On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles

In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to the persistent effects is discussed. Moreover, for each controller, an adaptive/integral proportional derivative (PD) plus gravity compensation-like version is derived and eventually modified so as to achieve null steady-state error under modeling uncertainty and presence of ocean current. Numerical simulations are presented to better illustrate the controllers' behavior.     

Implicit integration of a mixed isotropic–kinematic hardening plasticity model for structured clays

In recent years, a number of constitutive models have been proposed to describe mathematically the mechanical response of natural clays. Some of these models are characterized by complex formulations, often leading to non‐trivial problems in their numerical integration in finite elements codes. The paper describes a fully implicit stress‐point algorithm for the numerical integration of a single‐surface mixed isotropic–kinematic hardening plasticity model for structured clays. The formulation of the model stems from a compromise between its capability of reproducing the larger number of features characterizing the behaviour of structured clays and the possibility of developing a robust integration algorithm for its implementation in a finite elements code. The model is characterized by an ellipsoid‐shaped yield function, inside which a stress‐dependent reversible stiffness is accounted for by a non‐linear hyperelastic formulation. The isotropic part of the hardening law extends the standard Cam‐Clay one to include plastic strain‐driven softening due to bond degradation, while the kinematic hardening part controls the evolution of the position of the yield surface in the stress space. The proposed algorithm allows the consistent linearization of the constitutive equations guaranteeing the quadratic rate of asymptotic convergence in the global‐level Newton–Raphson iterative procedure. The accuracy and the convergence properties of the proposed algorithm are evaluated with reference to the numerical simulations of single element tests and the analysis of a typical geotechnical boundary value problem. Copyright © 2007 John Wiley & Sons, Ltd.     

B-Pol: detecting primordial gravitational waves generated during inflation

B-Pol is a medium-class space mission aimed at detecting the primordial gravitational waves generated during inflation through high accuracy measurements of the Cosmic Microwave Background polarization. We discuss the scientific background, feasibility of the experiment, and implementation developed in response to the ESA Cosmic Vision 2015-2025 Call for Proposals. See for the full list of collaboration members and a full copy of the B-Pol proposal.     

Tracking control for underwater vehicle-manipulator systems withvelocity estimation

In this paper, the problem of tracking a desired motion trajectory for an underwater vehicle-manipulator system without using direct velocity feedback is addressed. For this purpose, an observer is adopted to provide estimation of the system's velocity needed by a tracking control law. The combined controller-observer scheme is designed so as to achieve exponential convergence to zero of both motion tracking and estimation errors. In order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. Implementation issues are also considered and simplified control laws are suggested, aimed at suitably trading off tracking performance against reduced computational load. Simulation case studies are carried out to show the effectiveness of the proposed controller-observer algorithm. The obtained performance is compared to that achieved with a control scheme in which the velocity is reconstructed via numerical differentiation of position measurements. The results confirm that the chattering on the control commands is significantly reduced when the controller-observer strategy is adopted in lieu of raw numerical differentiation; this leads to lower energy consumption at the actuators and increases their lifetime     

Structural,dynamic and anthropic conditions that trigger the emergence of the levee effect: insight from a simplified risk-based framework

ABSTRACT

Levees are the most common structural solution to prevent flooding, reduce damage and generate benefits through more investment/economic activity in floodplain areas. While being relatively easy to build, levee effectiveness can be compromised by poor design and substandard construction methods and maintenance, thus increasing failure probability. Further, levees might increase societal vulnerability by instilling a sense of safety, the so-called “levee effect”. To cope with these phenomena, we develop a risk-based framework that quantifies residual risk under levee breaching and the levee effect, by disentangling its structural, dynamic and anthropic components, thus contributing to a better understanding of the phenomena at different spatial scales and the definition of flood risk policies. Through an illustrative example, we show how residual risk might become larger than under natural conditions, as function of the scale of interest, e.g. an area, a line at a given distance from the river, or a point within the floodplain.     

Torsional instability in structures

Torsional instability under harmonic excitation was detected in structures with cubic softening member stiffness. A variational procedure was introduced to perform the analysis for the general problem formulation. Single-storey structures with zero eccentricity were studied first; previous findings were checked and corrected, and the behaviour was examined in greater detail. Two-storey structures with large eccentricity were also examined, and further regions of torsional instability were detected. Time history analysis was then employed to quantify the behaviour of various typical structures. An unbounded growth in rotation or column displacement was not observed. Rather, the instability appeared to be related to the jump in response which exists in single degree-of-freedom softening oscillators subjected to harmonic excitation. The practical significance of torsional instability is therefore rather weak, although prudent practice would recommend its avoidance.     

Mythos and techne: An essay on the intercultural function of territory in sub-Saharan geography

Territorial symbolism in sub-Saharan Africa calls to mind multiple forms of knowledge. More particularly, territorial significance is fed both by magical and sacred beliefs and by knowledge based on empirical observation and concrete practices. These two types of knowledge differ widely as to their nature, the procedures by which they are formed, and the cultural values they embody. Nevertheless, semantic interaction between mythical knowledge and technical knowledge is remarkably rich. By blurring the distinction between mythos and techne, this semantic interaction seems to constitute an important cultural tool for building feelings of social security in that it reinforces and stabilizes socio-geographic patterns, and more especially those which regulate access to space and natural resources. This revised version was published online in July 2006 with corrections to the Cover Date.     

On the sun's pole-equator flux differences

We study the possibility that large flux differences between the poles and the equator at the bottom of the solar convective zone are compatible with the small differences observed at the surface. The consequences of increasing the depth of the convective zone due to overshooting are explored.A Boussinesq model is used for the convective zone and we assume that the interaction of the global convection with rotation is modelled through a convective flux coefficient whose perturbed part is proportional to the local Taylor number. The numerical integration of the equations of motion and energy shows that coexistence between large pole-equator flux differences at the bottom and small ones at the surface is possible if the solar convective zone extends to a depth of 0.4R . The angular velocity distribution inside the convective zone is in agreement with the -dynamo theories of the solar cycle.     

Data-driven retrieval of primary plane-wave responses

Seismic images provided by reverse time migration can be contaminated by artefacts associated with the migration of multiples. Multiples can corrupt seismic images, producing both false positives, that is by focusing energy at unphysical interfaces, and false negatives, that is by destructively interfering with primaries. Multiple prediction/primary synthesis methods are usually designed to operate on point source gathers and can therefore be computationally demanding when large problems are considered. A computationally attractive scheme that operates on plane-wave datasets is derived by adapting a data-driven point source gathers method, based on convolutions and cross-correlations of the reflection response with itself, to include plane-wave concepts. As a result, the presented algorithm allows fully data-driven synthesis of primary reflections associated with plane-wave source responses. Once primary plane-wave responses are estimated, they are used for multiple-free imaging via plane-wave reverse time migration. Numerical tests of increasing complexity demonstrate the potential of the proposed algorithm to produce multiple-free images from only a small number of plane-wave datasets.     

A Bayesian hierarchical approach for spatial analysis of climate model bias in multi-model ensembles

Coupled atmosphere–ocean general circulation models are key tools to investigate climate dynamics and the climatic response to external forcings, to predict climate evolution and to generate future climate projections. Current general circulation models are, however, undisputedly affected by substantial systematic errors in their outputs compared to observations. The assessment of these so-called biases, both individually and collectively, is crucial for the models’ evaluation prior to their predictive use. We present a Bayesian hierarchical model for a unified assessment of spatially referenced climate model biases in a multi-model framework. A key feature of our approach is that the model quantifies an overall common bias that is obtained by synthesizing bias across the different climate models in the ensemble, further determining the contribution of each model to the overall bias. Moreover, we determine model-specific individual bias components by characterizing them as non-stationary spatial fields. The approach is illustrated based on the case of near-surface air temperature bias in the tropical Atlantic and bordering regions from a multi-model ensemble of historical simulations from the fifth phase of the Coupled Model Intercomparison Project. The results demonstrate the improved quantification of the bias and interpretative advantages allowed by the posterior distributions derived from the proposed Bayesian hierarchical framework, whose generality favors its broader application within climate model assessment.