Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

Hydrocarbon Potential of Pre-cenozoic Strata in the North Yellow Sea Basin

The North Yellow Sea Basin ( NYSB ), which was developed on the basement of North China (Huabei) continental block, is a typical continental Mesozoic Cenozoic sedimentary basin in the sea area. Its Mesozoic basin is a residual basin, below which there is probably a larger Paleozoic sedimentary basin. The North Yellow Sea Basin comprises four sags and three uplifts. Of them, the eastern sag is a Mesozoic Cenozoic sedimentary sag in NYSB and has the biggest sediment thickness; the current Korean drilling wells are concentrated in the eastern sag. This sag is comparatively rich in oil and gas resources and thus has a relatively good petroleum prospect in the sea. The central sag has also accommodated thick Mesozoic-Cenozoic sediments. The latest research results show that there are three series of hydrocarbon source rocks in the North Yellow Sea Basin, namely, black shales of the Paleogene, Jurassic and Cretaceous. The principal hydrocarbon source rocks in NYSB are the Mesozoic black shale. According to the drilling data of Korea, the black shales of the Paleogene, Jurassic and Cretaceous have all come up to the standards of good and mature source rocks. The NYSB owns an intact system of oil generation, reservoir and capping rocks that can help hydrocarbon to form in the basin and thus it has the great potential of oil and gas. The vertical distribution of the hydrocarbon resources is mainly considered to be in the Cretaceous and then in the Jurassic.     

Seasonal dynamics in pelagic fish abundance in a Baltic Sea coastal area

The spring-spawning Baltic Sea herring spawn in coastal areas that also serve as nursery areas for the young fish during their first summer. In a bay known as a herring spawning and nursery area, the pelagic fish abundance was quantified using hydroacoustics every second week from late spring to autumn in 2000 and 2001. A dense system of survey transects allowed determination of the acoustic index (the nautical area scattering coefficient) for fish abundance with high precision. The variation, expressed as the geostatistical coefficient of variation, was on average 5% both years and ranged from 3–11% (2000) and 3–8% (2001). Through the hydroacoustic data intra-annual dynamics in acoustic fish abundance, densities and size composition could be followed, which showed similar trends in both years. In spring and early summer acoustic fish densities were low, followed by a drastic, 20-fold increase in late summer. Hydroacoustic data and biological samples suggest that the increase was caused mainly by the recruitment of young-of-the-year herring to the acoustically assessable pelagic fish community. This age class is commonly not well represented in catches when using traditional sampling gears such as gill nets and trawls, and hydroacoustics may help to improve quantitative estimates of small juvenile fish in order to increase the understanding of biological processes in coastal nursery areas.     

Geodynamic Evolution of the Eastern Segment of the Azores-Gibraltar Zone: The Gorringe Bank and the Gulf of Cadiz Region

Detailed structural interpretation of the recently acquired deep seismic multichannel profiles along the Iberian Atlantic Margins (IAM Project) provides new results on the geodynamic evolution of the eastern part of the Azores-Gibraltar plate boundary. Thrusting and folding of the oceanic basement and of Mesozoic and Cenozoic sedimentary cover of the Gorringe Bank region are consistent with the N–S convergence of Iberia and Africa. Compressive structures in the Gorringe Bank region are spread over a wide area. Deformation under compression took place mainly in Tertiary times, as is evidenced by a basal unconformity and several discontinuities in Tertiary sediments, although some deformation has also been recorded in Quaternary sediments. The compressive structures in the Gulf of Cadiz are E–W oriented thrusts, folds and related diapiric structures. N–S oriented transpressive deformation is likely to occur in the western Portuguese platform. There is no continuity of structures from the oceanic to the continental domain, suggesting that deformation transfers from one side to the other through a transcurrent fault zone. The fault contact between the two domains is located in the ocean-continent transition zone.     

Eddy Diffusion Coefficients of Suspended Particulate Matter: Effects of Wind Energy Transfer and Stratification

Gross sedimentation rates (GSR) have been measured using sediment traps placed at nine different levels above the bed (0·3, 0·5, 0·8, 1·0, 2·0, 4·0, 6·0, 8·0 and 10·0 m). The sediment traps were deployed for 1·25 years and recovered 28 times during the study period. Low average GSR values of 5·5 g m^-2 day^-1 were obtained at 10·0 m, and high average GSR values of 114·8 g m^-2 day^-1 were obtained at 0·3 m. An expression for the eddy diffusion coefficient of suspended particulate matter (K_s), based on the measured GSR is given. The expression has been used for modelling of K_s at the different trap levels above the bed. High values (≈42 cm² s^-1) of K_s were obtained at the upper traps, whereas low values (≈2 cm² s^-1) were obtained near the bed. Comparison between level of turbulent energy in terms of shear stress at the boundaries of the water column, i.e. from the wind and the bed flow, showed that wind energy exceeded that of the bed flow by a factor 16. At 5·0 m K_s was positively correlated (r=0·66) to the eddy diffusion coefficient of momentum (K_m) derived from the wind energy transfer to the water, giving an average β of 0·5 for K_s =βK_m. The density difference between surface and bottom waters has been designated a parameter of stratification, and is discussed in relation to variations of K_s and K_m .     

Tidally incised valleys on tropical carbonate shelves: An example from the northern Great Barrier Reef, Australia

The formation of incised valleys on continental shelves is generally attributed to fluvial erosion under low sea level conditions. However, there are exceptions. A multibeam sonar survey at the northern end of Australia's Great Barrier Reef, adjacent to the southern edge of the Gulf of Papua, mapped a shelf valley system up to 220 m deep that extends for more than 90 km across the continental shelf. This is the deepest shelf valley yet found in the Great Barrier Reef and is well below the maximum depth of fluvial incision that could have occurred under a − 120 m, eustatic sea level low-stand, as what occurred on this margin during the last ice age. These valleys appear to have formed by a combination of reef growth and tidal current scour, probably in relation to a sea level at around 30–50 m below its present position.

Tidally incised depressions in the valley floor exhibit closed bathymetric contours at both ends. Valley floor sediments are mainly calcareous muddy, gravelly sand on the middle shelf, giving way to well-sorted, gravely sand containing a large relict fraction on the outer shelf. The valley extends between broad platform reefs and framework coral growth, which accumulated through the late Quaternary, coincides with tidal current scour to produce steep-sided (locally vertical) valley walls. The deepest segments of the valley were probably the sites of lakes during the last ice age, when Torres Strait formed an emergent land-bridge between Australia and Papua New Guinea. Numerical modeling predicts that the strongest tidal currents occur over the deepest, outer-shelf segment of the valley when sea level is about 40–50 m below its present position. These results are consistent with a Pleistocene age and relict origin of the valley.

Based on these observations, we propose a new conceptual model for the formation of tidally incised shelf valleys. Tidal erosion on meso- to macro-tidal, rimmed carbonate shelves is enhanced during sea level rise and fall when a tidal, hydraulic pressure gradient is established between the shelf-lagoon and the adjacent ocean basin. Tidal flows attain a maximum, and channel incision is greatest, when a large hydraulic pressure gradient coincides with small channel cross sections. Our tidal-incision model may explain the observation of other workers, that sediment is exported from the Great Barrier Reef shelf to the adjacent ocean basins during intermediate (rather than last glacial maximum) low-stand, sea level positions. The model may apply to other rimmed shelves, both modern and ancient.     

塔里木盆地的构造演化

从地震大剖面显示，塔里木盆地发育为手风琴式的演化史。大体上形成有3层“断-坳”结构：①震旦系的“断”，古生界-三叠系的“坳”；②侏罗系的“断”，上白垩系的“坳”；③古近系的“断”，新近系的“坳”。断陷与坳陷分别由拉张与挤压应力场所致，这种应力场的变化是由相邻洋壳板块俯冲倾角由小到大的变化所引起的。由于地壳的多旋回运动，多次发生构造沉积演变，构成了多套生储盖组合，多领域、多种圈闭类型的油气藏，从震旦系-古生界-中生界-新生界，各断陷-坳陷结构的盆地都有可能形成油气藏的地质条件。     

末次盛冰期以来渤、黄、东海陆架底质分布演变过程模拟研究

渤、黄、东海陆架底质的形成分布与末次盛冰期之后的海侵密切相关。末次盛冰期结束、海侵开始以来 ,潮流是渤、黄、东海陆架上的永久性主导作用应力。为从长期沉积动力演变过程的角度 ,探讨渤、黄、东海陆架底质形成分布的有关成因问题 ,利用数值模拟手段 ,再现了末次盛冰期以来 6个时期渤、黄、东海陆架潮流作用下海底的冲淤格局及底质分布。结果表明 ,扬子浅滩南侧东海外陆架的砂质沉积基本上是自 - 80 m海面以来形成的。扬子浅滩形成于 -5 2 m海面之后 ,至 - 3 0 m海面时已有一定规模 ,全新世最大海侵之后 ,逐渐形成现在规模的扬子浅滩。南黄海中部泥自 - 5 2 m海面时就已开始形成 ,- 3 0 m海面时范围很大 ,侵入北黄海 ,全新世最大海侵以来 ,逐渐调整到现在的范围。渤海中央泥、北黄海西部泥、浙闽岸外泥、辽东半岛西侧与北侧的砂质沉积、西朝鲜湾与江华湾中的砂质沉积以及苏北浅滩是自全新世最大海侵以来逐渐形成的。海州湾中砂质沉积形成的盛期在公元 8世纪之后。济洲岛西南泥、南黄海东部泥很可能分别形成于 - 3 0 m海面、- 5 2 m海面以来。全新世渤、黄、东海陆架底质分布的演变过程大致分为 2个阶段 :全新世最大海侵之前为渤、黄、东海陆架底质分布宏观格局的形成阶段 ;全新世最大海侵至今为渤