Formation control of multiple underwater vehicles subject to communication faults and uncertainties

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.     

Modelling the relationship between sexual reproduction and rhizome growth in Posidonia oceanica (L.) Delile

The relationship between flowering and growth performance of Posidonia oceanica (L.) Delile in meadows distributed along the south‐eastern coast of Sicily (Italy) was investigated by means of a statistical model (generalized linear mixed model) combined with the lepidochronological analysis. Over a 28‐year period, 67 floral stalk remains were observed. The highest flowering index was recorded in lepidochronological year 1998 (10.1%) and the Inflorescence Frequency per age showed a clear decrease corresponding to 15‐year‐old shoots. The sexual reproductive event had positive effects on rhizome elongation (cm year^?1) and leaf production (no. leaves year^?1) in the same flowering year, whilst no effect on the rhizome production (mg year^?1) was observed. Rhizome growth variables showed significant negative lagged responses in the two years following flowering. On the whole, we calculated that the effect exerted by flowering, in terms of loss on rhizome elongation and production, was about 27% and 38%, respectively. Although it has been demonstrated that recovery from the stress induced by sexual reproduction is limited to the two years after flowering, the magnitude of the reproductive cost may become quite considerable especially in comparison with the whole lifespan of individual shoots.     

Atmospheric forcing of the eastern tropical Pacific: A review

The increase in marine, land surface, atmospheric and satellite data during recent decades has led to an improved understanding of the air–sea interaction processes in the eastern tropical Pacific. This is also thanks to extensive diagnoses from conceptual and coupled ocean–atmosphere numerical models. In this paper, mean fields of atmospheric variables, such as incoming solar radiation, sea level pressure, winds, wind stress curl, precipitation, evaporation, and surface energy fluxes, are derived from global atmospheric data sets in order to examine the dominant features of the low level atmospheric circulations of the region. The seasonal march of the atmospheric circulations is presented to depict the role of radiative forcing on atmospheric perturbations, especially those dominating the atmosphere at low levels.In the tropics, the trade winds constitute an important north–south energy and moisture exchange mechanism (as part of the low level branch of the Hadley circulation), that determines to a large extent the precipitation distribution in the region, i.e., that associated with the Inter-Tropical Convergence Zone (ITCZ). Monsoonal circulations also play an important role in determining the warm season precipitation distribution over the eastern tropical Pacific through a large variety of air–sea–land interaction mechanisms. Westward traveling waves, tropical cyclones, low latitude cold air intrusions, and other synoptic and mesoscale perturbations associated with the ITCZ are also important elements that modulate the annual rainfall cycle. The low-level jets of the Gulf of California, the Intra-Americas Sea (Gulf of Mexico and Caribbean Sea) and Chocó, Colombia are prominent features of the eastern tropical Pacific low-level circulations related to sub-regional and regional scale precipitation patterns. Observations show that the Intra-Americas Low-Level Jet intensity varies with El Niño/Southern Oscillation (ENSO) phases, however its origin and role in the westward propagation and development of disturbances that may hit the eastern tropical Pacific, such as easterly waves and tropical cyclones, are still unclear. Changes in the intensity of the trade winds in the Caribbean Sea and the Gulf of Mexico (associated with eastern tropical Pacific wind jets) exert an important control on precipitation by means of wind–topography interactions. Gaps in the mountains of southern Mexico and Central America allow strong wind jets to pass over the continent imprinting a unique signal in sea surface temperatures and ocean dynamics of the eastern tropical Pacific.The warm pools of the Americas constitute an important source of moisture for the North American Monsoon System. The northeastern tropical Pacific is a region of intense cyclogenetic activity, just west of the coast of Mesoamerica. Over the oceanic regions, large-scale properties of key variables such as precipitation, moisture, surface energy fluxes and wind stress curl are still uncertain, which inhibits a more comprehensive view of the region and stresses the importance of regional field experiments. Progress has been substantial in the understanding of the ocean and atmospheric dynamics of the eastern tropical Pacific, however, recent observational evidence such as that of a shallow meridional circulation cell in that region, in contrast to the classic concept of the Hadley-type deep meridional circulation, suggests that more in situ observations to validate theories are still necessary.This paper is part of a comprehensive review of the oceanography of the eastern tropical Pacific Ocean.     

Limitations of the Korean conventional fisheries management regime and expanding Korean TAC system toward output control systems

In this paper, we focus on the status and trends of the current Korean fisheries management regime. Specifically, this paper briefly introduces the Korean conventional fisheries management regime (KCFMR) and discusses its problems and limitations. In describing policy evolution, this paper finds reasons why the Korean government has chosen a TAC system, an output control approach, besides input control approaches in force for almost a century. This paper also describes the evolution of the Korean TAC system, which is carrying out a pivotal role in Korean fisheries development, and analyzes problems of the Korean TAC system. Finally, this paper gives a perspective on expanding the Korean TAC system toward Output Control Systems (OCSs) such as Individual Quotas (IQs), Individual Vessel Quotas (IVQs), Individual Transferable Traps (ITTs), Community Quotas (CQs), and Individual Transferable Quotas (ITQs).     

A modified method to estimate chain inverse catenary profile in clay based on chain equation and chain yield envelope

Offshore floating facilities are fixed by anchoring systems embedded in seabed soils through chains or ropes. The chain inverse catenary profile embedded in soils influences both the anchor failure mechanism and the anchor holding capacity. The chain mobilizes varying soil normal and tangential resistances during motion, hence it is with difficulty to depict the chain profile. The present work proposed a modified method to estimate the chain inverse catenary profile with high accuracy based on the chain equations and the chain yield envelope. A testing arrangement with three load cells and two MEMS (Micro-electromechanical systems) accelerometers included was designed in model tests. By model tests, the loading combinations of the soil tangential and normal resistances on the chain were obtained and the yield envelopes for both chain and rope were determined. In addition, supplemental model tests were performed to validate the modified method proposed in this study, and the testing results indicated that the estimated chain inverse catenary profile was in good agreement with the actual one. Moreover, the testing arrangement is beneficial in investigating the chain-soil-anchor interaction.     

Accurate GPS measurement of the location and orientation of a floating platform

Abstract

This article describes the design and initial tests of the GPS portion of a system for making seafloor geodesy measurements. In the planned system, GPS antennas on a floating platform will be used to measure the location of an acoustic transducer, attached below the platform, which interrogates an array of transponders on the seafloor. Since the GPS antennas are necessarily some distance above the transducer, a short‐baseline GPS interferometer consisting of three antennas is used to measure the platform's orientation.

A preliminary test of several crucial elements of the system was performed at the Scripps Institution of Oceanography (SIO) in December 1989. The test involved a fixed antenna on the pier and a second antenna floating on a buoy about 80 m away. GPS measurements of the vertical component of this baseline, analyzed independently by two groups using different software, agree with each other and with an independent measurement within a centimeter.

The first test of an integrated GPS/acoustic system took place in the Santa Cruz Basin off the coast of southern California in May 1990. In this test a much larger buoy, designed and built at SIO, was equipped with three GPS antennas and an acoustic transducer that interrogated a transponder on the ocean floor. Preliminary analysis indicates that the horizontal position of the transponder can be determined with a precision of about a centimeter. Further analysis will be required to investigate the magnitude of systematic errors.     

影响南海混合层盐度季节变化的因素分析

通过对1950-2012年的南海混合层盐度数据进行分析,发现影响南海北部和南部盐度季节变化的最主要因素存在很大的差异.在南海北部,影响混合层盐度季节变化的最主要因素是蒸发降水,其次是水平平流.随着逐步南移,蒸发降水对盐度季节变化的影响递减,水平平流的影响逐渐增大;而在南海南部,水平平流的作用超过蒸发降水成为影响盐度的季节变化的最主要因素.在整个南海区域,冬季海水垂直混合变强,混合层变厚,下层高盐海水进入混合层,使混合层海水盐度变高,从而对冬季海水盐度的上升趋势产生促进作用;夏季南海北部混合层底存在上升流,南海东南部由于Ekman输运导致混合层变厚,都会将混合层以下高盐海水带入混合层,使混合层海水盐度变高,从而对夏季海水盐度下降趋势产生阻碍作用,但垂直混合对盐度季节变化的影响不大,远小于蒸发降水和水平平流.     

Reliability-based comparative study for mooring lines design criteria

The characteristic environmental load effect for the design of mooring systems of floating units can be defined by means of three procedures: (a) the one associated to an extreme sea state with a given return period, (b) the worst one from a set of sea states on a contour line associated to a return period or (c) the extreme one based on response statistics for a long-term period. This work presents the result of a reliability-based partial safety factor calibration study for a LRFD mooring line design criteria considering the three approaches mentioned above. The calibration exercise is applied to three FPSOs considering North Sea environmental conditions and different water depths: 200, 800 and 3000 m. The mooring systems investigated take into account mooring lines made up of chains and polyester ropes. It is shown that, among all cases investigated, the design procedure based on the long-term response is the one that presents less scattered reliability indices around the target level.     

不同辐射背景下大西洋热盐环流下沉区混合层深度变化

基于政府间气候变化专门委员会(Intergovernmental Panel on Climate Change,IPCC)4种最新辐射强迫情景,利用ECHAM5/MPI-OM(European Centre Hamburg Model 5/Max Planck Institute Ocean Model)气候模式输出的1850—2300年逐月混合层深度、海表面温度、海表面盐度数据,分析大西洋热盐环流下沉区混合层深度的变化情况。结果表明:随辐射强迫增加,热盐环流下沉区混合层深度下降,混合层深度振荡周期在格陵兰-冰岛-挪威海(Greenland Sea–Iceland Sea–Norwegian Sea,GIN)海域减小,在拉布拉多海(Labrador Sea,LAB)海域变化不大;与GIN海域相比,LAB海域混合层深度对辐射强迫变化更敏感;两海区温度对混合层深度的影响时间较长,混合层深度对盐度的变化反应迅速;混合层深度变化的主导因素在LAB海域中为盐度,而在GIN海域,低辐射强迫下温度主导混合层深度变化,中高辐射强迫下温度与盐度共同起主导作用。     

东中国海HYCOM模式垂向坐标对比研究

基于挪威南森环境遥感中心改进的NERSC-HYCOM 模式, 利用单向嵌套技术与欧洲中心提供的2008 年ERA-I 高分辨率强迫场针对东中国海及其邻近海区进行了不同垂向坐标配置的四个敏感性试验。通过分析东中国海区域的温度、盐度, 流速的分布和变化, 探讨了HYCOM 模式中不同垂向坐标设置对东中国海近岸区域的影响以及黑潮流速及路径对不同坐标设置的响应, 期望对HYCOM 模式更深入的研究提供参考。结果表明: (1)在东中国海区上层并不适于采用等密度坐标方案, 也就是说应该采用z坐标或σ坐标用以表征此处混合层的季节性变化特征; (2)针对东海大陆架区给出了10 个位置上的模式与浮标观测资料的温、盐平均误差(ME)、均方根差(RMS)及相关系数(R)指标, 发现对于不同区域, 每种试验的适用性都不同; (3)使用高频资料时, 模拟的流速普遍偏高, 东海黑潮冬夏路径的异同指出了σ-z-iso 与z-iso 试验模拟效果较好, 但模拟的日本岛南岸的弯曲流场位置偏南; 而z-only 试验模拟的日本岛以南的黑潮路径是有所改观的, z坐标的分辨率对表层的黑潮路径影响很大; σ-only 试验模拟的整个黑潮路径的效果最差。