization (native gold in association with Ag–Pb–Bi–sulfosalts). Four stages of mineralization can be distinguished which occur in all ore types: arsenopyrite–pyrite–pyrrhotite (first stage), Au–(Ag–Pb–Bi–sulfosalts) (second stage), base-metal sulfides and tetrahedrite–tennantite (third stage) and Ag-rich galena (fourth stage). Preliminary fluid inclusion data indicate temperatures of ore formation well above 300 °C (346 °C mean) for the second stage within the Central gneiss and temperatures between 310 and 230 °C for the second and third stages in the marble. Received October 12, 2001; revised version accepted September 5, 2002 Published online March 10, 2003     

Richtmyer-Meshkov Experiments on the Omega Laser

Observations of the interstellar medium reveal a dynamic realm permeated by shocks. These shocks are generated on a large range of scales by galactic rotation, supernovae, stellar winds, and other processes. Whenever a shock encounters a density interface, Richtmyer-Meshkov instabilities may develop. Perturbations along the interface grow, leading to structure formation and material mixing. An understanding of the evolution of Richtmyer-Meshkov instabilities is essential for understanding galactic structure, molecular cloud morphology, and the early stages of star formation. An ongoing experimental campaign studies Richtmyer-Meshkov mixing in a convergent, compressible, miscible plasma at the Omega laser facility. Cylindrical targets, consisting of a low density foam core and an aluminum shell covered by an epoxy ablator, are directly driven by fifty laser beams. The aluminum shell is machined to produce different perturbation spectra. Surface types include unperturbed (smooth), single-mode sinusoids, multi-mode (rough), and multi-mode with particular modes accentuated (specified-rough). Experimental results are compared to theory and numerical simulations.