Path following control system for a tanker ship model

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.     

Time domain modelling of the transient asymmetric flooding of Ro-Ro ships

This work aims at contributing to improve knowledge on transient asymmetric flooding through theoretical and experimental research. First, a time domain theoretical model of ship motions and flooding is described. Results from experimental work are presented evidencing that transient asymmetric flooding may cause the capsizing of a Ro-Ro shaped barge. The theoretical model is used to predict the capsize of the Ro-Ro shaped barge. Reasonable agreement between experimental and theoretical results was found. Finally, a review of the European Gateway accident is given and the theoretical model is applied to the study of this type of accident. The conclusion is that this theoretical model, together with an accurate modelling of the flooding of machinery compartments, reproduces successfully the capsizing of the European Gateway due to transient asymmetric flooding. Therefore, the internal arrangement of Ro-Ro ships should be carefully studied at the design stage in order to avoid this phenomenon.     

Quantitative distribution of meiobenthos in deep-water zones of the World Ocean

An analysis of published and original data on the meiobenthos abundance in the depth interval from 100 to 9807 m (in total, 665 records, 445 of them obtained for depths exceeding 1000 m) revealed general regularities in its distribution. The influence of the sampling and data processing methods on the quantitative estimates of the meiobenthos abundance is considered to demonstrate changes in the proportions of the main meiobenthic taxa at different depths and to characterize latitudinal changes in the meiobenthos abundance. The dependence of the abundance of free-living nematodes, the most abundant group of metazoan meiobenthos, on trophic conditions is analyzed. No significant differences in the meiobenthos abundance in the samples obtained by box-and multicorers are established. It is shown that the share of nematodes in metazoan meiobenthos communities increases with the depth. In temperate latitudes, a distinct maximum in the population density confined to depths exceeding 1 km is observed. The quantitative distribution of the meiobenthos at the depths gradient is controlled by the bottom macrotopography and trophic conditions.     

Summer distribution and geochemical composition of suspended-particulate matter in the east china sea

The distribution and geochemical composition of suspended-particulate matter (SPM) in the East China Sea (ECS) were investigated during the summer period of high continental runoff to elucidate SPM sources, distribution and cross-shelf transport. The spatial variability of SPM distribution (0.3–6.5 mg l⁻¹) and geochemical composition (POC, Al, Si, Fe, Mn, Ca, Mg and K) in the ECS was pronounced during summer when the continental fluxes of freshwater and terrestrial materials were highest during the year. Under the influences of Changjiang runoff, Kuroshio intrusion, surface production and bottom resuspension, the distribution generally showed strong gradients decreasing seaward for both biogenic and lithogenic materials. Particulate organic carbon was enriched in surface water (mean ∼18%) due to the influence of biological productivity, and was diluted by resuspended and/or laterally-transported materials in bottom water (mean 9.4%). The abundance of lithogenic elements (Al, Si, Fe, Mn) increased toward the bottom, and the distribution correlations were highly significant. Particulate CaCO₃ distribution provided evidence that the SPM of the bottom water in the northern part of the study area was likely mixed with sediments originally derived from Huanghe. A distinct benthic nepheloid layer (BNL) was present in all seaward transects of the ECS shelf. Sediment resuspension may be caused by tidal fluctuation and other forcing and be regarded as the principal agent in the formation of BNL. This BNL was likely responsible for the transport of biogenic and lithogenic particles across or along the ECS shelf. Total inventories of SPM, POC and PN are 46, 2.8 and 0.4 Tg, respectively, measured over the total area of 0.45 × 10⁶ km² of the ECS shelf. Their mean residence times are about 27, 13 and 11 days, respectively. The inventory of SPM in the water column was higher in the northernmost and southernmost transects and lower in the middle transects, reflecting the influences of terrestrial inputs from Changjiang and/or resuspended materials from Huanghe deposits in the north and perhaps from Minjiang and/or Taiwan’s rivers in the south. The distribution and transport patterns of SPM and geochemical elements strongly indicate that continental sources and cross-shelf transport modulate ECS particulate matter in summer.     

Reflection of large-scale inhomogeneities in the air-sea boundary layer on the intensity of surface wave breaking in the ocean

An overview of experiments is given on the observation of the dependence of the intensity of wind wave breaking on large-scale currents' inhomogeneities and atmospheric boundary layer stratification. The data were interpreted using a model in which the variance of the wind wave breaking intensity reflects fluctuations in the influx of energy to wind waves due to various factors. Translated by V. Puchkin.     

The effects of vehicular and pedestrian traffic on dune vegetation in South Africa

The effects of varying intensities of off-road vehicle and pedestrian traffic on vegetation height and percent-cover were investigated at two sites representing pioneer and climax dune shrubland communities in South African dune systems. In all cases, a decreasing trend in vegetation height and percentage cover subsequent to application of the treatments was evident, although this was more clear in the shrub than in the pioneer community. The impact on vegetation variables increased with increasing intensity of vehicle and pedestrian treatments. Vehicles driven along a curved path resulted in greater vegetation destruction than those driven along a straight path. High intensity (single application) treatments resulted in an initial decrease in vegetation height and cover immediately after the impact, which was followed by a further decline over the next 3 months. This two-step response was attributed to the subsequent gradual death of the vegetation which was not evident immediately following the impact. Due to their faster growth rate, pioneer dune communities appear to have the capacity to recover following impacts, while dune shrub communities tend to be more vulnerable, exhibiting signs of damage for longer periods. The results of this study have value for managers of coastal dune systems, particularly those impacted by human recreational activities.     

Short-term shoreline changes due to cross-shore structures: a one-line numerical model

The proposed numerical model simulates the short-term temporal changes in shoreline position due to a structure interrupting the longshore sediment flux. The impacts of both the groin-type construction and underwater trench of arbitrary orientation relative to the shore are discussed. In order to estimate the sediment mass trapped by the structure, a submodel of the longshore sediment transport induced by a random wave field is developed. The contribution of the surface roller in momentum balance as well as in sediment suspension is included. The shoreline changes are computed from the equation deduced from the mass conservation. The perturbations in the longshore sediment discharge caused by a structure are assumed to concentrate within some boundary area of which the spatial scale is proportional to the structure's length until the latter is exceeded by the width of the sediment flux. It is shown in particular that the total effect of a long trench (channel) and a pier in its nearshore part results in general shoreline recession except for the vicinity of a pier. The model is tested against the laboratory data of Baidei et al. (1994) and applied to the Baidara Bay coast (Kara Sea) where a pipeline would be designed.     

Turbulent structure of the subsurface layer of the sea according to the data of the <Emphasis Type="Italic">Sigma-1</Emphasis> measuring complex

We present the results of experimental investigations of the characteristics of turbulence in the layer of wave-induced mixing. The data on the fluctuations of velocity, temperature, and conductivity are obtained with the help of a Sigma-1 measuring complex. The computed values of the dissipation rate of turbulent energy are compared with different models proposed for the subsurface layer. It is shown that the available models fail to guarantee satisfactory agreement of the numerical results with the experimental data for the layer of active wave action and, in particular, in the presence of swell. This leads us to the conclusion concerning the necessity of parametrization and assimilation of more complete data on the state of the sea surface, the structure of currents, and the surface layer of the atmosphere in the models. __________ Translated from Morskoi Gidrofizicheskii Zhurnal, No. 2, pp. 15–28, March–April, 2007.