Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.     

Dynamics of arrays of floating point-absorber wave energy converters with inter-body and bottom slack-mooring connections

If point absorbers are employed in the extensive exploitation of the offshore wave energy resource, they should be deployed in arrays, the distance between the elements in the array being possibly tens of meters. In such cases, it may be more convenient that the array is spread moored to the sea bottom through only some of its elements, located in the periphery, while the other array elements are prevented from drifting and colliding with each other by connections to adjacent elements. An array of identical floating point absorbers located at the grid points of an equilateral triangular grid is considered in the paper. A spread set of slack-mooring lines connect the peripheric floaters to the bottom. A weight is located at the centre of each triangle whose function is to pull the three floaters towards each other and keep the inter-body mooring lines under tension. The power take-off system (PTO) is a linear damper activated by the buoy heaving motion. The whole system–buoys, moorings and power take-off systems–is assumed linear, so that a frequency domain analysis may be employed. Hydrodynamic interference between the oscillating buoys in array is accounted for. Equations are presented for a set of three identical point absorbers. This is then extended to more complex equilateral triangular grid arrays. Results from numerical simulations, with regular and irregular waves, are presented for the motions and power absorption of hemispherical converters in arrays of three and seven elements and for different mooring parameters and wave incidence angles. Comparisons are given with the unmoored and independently-moored buoy situations.     

Hazard assessment in rock cliffs at Central Algarve (Portugal): A tool for coastal management

Coastal hazards are in the interface of human activities with natural coastal processes. The conflicts arising from this relationship require new approaches suitable for coastal management that consider the dynamic of coastal areas. A method to assess hazard in rock cliffs is presented, combining cliff evolution forcing mechanisms along with protection factors, according to a weighted factors system. This method provides a rapid evaluation of vulnerability for cliffed areas, supporting coastal management and hazard mitigation. The method was applied to the rocky cliffs of the densely populated coastal zone between Galé and Olhos de Água (Southern Portugal), where high and very high hazard values were found to be dominant. A method validation was made using the vulnerability areas and the recorded mass movements over a 45 year period in the same area.     

The last deglaciation in the Picos de Europa National Park (Cantabrian Mountains,northern Spain)

A sedimentological and geochemical study of the Lago Enol sequence (Cantabrian Mountains, northern Spain), together with detailed geomorphological mapping, provides a first record of glacier evolution and climate change over the last 40 ka in the Picos de Europa National Park. The Enol glacier retreated from its maximum extent prior to 40 ka BP as demonstrated by the onset of proglacial lacustrine sedimentation in two glaciated depressions: the Comella hollow to the north (before 40 ka BP) and the Lago Enol (before 38 ka BP). These results support previous evidence that the maximum extent of southern European glaciers occurred earlier than in northern Europe. Alternation of homogeneous and laminated proglacial sediments during the glacier retreat illustrate a dynamic glacial evolution during the Marine Isotope Stage (MIS) 3 (40–26 ka BP). A slight warming is detected at 26 ka ago with the change from proglacial sediments (in a lake located in contact to the glacier) to glaciolacustrine sedimentation (in a non‐contact or distal lake). Finally, the onset of organic‐rich sediments took place at 18 ka ago. This last transition occurred in two phases, similarly to the North Atlantic Last Termination, suggesting a link between North Atlantic Deep Water formation oscillations and palaeohydrological variability in the Cantabrian Mountains. Copyright © 2009 John Wiley & Sons, Ltd.     

The role of shoshonitic and calc-alkaline suites in the tectonic evolution of the Carajás District, Brazil

In the Carajás District, the Bahia Prospect and Grão Pará volcanosedimentary sequences, both of Archean age, have been the object of extensive petrochemical studies for major, trace, and rare earth elements. In spite of the widespread spilitization that affected the volcanic mafic rocks, the petrochemical nature of the mafic volcanism may still be assessed on the basis of the less mobile elements like P, Cr, Zr, Nb, Ti, and REE. The Bahia Prospect basalts have a petrochemical affinity with Phanerozoic island-arc calc-alkaline basalts. The Grão Pará basalts and basaltic andesites, on the other hand, have a petrochemical affinity with Phanerozoic basalts of a mature island arc environment. The petrochemical data presented here lead to a new geotectonic interpretation of the area, where the volcanic sequences are genetically linked to Archean subduction processes.     

Biogeochemistry of the Madeira river basin

A biogeochemical characterization of the Madeira river basin has been made to evaluate the local and global effects of possible alterations in the ecosystem caused by recent intensive occupation in Rondonia state. During the period April 1983—January 1986, sampling was made both by land and river along the tributaries and main channel of the Madeira river. The parameters analysed lead to a detailed study of the physicochemical quality of the waters of the basin and their relationship with the local geology, associated with the transport of solid material and the hydrological behavior of the ecosystem.Penman's method adapted to tropical rainforest conditions was used to evaluate the potential evapotranspiration for the basin. Estimated potential evapotranspiration was 1420 mm/y, 77% due to the energy balance. Real evapotranspiration was 94% of the estimated potential and the main residence time of the rain water in the basin was 2 months. The isotopic behavior of Hydrogen and Oxygen in the river waters of the region was typical of great rivers, the values being more positive during the dry season and more negative during the rainy season. An isotopic gradient of ¹⁸O 0.038 ()/100 km, was established from Porto Velho station to the estuary, which was considered low when compared with the value of 0.063 ()/100 km, obtained for the Amazon river.In general, the waters of the tributaries were poor in dissolved ion species when compared with the main channel of the Madeira river. Seasonal variation in the transport of suspended sediment kept the same pattern, greater transport being observed on rising water than during high water. A transport of 2.85 million tons per day was observed in the Madeira river near the mouth.     

North Atlantic Oscillation sensitivity to the El Niño/Southern Oscillation polarity in a large-ensemble simulation

A large ensemble modeling experiment with the Melbourne University General Circulation Model is presented. Thirty 17-year-long independent simulations were performed. All integrations were forced by the same observed sea surface temperatures, obtained from the Atmospheric Model Intercomparison Project II. The simulations were analyzed to assess the sensitivity of the North Atlantic Oscillation (NAO) to the El Niño/Southern Oscillation (ENSO) polarity. The results show signals of the ENSO phases both in the mean strength of the NAO as well as in its internal variability. During the cold ENSO phase, the probability density function of the NAO index presents a small but positive mean value, whereas it is negative during the warm ENSO phase. Also, the NAO variability associated with each ENSO phase shows a different behavior: during the warm phase the probability density function of the NAO index presents a larger variance and suggests a bimodality, whereas no bimodality is suggested in the cold phase.     

Aquifer development planning to supply a seaside resort: a case study in Goa,India

Using the hydrogeological and socio-economic data derived from a European Commission research project on the measurement, monitoring and sustainability of the coastal environment, two optimization models have been applied to satisfy the future water resources needs of the coastal zone of Bardez in Goa, India. The number of tourists visiting Goa since the 1970s has risen considerably, and roughly a third of them go to Bardez taluka, prompting growth in the tourist-related infrastructure in the region. The optimization models are non-linear mixed integer models that have been solved using GAMS/DICOPT++ commercial software. Optimization models were used, firstly, to indicate the most suitable zones for building seaside resorts and wells to supply the tourist industry with an adequate amount of water, and secondly, to indicate the best location for wells to adequately supply pre-existing hotels. The models presented will help to define the optimal locations for the wells and the hydraulic infrastructures needed to satisfy demand at minimum cost, taking into account environmental constraints such as the risk of saline intrusion.

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Résumé A l’aide de données hydrogéologiques et socio-économiques, dérivées d’un projet de recherche de la Commission Européenne sur l’étude, la surveillance et la durabilité de l’environnement c?tier, deux modèles d’optimisation ont été appliqués en vue de satisfaire les besoins futurs en ressources en eau de la zone c?tière de Bardez au Goa en Inde. Le nombre de touristes qui visitent le Goa depuis les années 70 a considérablement augmenté et environ un tiers d’entre eux se rend à Bardez taluka, ce qui encourage la croissance des infrastructures liées au tourisme dans la région. Les modèles d’optimisation sont des modèles non linéaires mixtes en nombres entiers qui ont été résolus en utilisant le logiciel commercial GAMS/DICOPT++. Les modèles d’optimisation ont été utilisés pour indiquer premièrement les zones les plus appropriées pour construire des stations balnéaires et des puits pour approvisionner en quantité d’eau suffisante l’industrie touristique, et deuxièmement pour indiquer la meilleure localisation de puits pour l’alimentation des h?tels préexistants. Les modèles présentés aideront à définir les localisations optimales des puits et des infrastructures hydrauliques nécessaires à la satisfaction de la demande à un co?t minimum, tout en prenant en compte les contraintes environnementales, tel que le risque d’intrusion saline.

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Resumen Se han aplicado dos modelos de optimización en base a datos socio-económicos e hidrogeológicos derivados de un proyecto de investigación de la Comisión Europea sobre medición, monitoreo y sostenibilidad del ambiente costero para satisfacer las necesidades futuras de recursos hídricos de la zona costera de Bardez en Goa, India. El número de turistas que visita Goa desde la década de 1970′s ha subido considerablemente y cerca de un tercio de ellos van a Bardez taluka impulsando el crecimiento en la infraestructura turística de la región. Los modelos de optimización son modelos de números enteros mixtos no-lineales que se han resuelto usando el programa comercial GAMS/DICOPT++. Los modelos de optimización se usaron, primero para indicar las zonas más adecuadas para la construcción de centros de diversión en las márgenes del océano y pozos para abastecer la industria turística con una adecuada cantidad de agua, y segundo, para indicar la mejor localización de pozos para el abastecimiento de hoteles pre-existentes. Los modelos que se presentan ayudarán a definir las localizaciones óptimas para los pozos y las infraestructuras hidráulicas necesarias para satisfacer la demanda al mínimo costo, tomando en consideración restricciones ambientales tal como el riesgo de intrusión salina.