Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

The Monahans chondrite and halite: Argon‐39/argon‐40 age,solar gases,cosmic‐ray exposure ages,and parent body regolith neutron flux and thickness

Abstract— The Monahans H‐chondrite is a regolith breccia containing light and dark phases and the first reported presence of small grains of halite. We made detailed noble gas analyses of each of these phases. The ³⁹Ar‐⁴⁰Ar age of Monahans light is 4.533 ± 0.006 Ma. Monahans dark and halite samples show greater amounts of diffusive loss of ⁴⁰Ar and the maximum ages are 4.50 and 4.33 Ga, respectively. Monahans dark phase contains significant concentrations of He, Ne and Ar implanted by the solar wind when this material was extant in a parent body regolith. Monahans light contains no solar gases. From the cosmogenic ³He, ²¹Ne, and ³⁸Ar in Monahans light we calculate a probable cosmic‐ray, space exposure age of 6.0 ± 0.5 Ma. Monahans dark contains twice as much cosmogenic ²¹Ne and ³⁸Ar as does the light and indicates early near‐surface exposure of 13–18 Ma in a H‐chondrite regolith. The existence of fragile halite grains in H‐chondrites suggests that this regolith irradiation occurred very early. Large concentrations of ³⁶Ar in the halite were produced during regolith exposure by neutron capture on ³⁵Cl, followed by decay to ³⁶Ar. The thermal neutron fluence seen by the halite was (2–4) × 10¹⁴ n/cm². The thermal neutron flux during regolith exposure was ～0.4‐0.7 n/cm²/s. The Monahans neutron fluence is more than an order of magnitude less than that acquired during space exposure of several large meteorites and of lunar soils, but the neutron flux is lower by a factor of ≤5. Comparison of the ³⁶Ar_n/²¹Ne_cos ratio in Monahans halite and silicate with the theoretically calculated ratio as a function of shielding depth in an H‐chondrite regolith suggests that irradiation of Monahans dark occurred under low shielding in a regolith that may have been relatively shallow. Late addition of halite to the regolith can be ruled out. However, irradiation of halite and silicate for different times at different depths in an extensive regolith cannot be excluded.     

Magnetic field and differential rotation in the radiative zone of the Sun

The problem of the interaction between magnetic fields and differential rotation in the radiative zone of the Sun is investigated. It is demonstrated that effects of magnetic buoyancy can be neglected in the analysis of this interaction. It is shown that hydromagnetic torsional waves propagating from the solar core cannot be responsible for the 22-year solar cycle. A possible geometry of the magnetic field that conforms with stationary differential rotation is considered. A verifying method for hypotheses on the structure of the magnetic field and torsional oscillations in the radiative zone of the Sun is proposed based on helioseismic data.     

Porphyroblast inclusion-trail orientation data: eppure non son girate*!

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.     

Arbitrary amplitude double layers in a multi-species electron-positron plasma

The existence and properties of arbitrary amplitude double layers in a four-component electron-positron plasma, consisting of two species of hot electrons, a hot and a cold positron species, are investigated as functions of plasma properties such as density and temperature ratios. Their behaviour for other plasma models is also discussed. Applications to the polar-cusp region of pulsars is considered.     

Evolutionary state of W UMa-type systems

The evolutionary status of a sample of 31 W UMa-type systems (20 of W, 9 of A, and 2 of A/W sub-class) is examined and discussed on the basis of their positions in the H-R, mass-radius and mass-luminosity diagrams. The absolute elements of these systems have been evaluated by use of their spectroscopic and photometric data as they were found in the literature. Since different analysis methods have been used by the various investigators this gives the opportunity to make different H-R, mass-radius and mass-luminosity diagrams, according to the method used, and compare the results.Moreover, from the spectral type-period diagram of those systems that have spectral types from O to G2 it was found that all of them lie in the evolved region. Finally, the log (L _l/L _s) log (M _l/M _s) diagrams are presented and discussed.     

A circular passive synthetic array: an inverse problem approach

Based on the general concept of the inverse acoustic radiation problem, the temporal scanning of a stationary acoustic field along a closed contour is used to simplify the measurement approach for obtaining information on source directionality. The mathematical formulation is derived from a model of the two-dimensional acoustic field. The formulation of the inverse problem is also investigated to establish a methodology for improving the angular resolution of the array processing. The fundamental relationship between the sound sources and the circular passive synthetic array is explored, utilizing existing mathematical methods, in order to develop the processing algorithm. Other subjects of practical interest, such as directional ambiguity, effect of Doppler frequency, interference noise, and processing gain are discussed. It is concluded that the results can be used to establish guidelines for engineering design and deployment of this type of synthetic array, and to further exploit the new array signal processing technique     

The Chromospheric Radiation on the Circumstellar Shell of Tx Piscium

Using the chromospheric UV flux based on IUE data, we have undertaken a wavelength calculation of the rates of photodissociation and the a abundances of the relevant molecules CO, SiS, HCN and C₂H₂ for the inner region of the circumstellar shell of the carbon-rich star TX Psc. Shielding by heavy elements and dust was taken into account. Further, for CO, the line self-shielding as an additional shielding process was included. We find that the large influence of the shielding prevents the molecules from photodissociation in the internal layer of the shell of TX Psc. The possibility of detecting C₂H₂ via the equivalent widths of the infrared lines in the circumstellar shell is discussed. Finally, we estimate the antenna temperature and the luminosity of the fine-structure lines of [CI]609µ and [CII]158µ of the envelope of TX Psc, respectively.