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.     

Does subterranean flow initiate mud banks off the southwest coast of India?

Coastal waters off the southwest coast of India draw special attention because of the occurrence of mud banks at certain locations during southwest monsoon period. The present study puts forward a hypothesis of a subterranean flow, which could be a plausible mechanism to initiate the mud banks. The subterranean flow is believed to be coupled with activated trending faults and originate from the adjacent watershed (Vembanad Lake) separated from the sea by a narrow strip of land where submerged porous lime shell beds are present. When the lake water injection occurs through the fault, the mud/clay gets excited by its thixotrophic properties (as the overlying water looses its electrolyte) and transforms into a flowing fluid. The lowering of salinity due to the introduction of fresh water keeps the mud suspension in the water column for longer duration, leading to the formation of mud banks. The idea of subterranean flow through lime shell beds initiating formation of mud banks may apply globally to any coastal regions hugged by wetlands and of similar geological conditions.     

Using ocean ambient noise for array self-localization and self-synchronization

Estimates of the travel times between the elements of a bottom hydrophone array can be extracted from the time-averaged ambient noise cross-correlation function (NCF). This is confirmed using 11-min-long data blocks of ambient noise recordings that were collected in May 1995 near the southern California coast at an average depth of 21 m in the 150-700 Hz frequency range. Coherent horizontal wavefronts emerging from the time derivative of the NCF are obtained across the array's aperture and are related to the direct arrival time of the time-domain Green's function (TDGF). These coherent wavefronts are used for array element self-localization (AESL) and array element self-synchronization (AESS). The estimated array element locations are used to beamform on a towed source.     

Imaging of Buried Archaeological Materials: The Reflection Properties of Archaeological Wood

Effective marine archaeological site management demands detailed information on not only the spatial distribution of artefacts but also the degradation state of the materials present. Although sonar methods have frequently been used in an attempt to detect buried wooden shipwrecks they are currently unable to indicate their degradation state. To assess the sensitivity of acoustic measurements to changes in the degradation state of such material, and hence the potential for sonars to quantify degradation, laboratory measurements of compressional wave velocity, as well as bulk density for oak and pine samples, in varying states of decay, were undertaken. These data enabled the calculation of theoretical reflection coefficients for such materials buried in various marine sediments. As wood degrades, the reflection coefficients become more negative, resulting in the hypothesis that the more degraded wood becomes, the easier it should be to detect. Typical reflection coefficients of the order of −0.43 and −0.52 for the most degraded oak and pine samples in sand are predicted. Conversely, for wood exposed to seawater the predicted reflection coefficients are large and positive for undegraded material (0.35 for oak, 0.18 for pine) and decrease to zero or slightly below for the most degraded samples. This indicates that exposed timbers, when heavily degraded, can be acoustically transparent and so undetectable by acoustic methods. Corroboration of these experimental results was provided through comparison with high resolution seismic reflection data that has been acquired over two shipwrecks.     

Effect of shallow and narrow water on added mass of cylinders with various cross-sectional shapes

The sway, heave and roll added masses of three uniform cylinders with semi-circular, rectangular and triangular cross-sectional shapes in shallow and narrow water are numerically analysed. The method is based on simulation of the potential flow induced by the cylinder's mode of motion. The effects of shallow and narrow water on added mass are analysed and presented. It is concluded that the shallow and narrow water effects on added mass depend on the different cross-section shapes of the cylinders. In particular, the water depth effect on sway added mass is stronger than that on heave added mass while the narrow water effect on sway is weaker than that on heave. The shallow water effect on added mass tends to weaken the narrow water effect. Lastly the effect of shallow and narrow water on added mass on a rectangular cylinder is the strongest while that on a triangular cylinder is the weakest.     

Surface circulation of the Levantine Basin: Comparison of model results with observations

The eastern Mediterranean (Levantine Basin) hydrography and circulation are investigated by comparing the results of a high-resolution primitive equation model with observations. After a 10-year integration, the model is able to reproduce the major water masses and the circulation patterns of the eastern Mediterranean. Comparisons with the POEM hydrographical observations show good agreement. The vertical distribution of the water masses matches that of the observations quite well in terms of monthly mean. The model surface circulation is in agreement with circulation schemes derived from recent observations. Some well-known mesoscale features of the upper thermocline circulation are also realistically reproduced. In agreement with satellite observations, the model shows that high-energy mesoscale eddies dominate the upper thermocline circulation in the southern and the central parts of the Levantine Basin. Most of the Atlantic Water follows the north African coast and forms a strong coastal jet near the Libyan coast rather than forming the Mid-Mediterranean Jet described by several authors. The sub-basin circulation shows a strong seasonal signal. A strong and stable current flows along the isobaths in winter, becoming weaker and with more meanders in summer. The mesoscale eddies throughout the whole basin are more energetic in summer than in winter.     

Morphological and molecular evidence supports the first occurrence of two fishes,Siganus sutor(Valenciennes, 1835)and Seriolina nigrofasciata(Rüppell, 1829)(Actinopterygii:Perciformes), from marine waters of Odisha coast,Bay of Bengal,India

Marine ecosystems provide a wide variety of diverse habitats that frequently promote migration and ecological adaptation. The extent to which the geographic distribution of marine organism has reshaped by human activities remains underappreciated. The limitations intrinsic to morphology-based identification systems have engendered an urgent need for reliable genetic methods that enable the unequivocal recognition of fish species,particularly those that are prone to overexploitation and/or market substitution. In the present study, however, an attempt has been taken to identify two locally adapted fish species, Siganus sutor(Valenciennes, 1835) and Seriolina nigrofasciata(Rüppell, 1829) of order Perciformes, which happens to be the first record in Odisha coast,Bay of Bengal. The diagnostic characteristics of Siganus sutor are: dorsal fin XIII-10, anal fin VII-9, pectoral fin 15,pelvic fin II-3, while that of Seriolina nigrofasciata dorsal fin VI-I-35, anal fin I-17, pectoral fin 16, pelvic fin 5. All COI barcodes generated in this study were matched with reference sequences of expected species, according to morphological identification. Bayesian and likelihood phylogenetic trees were drawn based on DNA barcodes and all the specimens clustered in agreement with their taxonomic classification at the species level. The phylogeographic studies based on haplotype network and migration rates suggest that both the species were not panmitic and the high-frequency population distribution indicates successful migration. The result of this study provides an important validation of the use of DNA barcode sequences for monitoring species diversity and changes within a complex marine ecosystem.     

Seasonal Variations in the Grain Size Distribution and Mineral Composition of Suspended Particulate Matter of the Northern Dvina River

Oceanology - The paper presents the first results of a study of seasonal variations in the grain size distribution and mineral compositions of suspended particulate matter (SPM) of the Northern...     

Medium-Resolution Optical Range Space Images: Consumer Expectations

Izvestiya, Atmospheric and Oceanic Physics - Our survey of various space image consumers identified that the geographic coverage, regularity, and frequency of observations are the most important...