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     

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.     

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     

Effect of metamorphism and partial melting of host rocks on zircons

Abstract Zircons have been studied from different layers of migmatites (from Arvika, western Sweden and Nelaug, southern Norway) and from a paragneiss (from Arvika) associated with one of the migmatites. The main purpose of the investigation is to establish whether or not information about zircons can help in the elucidation of the parentage and rock-forming processes of migmatites.
The elongation ratio of zircons from all layers is small and characteristic of sedimentary zircons. Further, the absence of characteristic colours and the growth trends of the zircons (indicated by the reduced major axes) observed in the various samples both support a sedimentary parentage for these rocks. The zircons of all layers exhibit secondary growth (overgrowth, outgrowth and multiple growth) due to metamorphism. Compared with the zircons from the paragneiss, those of the migmatite layers are more clouded and less rounded, some of them becoming opaque or even skeletal; this is especially true of the zircons from the leucosomes. These observations indicate an alteration of the original sedimentary zircons in the migmatite, especially in the leucosomes, in response to the migmatization process, previously interpreted as partial melting.     

Mezen Bay—a key area for understanding Weichselian glaciations in northern Russia

Sediment successions in coastal cliffs around Mezen Bay, southeastern White Sea, record an unusually detailed history of former glaciations, interstadial marine and fluvial events from the Weichselian. A regional glaciation model for the Weichselian is based on new data from the Mezen Bay area and previously published data from adjacent areas. Following the Mikulinian (Eemian) interglacial a shelf‐centred glaciation in the Kara Sea is reflected in proglacial conditions at 100–90 ka. A local ice‐cap over the Timan ridge existed between 75 and 65 ka. Renewed glaciation in the Kara Sea spread southwestwards around 60 ka only, interrupted by a marine inundation, before it advanced to its maximum position at about 55–50 ka. After a prolonged ice‐free period, the Scandinavian ice‐sheet invaded the area from the west and terminated east of Mezen Bay about 17 ka. The previously published evidence of a large ice‐dammed lake in the central Arkhangelsk region, Lake Komi, finds no support in this study. Copyright © 2003 John Wiley & Sons, Ltd.     

Variations in the natural abundance of 15N in estuarine suspended particulate matter: A specific indicator of biological processing

In this study, the ¹⁴N:¹⁵N ratio of suspended particulate material collected from the Tamar river estuary, south-west England, is described. Three populations of particles, distinguishable by their ¹⁵N content, were observed. This investigation has shown that populations of estuarine particles are generated by biological transformations in situ and that the ¹⁵N content of estuarine particles does not merely reflect hydrodynamic mixing of the freshwater and seawater source particulate material.     

Particulate organic matter in the coastal and estuarine waters of Goa and its relationship with phytoplankton production

In the coastal and estuarine waters of Goa, particulate organic carbon (POC) varied from 0.52 to 2.51 mg l^?1 and from 0.28 to 5.24 mg l^?1 and particulate phosphorus (PP) varied from 0.71 to 5.18 μg l^?1 and from 0.78 to 20.34 μg l^?1, respectively. The mean values of chlorophyll and primary productivity were 1.94 mg m^?3 and 938.1 mg C m^?2 day^?1 in the coastal waters and 4.3 mg m^?3 and 636.5 mg C m^?1 day^?1 in the estuarine waters, respectively.$\text{POC}\text{chl}$ ratios were low in June and October even when POC values were quite high. The POC in surface waters was linearly correlated with the chlorophyll content. Also PP increased when chlorophyll and primary productivity remained high. The results suggest that the phytoplankton was sharply increasing and contributed to POC and PP content. The percentage of detritus calculated from the intercept values of chlorophyll on POC varied from 46 to 76% depending on season. Results indicate that the major portion of POC and PP during postmonsoon (October–January) is derived from phytoplankton production while the allochthonous matter predominate during monsoon (June–September).