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     

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.     

The Siberian Solar Radio Telescope: the current state of the instrument,observations, and data

The Siberian Solar Radio Telescope (SSRT) is one of the world's largest solar radio heliographs. It commenced operation in 1983, and since then has undergone several upgrades. The operating frequency of the SSRT is 5.7 GHz. Since 1992 the instrument has had the capability to make one-dimensional scans with a high time resolution of 56 ms and an angular resolution of 15 arc sec. Making one of these scans now takes 14 ms. In 1996 the capability was added to make full, two-dimensional images of the solar disk. The SSRT is now capable of obtaining images with an angular resolution of 21 arc sec every 2 min. In this paper we describe the main features and operation of the instrument, particularly emphasizing issues pertaining to the imaging process and factors limiting data quality. Some of the data processing and analysis techniques are discussed. We present examples of full-disk solar images of the quiet Sun, recorded near solar activity minimum, and images of specific structures: plages, coronal bright points, filaments and prominences, and coronal holes. We also present some observations of dynamic phenomena, such as eruptive prominences and solar flares, which illustrate the high-time-resolution observations that can be done with this instrument. We compare SSRT observations at 5.7 GHz, including computed `light curves', both morphologically and quantatively, with observations made in other spectral domains, such as 17 GHz radio images, Hα filtergrams and magnetograms, extreme-ultraviolet and X-ray observations, and dynamic radio spectra.     

The correlation of solar flare production with magnetic energy in active regions

An investigation of 531 active regions was made to determine the correlation between energy released by flares and the available energy in magnetic fields of the regions. Regions with magnetic flux greater than 10²¹ maxwell during the years 1967–1969, which included sunspot maximum, were selected for the investigation. A linear regression analysis of flare production on magnetic flux showed that the flare energy is correlated with magnetic energy with a coeificient of correlation of 0.78. Magnetic classification and field configuration also significantly affect the production of flares.This work was supported by the Aerospace Sponsored Research Program.     

Biological and granulometric controls on sedimentary organic matter of an intertidal mudflat

A variety of measures of organic matter concentration and quality were made on samples collected from the top few mm of intertidal mudflat sediment over the course of a year, in order to assess the relative importance of biological and sedimentological influences on sedimentary organic matter. Winter and summer were times of relatively fine-grained sediment accumulation, caused by biological deposition or stabilization processes and resulting in higher organic matter concentrations. Stable carbon isotope and Br:C ratios indicated a planktonic source of bulk organic matter. Ratios of organic carbon to specific surface area of the sediments were consistent with an organic monolayer coverage of sediment grains. Correction for changing grain size during the year showed no change in the organic concentration per unit surface area, in spite of organic matter inputs by in situ primary production, buildup of heterotroph biomass and mucus coatings, and biodeposition of organic-rich seston. There were also no indications of changes in bulk organic quality, measured as hydrolyzable carbohydrates and amino acids, in response to these biological processes. It is concluded that biological processes on a seasonal time scale affect the bulk organic matter of these sediments via a modulation of grain size rather than creation or decay of organic matter.     

Galaxy formation: Warm dark matter, missing satellites, and the angular momentum problem

We present warm dark matter (WDM) as a possible solution to the missing satellites and angular momentum problem in galaxy formation and introduce improved initial conditions for numerical simulations of WDM models, which avoid the formation of unphysical haloes found in earlier simulations. There is a hint, that because of that the mass function of satellite haloes has been overestimated so far, pointing to higher values for the WDM particle mass. This revised version was published online in August 2006 with corrections to the Cover Date.     

Tidal dwarfs in the M81 group: the second generation?

We present a quantitative star formation history derivation of the four suspected tidal dwarf galaxies in the M 81 group: Holmberg IX, BK3N,Arp-loop (A0952+69) and Garland using HST/WFPC2 images of these galaxies. We construct a library of synthetic Colour-Magnitude Diagrams(CMDs) based on theoretical isochrones and data-derived determinations of photometric errors. These synthetic CMDs were combined linearly andχ²-compared to observed photometry. All the galaxies show continuous star formation between about 20 and 200 Myr ago with star formation rates between 7.5⋅10^-3 M_⊙/yr and 7.67⋅10^-4 M_⊙/yr. The metallicity of the detected stars is spanning rather a wide range, being lower than solar abundance. We suppose, that all the galaxies were formed out of material from metal-poor outer part of the giant spiral galaxy M81after tidal interaction about 200 Myr ago. However, this suggestion requires significantly more deep color-magnitude diagrams to be sure with the scenario of the galaxy evolution. This revised version was published online in July 2006 with corrections to the Cover Date.