Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations     

Modelling linear wave transformation induced by dissipative structures—Random waves

The relevant theory is presented and numerical results are compared with the analytical solution for the interaction of non-breaking waves with an array of vertical porous circular cylinders on a horizontal bed. The extension to the cases of unidirectional and multidirectional waves is obtained by means of a transfer function. The influence of the mechanical properties of porous structures and wave irregularity on wave transformation is analysed. Results for unidirectional and multidirectional wave spectra are compared to those obtained for regular waves. The model presented reproduces well the analytical results and provides a tool for analysing several engineering problems.     

A review of eastern tropical Pacific oceanography: Summary

The collection of articles in this volume reviewing eastern tropical Pacific oceanography is briefly summarized, and updated references are given. The region is an unusual biological environment as a consequence of physical characteristics and patterns of forcing – including a strong and shallow thermocline, the ITCZ and coastal wind jets, equatorial upwelling, the Costa Rica Dome, eastern boundary and equatorial current systems, low iron input, inadequate ventilation of subthermocline waters, and dominance of ENSO-scale temporal variability. Remaining unanswered questions are presented.     

Primary production in the eastern tropical Pacific: A review

The eastern tropical Pacific includes 28 million km² of ocean between 23.5°N and S and Central/South America and 140°W, and contains the eastern and equatorial branches of the north and South Pacific subtropical gyres plus two equatorial and two coastal countercurrents. Spatial patterns of primary production are in general determined by supply of macronutrients (nitrate, phosphate) from below the thermocline. Where the thermocline is shallow and intersects the lighted euphotic zone, biological production is enhanced. In the eastern tropical Pacific thermocline depth is controlled by three interrelated processes: a basin-scale east/west thermocline tilt, a basin-scale thermocline shoaling at the gyre margins, and local wind-driven upwelling. These processes regulate supply of nutrient-rich subsurface waters to the euphotic zone, and on their basis we have divided the eastern tropical Pacific into seven main regions. Primary production and its physical and chemical controls are described for each.Enhanced rates of macronutrient supply maintains levels of primary production in the eastern tropical Pacific above those of the oligotrophic subtropical gyres to the north and south. On the other hand lack of the micronutrient iron limits phytoplankton growth (and nitrogen fixation) over large portions of the open-ocean eastern tropical Pacific, depressing rates of primary production and resulting in the so-called high nitrate-low chlorophyll condition. Very high rates of primary production can occur in those coastal areas where both macronutrients and iron are supplied in abundance to surface waters. In these eutrophic coastal areas large phytoplankton cells dominate; conversely, in the open-ocean small cells are dominant. In a ‘shadow zone’ between the subtropical gyres with limited subsurface ventilation, enough production sinks and decays to produce anoxic and denitrified waters which spread beneath very large parts of the eastern tropical Pacific.Seasonal cycles are weak over much of the open-ocean eastern tropical Pacific, although several eutrophic coastal areas do exhibit substantial seasonality. The ENSO fluctuation, however, is an exceedingly important source of interannual variability in this region. El Niño in general results in a depressed thermocline and thus reduced rates of macronutrient supply and primary production. The multi-decadal PDO is likely also an important source of variability, with the ‘El Viejo’ phase of the PDO resulting in warmer and lower nutrient and productivity conditions similar to El Niño.On average the eastern tropical Pacific is moderately productive and, relative to Pacific and global means, its productivity and area are roughly equivalent. For example, it occupies about 18% of the Pacific Ocean by area and accounts for 22–23% of its productivity. Similarly, it occupies about 9% of the global ocean and accounts for 10% of its productivity. While representative, these average values obscure very substantial spatial and temporal variability that characterizes the dynamics of this tropical ocean.     

Transverse vibrations of a rectangular cantilever plate with thickness varying in a discontinuous fashion

A numerical solution is obtained for the title problem by means of the popular finite element method. An experimental investigation of the problem is also presented for plates of square planform. The agreement between theoretical and experimental values is very good in the case of the fundamental frequency, and reasonably good when the second and third normal modes of transverse vibration are considered. It is concluded that beneficial effects are obtained in the sense that one generates a lighter structural element with higher fundamental frequency of transverse vibration. Hence, dynamic stiffening is achieved.     

Assessment of imposex in the common whelk, Buccinum undatum (L.) from the Eastern Scheldt, The Netherlands

Several cruises were carried out on the Eastern Scheldt between September 1992 and March 1995 to study the frequency and appearance of imposex in the common whelk, Buccinum undatum L. Incidences of imposex were always > 90%. For the first time several stages of imposex in Buccinum undatum are reported. The evolution of imposex in the whelk seems to follow a similar route as in Hinia reticulata belonging to the same superfamily (Buccinacea). Tissue organotin concentrations of animals collected in February 1995 showed the highest organotin concentrations in the digestive gland and lowest in the foot of the animals. Concentrations of phenyltin compounds (up to 625 ngSn/g DW) were much higher than those of butyltin compounds (up to 40 ngSn/g DW).