A neural network approach to ship track-keeping control

This paper presents an on-line trained neural net work controller for ship track-keeping problems. Following a brief review of the ship track-keeping control development since the 1980's, an analysis of various existing backpropagation-based neural controllers is provided. We then propose a single-input multioutput (SIMO) neural control strategy for situations where the exact mathematical dynamics of the ship are not available. The aim of this study is to build an autonomous neural controller which uses rudder to regulate both the tracking error and heading error. During the whole control process, the proposed SIMO neural controller adapts itself on-line from a direct evaluation of the control accuracy, and hence the need for a “teacher” or an off-line training process can be removed. With a relatively modest amount of quantitative knowledge of the ship behavior, the design philosophy enables real time control of a nonlinear ship model under random wind disturbances and measurement noise. Three different track-keeping tasks have been simulated to demonstrate the effectiveness of the training method and the robust performance of the proposed neural control strategy     

A one-dimensional model for the interaction between continental-scale ice sheets and atmospheric stationary waves

 The great continental ice sheets of the Pleistocene represented a significant topographic obstacle to the westerly winds in northern midlatitudes. This work explores how consequent changes in the atmospheric stationary wave pattern might have affected the shape and growth of the ice sheets themselves. A one dimensional (1-D) model is developed which permits an examination of the types and magnitudes of the feedbacks that might be expected. When plausible temperature perturbations are introduced at the ice-sheet margin which are proportional to the stationary wave amplitude, the equilibrium shape of the ice sheet is significantly altered, and depends on the sign of the perturbation. The proposed feedback also affects the response of the ice sheet to time-varying climate forcing. The results suggest that the evolution of a continental-scale ice sheet with a land-based margin may be significantly determined by the changes it induces in the atmospheric circulation. Received: 1 October 1999 / Accepted: 17 July 2000     

Metamorphism in Archaean greenstone belts: calculated fluid compositions and implications for gold mineralization

An inescapable consequence of the metamorphism of greenstone belt sequences is the release of a large volume of metamorphic fluid of low salinity with chemical characteristics controlled by the mineral assemblages involved in the devolatilization reactions. For mafic and ultramafic sequences, the composition of fluids released at upper greenschist to lower amphibolite facies conditions for the necessary relatively hot geotherm corresponds to those inferred for greenstone gold deposits (X_CO2= 0.2–0.3). This result follows from the calculation of mineral equilibria in the model system CaO–MgO–FeO–Al₂O₃–SiO₂–H₂O–CO₂, using a new, expanded, internally consistent dataset. Greenstone metamorphism cannot have involved much crustal over-thickening, because very shallow levels of greenstone belts are preserved. Such orogeny can be accounted for if compressive deformation of the crust is accompanied by thinning of the mantle lithosphere. In this case, the observed metamorphism, which was contemporaneous with deformation, is of the low-P high-T type. For this type of metamorphism, the metamorphic peak should have occurred earlier at deeper levels in the crust; i.e. the piezothermal array should be of the ‘deeper-earlier’type. However, at shallow crustal levels, the piezothermal array is likely to have been of ‘deeper-later’type, as a consequence of erosion. Thus, while the lower crust reached maximum temperatures, and partially melted to produce the observed granites, mid-crustal levels were releasing fluids prograde into shallow crustal levels that were already retrograde. We propose that these fluids are responsible for the gold mineralization. Thus, the contemporaneity of igneous activity and gold mineralization is a natural consequence of the thermal evolution, and does not mean that the mineralization has to be a consequence of igneous processes. Upward migration of metamorphic fluid, via appropriate structurally controlled pathways, will bring the fluid into contact with mineral assemblages that have equilibrated with a fluid with significantly lower X_CO2. These assemblages are therefore grossly out of equilibrium with the fluid. In the case of infiltrated metabasic rocks, intense carbonation and sulphidation is predicted. If, as seems reasonable, gold is mobilized by the fluid generated by devolatilization, then the combination of processes proposed, most of which are an inevitable consequence of the metamorphism, leads to the formation of greenstone gold deposits predominantly from metamorphic fluids.     

A sapphirine–phlogopite–cordierite paragenesis in a low-P amphibolite facies terrain, Arunta Inlier, Australia

Summary Silica-undersaturated phlogopite schists from the Cackleberry Metamorphics, Arunta Inlier, central Australia, preserve relatively low-temperature sapphirine-bearing parageneses that developed during low-pressure upper amphibolite facies metamorphism. Peak metamorphic phlogopite–cordierite–sapphirine assemblages are interpreted to have formed during the same event recorded in nearby metapelites, at c.3 kbar and 650–700 °C. Initial cooling of the terrain resulted in the breakdown of sapphirine to corundum–chlorite–phlogopite and corundum–spinel–chlorite assemblages. Further retrogression at greenschist facies conditions resulted in the replacement of sapphirine by diaspore–chlorite intergrowths. The reaction textures are consistent with a near-isobaric heating-cooling path at low-pressure, and provide evidence for the stability of sapphirine at c.700 °C at low pressures in rocks of an appropriate Mg- and Fe³⁺-rich bulk composition. Received August 15, 2001 accepted December 27, 2001     

Comparison of results from several AOGCMs for global and regional sea-level change 1900–2100

 Sea-level rise is an important aspect of climate change because of its impact on society and ecosystems. Here we present an intercomparison of results from ten coupled atmosphere-ocean general circulation models (AOGCMs) for sea-level changes simulated for the twentieth century and projected to occur during the twenty first century in experiments following scenario IS92a for greenhouse gases and sulphate aerosols. The model results suggest that the rate of sea-level rise due to thermal expansion of sea water has increased during the twentieth century, but the small set of tide gauges with long records might not be adequate to detect this acceleration. The rate of sea-level rise due to thermal expansion continues to increase throughout the twenty first century, and the projected total is consequently larger than in the twentieth century; for 1990–2090 it amounts to 0.20–0.37 m. This wide range results from systematic uncertainty in modelling of climate change and of heat uptake by the ocean. The AOGCMs agree that sea-level rise is expected to be geographically non-uniform, with some regions experiencing as much as twice the global average, and others practically zero, but they do not agree about the geographical pattern. The lack of agreement indicates that we cannot currently have confidence in projections of local sea-level changes, and reveals a need for detailed analysis and intercomparison in order to understand and reduce the disagreements. Received: 1 September 2000 / Accepted: 20 April 2001     

Why Mt Etna?

The Etna volcano is located in an apparently anomalous position on the hinge zone of the Apennines subduction and its Na-alkaline geochemistry does not favour a magma source from the deep slab as indicated for the Aeolian K-alkaline magmatism. The steeper dip of the regional foreland monocline at the front of the Apennines in the Ionian Sea than in Sicily, implies a larger rollback of the subduction hinge in the Ionian Sea. Moreover, the lengthening of the Apennines arc needs extension parallel to the arc. Therefore, the larger southeastward subduction rollback of the Ionian lithosphere with respect to the Hyblean plateau in Sicily, should kinematically produce right-lateral transtension and a sort of vertical 'slab window' which might explain (i) the Plio-Pleistocene alkaline magmatism of eastern Sicily (e.g. the Etna volcano) and (ii) the late Pliocene to present right lateral transtensional tectonics and seismicity of eastern Sicily. The area of transfer of different dip and rollback occurs along the inherited Mesozoic passive continental margin between Sicily and the oceanic Ionian Sea, i.e. the Malta escarpment.     

A techno-economic comparison of power systems for autonomousunderwater vehicles

This paper compares lead-acid batteries, sodium-sulfur batteries, solid polymer fuel cells and closed-cycle diesel engines for autonomous underwater vehicle (AUV) applications. The service is described in terms of a parametric mission and life cycle. A generic AUV is used as a basis for comparison. Power systems are evaluated by two criteria: (1) submerged endurance capability and (2) life cycle cost. This study determines categories of service for which each power system is preferred. The solid polymer fuel cell can provide greater submerged endurance than other power systems examined. For extremely long duration AUV missions, the fuel cell is the required system, indicating a possible market niche for today's fuel cell technology. Considering cost projections for each power system, the results also show that the SPFC can become cost-competitive with conventional technologies, particularly for services characterized by high levels of utilization     

Trace-element contents and cathodoluminescence of “trapiche” rubies from Mong Hsu, Myanmar (Burma): geological significance

Summary ?Mong Hsu rubies of the “trapiche” type are sporadically seen in the gem market. However, they have never been described in the field. The study of the nature of solid inclusions, the variation of trace-element contents, as well as the cathodoluminescence behaviour of six “trapiche” rubies permit the conclusion that these rubies crystallised in the same geological environment (marble-type deposit) as the normal rubies from Mong Hsu: (1) Cr and V are the main chromophorous elements in both ruby types; they act, together with Ti, as activators or quenchers for cathodoluminescence; (2) calcite, dolomite, rutile, mica, diaspore, apatite, chlorite, and feldspar are solid inclusions found in both ruby types; (3) the presence of bastn?site in trapiche ruby and fluorite in non-trapiche ruby indicates the circulation of F-bearing fluids during ruby deposition; (4) the distribution of trace-element contents in the crystal is similar for both ruby types. In the Cr₂O₃ vs. Fe₂O₃ and Cr₂O₃ vs. Fe₂O₃/TiO₂ diagrams, the population fields of Mong Hsu “trapiche” and non-“trapiche” rubies overlap. They are distinct from those of rubies and sapphires hosted in basalts from South-east Asia. Received October 30, 2001; revised version accepted March 25, 2002     

Observations on the ecological importance of salt marshes in the Cumberland Basin,a macrotidal estuary in the Bay of Fundy

The Cumberland Basin, a 118 km² estuary at the head of the Bay of Fundy which has an average tidal range of about 11m, contains large tracts of salt marsh (15% of the area below highest high water). Low marsh (below about 0·9 m above mean high water) is composed almost exclusively of Spartina alterniflora while the vegetation on high marsh is more diverse but dominated by Spartina patens. Because of its higher elevation, high marsh is flooded infrequently for short periods by only extreme high tides. Low marsh is inundated much more frequently by water as much as 4m deep for periods as long as 4 h per tide. Temporal variability in the occurrence of extreme tides influences the flooding frequency of high marsh for any given month and year. Using a modification of Smalley's method, the mean annual net aerial primary production (NAPP) of low and high marsh is estimated to be 272 and 172 g C m^?2, respectively. Vegetation turnover times average 1·0 and 2·0 y for low and high marsh, respectively. Because of abundant tidal energy, much of the low marsh production appears to be exported and distributed widely about the estuary. Since high levels of turbidity suppress phytoplankton production, salt marshes produce approximately half of the carbon fixed photosynthetically in the Cumberland Basin. It is concluded that salt marshes play a major ecological role in the Cumberland Basin.     

On the structure of oscillatory boundary layers

An empirical analysis is performed on the most detailed, recent measurements of turbulent oscillatory boundary layer flow. The measurements show that throughout elevations where the flow can be considered horizontally uniform, one deficit model is sufficient for describing the fundamental mode. Some general properties of the non dimensional velocity deficit D₁(z) appear with striking consistency. First of all the identity $\text{ln}\text{¦D}{}_{\mathrm{<mtext>1</mtext>}}\text{¦ ≡}\text{Arg}\text{D}{}_{\mathrm{<mtext>1</mtext>}}$, which is a theoretical result for smooth laminar flow, seems to hold with great accuracy for a large range of turbulent flow conditions as well. This is of principal theoretical interest because all previous analytical eddy viscosity models as well as numerical mixing length models predict a consistent and fairly large difference between Arg D₁ and $\text{ln}\text{¦D}{}_{\mathrm{<mtext>1</mtext>}}\text{¦}$. If the identity between $\text{ln}\text{¦D}{}_{\mathrm{<mtext>1</mtext>}}\text{¦}$ and Arg D₁ extends all the way to the bed, it means that the bed shear stress leads the free stream velocity by 45 degrees. It is also found that the structure of smooth turbulent oscillatory flows as measured by Kalkanis (1964) corresponds to a sharp maximum in the normalized energy dissipation rate.