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 high resolution,multiproxy Late‐glacial record of climate change and intrasystem responses in northwest England

A lacustrine carbonate sequence from Hawes Water, Lancashire, UK, has been studied using stable isotopic, lithological, pollen and mineral magnetic analysis. The data reveal four abrupt climatic oscillations in the Late‐glacial Interstadial leading up to the onset of the Loch Lomond Stadial. The data also point to climatic warming relatively early within the stadial, ca. 12 500 GRIP yr, prior to the onset of the Holocene. The oxygen isotope record is taken as a signature of climate forcing against which the response of the lake‐system can be monitored. By adopting this approach it is revealed that the response of the biological system to the rapid climatic oscillations is non‐linear and primarily a function of the antecedent conditions. A significant end‐Devensian isotopic excursion (A) is matched by only minor changes in the cold‐adapted floras and faunas. During the warmer interstadial, the response of the biological ecosystem (events B–D) is clearly influenced by thresholds: major changes in the catchment vegetation associated with relatively minor oscillations in the isotopic signature. The stratigraphical patterns reveal significant lag effects between the onset of climate deterioration and resulting changes in vegetation. Copyright © 2002 John Wiley & Sons, Ltd.     

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     

Rift-related Jurassic basaltic phreatomagmatic volcanism in the central Transantarctic Mountains: precursory stage to flood-basalt effusion

 The Middle Jurassic Kirkpatrick flood basalts and comagmatic Ferrar intrusions in the Transantarctic Mountains represent a major pulse of tholeiitic magmatism related to early stages in the breakup of Gondwana. A record of the volcano-tectonic events leading to formation of this continental flood-basalt province is provided by strata underlying and only slightly predating the Kirkpatrick lavas. In the central Transantarctic Mountains, the lavas rest on widespread (≥7500 km²) tholeiitic pyroclastic deposits of the Prebble Formation. The Prebble Formation is dominated by lahar deposits and is an unusual example of a regionally developed basaltic lahar field. Related, partly fault-controlled pyroclastic intrusions cut underlying strata, and vents are represented by the preserved flanks of two small tephra cones associated with a volcanic neck. Lahar and air-fall deposits typically contain 50–60% accidental lithic fragments and sand grains derived from underlying Triassic – Lower Jurassic strata in the upper part of the Beacon Supergroup. Juvenile basaltic ash and fine lapilli consist of nonvesicular to scoriaceous tachylite, sideromelane, and palagonite, and have characteristics indicating derivation from hydrovolcanic eruptions. The abundance of accidental debris from underlying Beacon strata points to explosive phreatomagmatic interaction of basaltic magma with wet sediment and groundwater, which appears to have occurred in particular where rising magma intersected upper Beacon sand aquifers. Composite clasts in the lahar deposits exhibit complex peperitic textures formed during fine-scale intermixing of basaltic magma with wet sand and record steps in subsurface fuel-coolant interactions leading to explosive eruption. The widespread, sustained phreatomagmatic activity is inferred to have occurred in a groundwater-rich topographic basin linked to an evolving Jurassic rift zone in the Transantarctic Mountains. Coeval basaltic phreatomagmatic deposits of the Mawson and Exposure Hill Formations, which underlie exposures of the Kirkpatrick Basalt up to 1500 km to the north along strike in Victoria Land, appear to represent other parts of a regional, extension-related Middle Jurassic phreatomagmatic province which developed immediately prior to rapid outpouring of the flood basalts. This is consistent with models which assign an important role to lithospheric stretching in the generation of flood-basalt provinces. Received: 28 August 1995 / Accepted: 18 April 1996     

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     

A 2000-YEAR CONTEXT FOR MODERN CLIMATE CHANGE

ABSTRACT. Although considerable attention has been paid to the record of temperature change over the last few centuries, the range and rate of change of atmospheric circulation and hydrology remain elusive. Here, eight latitudinally well-distributed (pole-equator-pole), highly resolved (annual to decadal) climate proxy records are presented that demonstrate major changes in these variables over the last 2000 years. A comparison between atmospheric ¹⁴C and these changes in climate demonstrates a first-order relationship between a variable Sun and climate. The relationship is seen on a global scale.     

Coulometric TCO2 analyses for marine studies; an introduction

Progress in the introduction of coulometry for the analysis of total carbon dioxide (TCO₂) in marine waters is described. An extractor—stripper removes CO₂ that is measured coulometrically by the quantity of electricity (coulombs) used to electrogenerate OH^? ions for the titration of the acid formed by the reaction of CO₂ and ethanolamine. The equivalence point is detected photometrically with thymolphthalein as the indicator, and Faraday's Law relates coulombs to equivalents of titrant generated and CO₂ determined so that there are no standard curves needed or titrants to standardize or store. Accuracy was determined by adding gelatin capsules containing 100–1500 μg C of pure CaCO₃ into the stripper, and accuracies of better than ± 1 μg C were achieved. The best precision for natural seawater (± 1 standard error) of ± 0.5 μmol l^?1 was found for 17 samples of Bermuda coastal waters having a mean TCO₂ of 2007.2 μmol l^?1 (0.05% CV). Sources of error and precautions are discussed. This method, which has been used successfully at sea, can be used to study a variety of marine phenomena involving TCO₂.     

Arsenic incorporation in a salt marsh ecosystem

Replicate portions of a Delaware salt marsh were enclosed in cylindrical microcosms and exposed to elevated levels of inorganic arsenic (arsenate). All biotic and abiotic components in dosed cylinders rapidly incorporated arsenic. Spartina blades showed the greatest arsenic enrichment, with dosed plants incorporating arsenic concentrations an order of magnitude higher than controls. Spartina detritus and sediments also exhibited greatly elevated arsenic concentrations. Virtually all of the arsenic was incorporated into plant tissue or strongly sorbed to cell surfaces. Thus, elevated arsenic concentrations in estuarine waters will be reflected in living and non-living components of a salt marsh ecosystem, implying that increased arsenic will be available to organisms within the marsh ecosystem.     

Characterization of soil's structural crust by spectral reflectance in the SWIR region (1.2–2.5 μm)

Structural crust is a thin layer formed on the soil surface after a rainstorm. The crust is the result of a physical segregation and rearrangement of soil particles in a way that affects some of the soil properties, such as infiltration, runoff and soil erosion. In practice, there is no rapid, in situ method for monitoring, assessing and mapping crust intensity and quality. In this study, a controlled spectral investigation of the structural crust across the NIR–SWIR spectral region was conducted on three selected Israeli soils, to study the potential of reflectance radiation to detect structural crust in soils. Two major factors served as the driving forces for this study: (1) there is no valid method for in situ assessment of the crust's characteristics in the agriculture field, and (2) the crust might bias thematic remote sensing of soils, because the thin layer of crust blocks photon–matter interaction, which represents the relevant soil body. Through the use of a laboratory rainfall simulator and a sensitive spectrometer, it was revealed that for three selected soils, significant spectral differences occurred between the crust and its bulk soil. The spectral information was found to be related to changes in particle size distribution and texture at the surface of the soil. This conclusion was based on indications of absorption of OH in clay lattice, OH in adsorbed water and CO₃ in carbonates. It was concluded that the structural crust is a phenomenon that should not be ignored by remote-sensing users. In fact, in the field of agriculture, the spectral properties of crust can be used as tools for estimating the crust's intensity.