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     

Seismotectonic significance of the 29 January 1989 Etne earthquake, SW Norway

The integrated analysis of geological, seismological and field observations with lineament data derived from satellite images allows the identification of a possible seismogenic fault zone for an earthquake which occurred near Etne in southwestern Norway, on 29 February 1989. The hypocentre of the earthquake was located at the mid-crust at a depth of 13.8±0.9 km which is typical of small intraplate earthquakes. The Etne earthquake occurred as a result of normal faulting with a dextral strike-slip component on a NW–SE trending fault. Available geological and lineament data indicate correlation of the inferred seismogenic fault with the NW–SE trending Etne fault zone. An aeromagnetic anomaly related to the Etne fault zone forms a regional feature intersecting both Precambrian basement and allochthonous Caledonian rocks. Based on these associations the occurrence of the Etne event is ascribed to the reactivation of a zone of weakness along the Etne fault zone. Slope-instabilities developed in the superficial deposits during the Etne event demonstrate the existence of potentially hazardous secondary-effects of such earthquakes even in low seismicity areas such as southwestern Norway.     

Subtidal sea level and current variations in the northern reach of San Francisco Bay

Analyses of sea level and current-meter data using digital filters and a variety of statistical methods show a variety of phenomena related to non-local coastal forcing and local tidal forcing in the northern reach of San Francisco Bay, a partially mixed estuary. Low-frequency variations in sea level are dominated by non-local variations in coastal sea level and also show a smaller influence from tidally induced fortnightly sea level variations. Low-frequency currents demonstrate a gravitational circulation which is modified by changes in tidal-current speed over the spring-neap tidal cycle. Transients in gravitational circulation induce internal oscillations with periods of two to four days.     

Calculation of transverse hydrodynamic coefficients using computational fluid dynamic approach

Computational Fluid Dynamic (CFD) based on Reynolds Averaged Navier–Stokes equation is used for determining the transverse hydrodynamic damping force and moment coefficients that are needed in the maneuverability study of marine vehicles. Computations are performed for two geometrical shapes representing typical AUVs presently in use. Results are compared with available data on similar geometries and from some of the available semi-empirical relations. It is found that the CFD predictions compares reasonable well with these results. In particular, the CFD predictions of forces and moments are found to be nonlinear with respect to the transverse velocity, and therefore both linear and nonlinear coefficients can be derived. A discussion on the sources of the component forces reveal that the total force and moment variations should in fact be nonlinear.     

Long-term effects of tributyltin compounds on the baltic amphipod, Gammarus oceanicus

Amphipod larvae, Gammarus oceanicus, were exposed for 8 weeks to bis(tributyltin) oxide (TBTO) or tributyltin fluoride (TBTF), or for 5 weeks to leachates from tributyltin-containing antibiofouling paints. No larvae survived 8 weeks' exposure to 3 μg/litre TBTO or TBTF. Differential larval survival occurred during exposure to 0·3 gmg/litre of these same compounds. Paint leachates were shown to cause similar toxicity responses at comparable aqueous tributyltin concentrations. An examination of sublethal responses showed slight decreases in growth for larvae exposed to TBTO and to paint leachates, although responses at tributyltin levels below 1 μg/litre were not marked. Whole-animal oxygen consumption rates were not affected by low tributyltin exposure levels. While these studies demonstrate low level toxicity of tributyltins, effects on oxygen consumption and growth do not indicate a mode of action for these compounds.     

Variability of surface roughness and turbulence intensities at a coastal site in India

Surface-layer features with different prevailing wind directions for two distinct seasons (Southwest Monsoon and Northeast Monsoon) on the west coast of India are studied using data obtained from tower-based sensors at a site located about 500 m from the coast. Only daytime runs have been used for the present analysis. The surface boundary-layer fluxes have been estimated using the eddy correlation method. The surface roughnessz ₀ obtained using the stability-corrected wind profiles (Paulson, 1970) has been found to be low for the Southwest monsson season. For the other season,z ₀ is relatively high. The drag coefficientC _D varies with height in the NE monsoon season but not in the season with lowz ₀. This aspect is reflected in the wind profiles for the two seasons and is discussed in detail. The scaling behaviour of friction velocityu _* and the turbulence intensity of longitudinal, lateral and vertical winds _u, _v and _w, respectively) are further examined to study their dependence on fetch. Our study shows that for the non-dimensional case, _u/u_* and _v/u_* do not show any surface roughness dependence in either season. On the other hand, for _w/u_* for the season with lowz ₀, the values are seen to agree well with that of Panofskyet al. (1977) for homogeneous terrain whereas for the other season with highz ₀, the results seem to conform more to the values observed by Smedman and Högström (1983) for coastal terrain. The results are discussed in the light of observations by other investigators.     

The arrangement in mean elements space of the periodic orbits close to that of the Moon

In a simplified model of the Earth-Moon-Sun system based on the restricted circular 3-dimensional 3-body problem, it is possible to find numerically a set of 8 periodic orbits whose time evolutions closely resemble that of the Moon's orbit. These orbits have a period of 223 synodic months (i.e. the period of the Saros cycle known for more than two millennia as a means of predicting eclipses), and are characterized by a secular rotation of the argument of perigee . Periodic orbits of longer durations exhibiting this last feature are very abundant in Earth-Moon-Sun dynamical models. Their arrangement in the space of the mean orbital elements- for various values of the lunar mean motion is presented.     

The north-south distribution of major solar flare events,sunspot magnetic classes and sunspot areas (1955–1974)

The north-south incidence has been studied of 31 white-light flares observed since 1859 and of 1669 events meeting the criteria for major flares of Dodson and Hedeman (1971) for the period 1955–1974. The asymmetry in favor of the northern hemisphere increases strikingly with the importance of the events. Similarly, magnetically complex sunspot groups (Mt. Wilson classes, and) display a more pronounced asymmetry in favor of the north than non-complex groups for 1962–1970. Contrary to the flare asymmetry, the spottedness asymmetry is independent of the size of sunspots.