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     

Rapid Lateglacial tree population dynamics and ecosystem changes in the eastern Baltic region

A growing body of evidence implies that the concept of 'treeless tundra' in eastern and northern Europe fails to explain the rapidity of Lateglacial and postglacial tree population dynamics of the region, yet the knowledge of the geographic locations and shifting of tree populations is fragmentary. Pollen, stomata and plant macrofossil stratigraphies from Lake Kurjanovas in the poorly studied eastern Baltic region provide improved knowledge of ranges of north‐eastern European trees during the Lateglacial and subsequent plant population responses to the abrupt climatic changes of the Lateglacial/Holocene transition. The results prove the Lateglacial presence of tree populations (Betula, Pinus and Picea) in the eastern Baltic region. Particularly relevant is the stomatal and plant macrofossil evidence showing the local presence of reproductive Picea populations during the Younger Dryas stadial at 12 900–11 700 cal. a BP, occurring along with Dryas octopetala and arctic herbs, indicating semi‐open vegetation. The spread of Pinus–Betula forest at ca. 14 400 cal. a BP, the rise of Picea at ca. 12 800 cal. a BP and the re‐establishment of Pinus–Betula forest at ca. 11 700 cal. a BP within a span of centuries further suggest strikingly rapid, climate‐driven ecosystem changes rather than gradual plant succession on a newly deglaciated land. Copyright © 2009 John Wiley & Sons, Ltd.     

Systems of colliding bodies in a gravitational field: Evolution and role of the internal rotations

To emphasize the rotational effects of a simple friction between colliding bodies in a keplerian field we investigate numerically the evolution of the rotational energies in a three dimensional system of spherical particles interacting through inelastic collisions in a deterministic model. All the particles are made of the same material but they possibly have different sizes. Each collision reduces the relative surface velocity and there are exchanges between orbital energy and rotational energy. Our results are compared with some previous papers and our aim is to supply other probabilists models with simple basic references about mean dynamical properties.The rotational energy of the colliding bodies tends to reach an equilibrium state that depends only on the rate of energy loss in the collision process. Internal rotations prevent the complete flattening of the system. With this model, light and small particles spin faster than the massive and big ones. We observe an excess of prograde rotations on counterclockwise orbits. The ratio of rotational and orbital energies is % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaamyramaaBa% aaleaacaWGYbaabeaakiaac+cacaWGfbWaaSbaaSqaaiaadUgaaeqa% aOGaeyisISRaaGymaiaaicdadaahaaWcbeqaaiabgkHiTiaaiodaaa% aaaa!3F83!\[E_r /E_k \approx 10^{ - 3} \] while the ratio of corresponding mean angular velocities is % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaWaaaWaaeaacq% aHjpWDaiaawMYicaGLQmcacaGGVaWaaaWaaeaacqGHPoWvaiaawMYi% caGLQmcacqGHijYUcaaIYaaaaa!4008!\[\left\langle \omega \right\rangle /\left\langle \Omega \right\rangle \approx 2\] These values depends strongly on the dimensional scale of the model.     

Groundwater flow and contaminant transport modelling at an air weapons range

Numerical modelling was done at the Cold Lake Air Weapons Range, Canada, to test whether the dissolved RDX and nitrate detected in groundwater come from the same sources, and to predict whether contamination poses a threat to the surface water receptors near the site. Military live fire training activities may indeed pose a risk of contamination to groundwater resources, however field investigations on military bases are quite recent, and little information is available on the long-term behaviour of munition residues related contaminants. Very limited information was available about the contaminant source zones, which were assigned based on our knowledge of current training activities. The RDX plume was well represented with the model, but the heterogeneous distribution of nitrate concentrations was more difficult to reproduce. It was nonetheless determined that both contaminants originate from the same areas. According to the model, both contaminants should reach the nearby river, but concentrations in the river should remain very low if the source zone concentration does not change. Finally, the model allowed the recommendation of a new location for the main bombing target, which would offer added protection to the river and the lake into which it flows.     

The effects of gas flaring on crops in the Niger Delta,Nigeria

Flaring of associated gas from oil exploitation has several consequences on the environment. This study explores the spatial variability effects of gas flaring on the growth and development of cassava (Manihot esculenta), waterleaf (Talinum triangulare), and pepper (Piper spp.) crops commonly cultivated in the Niger Delta, Nigeria. Data was collected on soil and atmospheric temperature and moisture at a 20-m interval, starting at 40 m from the flare point to a distance of 140 m. Lengths and widths of crop leaves, height of crop plants and cassava yields were measured at the specified distances. The amino acid, ascorbic acid, starch, and sugar constituents of the cassava yields were determined. The results suggest that a spatial gradient exists in the effects of gas flares on crop development. Retardation in crop development manifests in decreased dimensions of leaf lengths and widths of cassava and pepper crops closer to the gas flare point. Statistical analysis also confirms that cassava yields are higher at locations further away from the flare point. In addition, the amount of starch and ascorbic acid in cassava decreased when the plant is grown closer to the gas flare. High temperatures around the gas flare appear to be the most likely cause of this retardation. The waterleaf crop, on the other hand, appears to thrive better around the gas flare point.     

Effects on zooplankton of a warmer ocean: Recent evidence from the Northeast Pacific

The consequences for pelagic communities of warming trends in mid and high latitude ocean regions could be substantial, but their magnitude and trajectory are not yet known. Environmental changes predicted by climate models (and beginning to be confirmed by observations) include warming and freshening of the upper ocean and reduction in the extent and duration of ice cover. One way to evaluate response scenarios is by comparing how “similar” zooplankton communities have differed among years and/or locations with differing temperature. The subarctic Pacific is a strong candidate for such comparisons, because the same mix of zooplankton species dominates over a wide range of temperature climatologies, and observations have spanned substantial temperature variability at interannual-to-decadal time scales. In this paper, we review and extend copepod abundance and phenology time series from net tow and Continuous Plankton Recorder surveys in the subarctic Northeast Pacific. The two strongest responses we have observed are latitudinal shifts in centers of abundance of many species (poleward under warm conditions), and changes in the life cycle timing of Neocalanus plumchrus in both oceanic and coastal regions (earlier by several weeks in warm years and at warmer locations). These zooplankton data, plus indices of higher trophic level responses such as reproduction, growth and survival of pelagic fish and seabirds, are all moderately-to-strongly intercorrelated (∣r∣ = 0.25-0.8) with indices of local and basin-scale temperature anomalies. A principal components analysis of the normalized anomaly time series from 1979 to 2004 shows that a single “warm-and-low-productivity” vs. “cool-and-high-productivity” component axis accounts for over half of the variance/covariance. Prior to 1990, the scores for this component were negative (“cool” and “productive”) or near zero except positive in the El Niño years 1983 and 1987. The scores were strongly and increasingly positive (“warm” and “low productivity”) from 1992 to 1998; negative from 1999 to 2002; and again increasingly positive from 2003-present. We suggest that, in strongly seasonal environments, anomalously high temperature may provide misleading environmental cues that contribute to timing mismatch between life history events and the more-nearly-fixed seasonality of insolation, stratification, and food supply.     

Partitioning of polycyclic aromatic hydrocarbons between water and particles compared to bioaccumulation in mussels: a harbour case

Water and particles from three sites located in Halifax Harbour, near and further away from combined municipal sewage effluents (CMSE) were analysed for parental and alkylated polycyclic aromatic hydrocarbons (par and alkPAH). Bioavailability of PAH was compared for inter-tidal mussels collected at the same sites in April and November. The PAH fingerprint determined over 9 sampling times covering a period of 19 months differed more between phases (water and particles) and seasons, than between sites. In the spring, more alkPAH associated with diesel and gasoline were detected in the soluble phase, along with more bioaccumulation of alkPAH in inter-tidal mussels. A broader number of parPAH were detected in mussels collected in the fall. The mean sum of dissolved alkPAH concentrations was higher in water at the site closer to raw CMSE than at the other two sites and particles of that site. However, lowest bioconcentration factors (BCF) were determined in mussels of this more contaminated site. Similar biota-particle accumulation factors (BPAF) were determined for parPAH in mussels from the three sites, all lower than the BCF of alkPAH. The study indicates that sewage treatment plants will reduce the amount of parPAH especially larger than fluoranthene and pyrene from being deposited in the harbour; that alk naphthalenes and fluorenes present in water will continue to be discharged; that the disturbance of sediments can make particle-bound PAH available to mussels.     

Circulation

Low-frequency current and temperature variability on the southeast US continental shelf during summer conditions of weak wind forcing and vertical stratification was found to be similar in many aspects to previous findings for winter, when stronger wind forcing and vertical homogeneity prevails. Subtidal variability in the outer shelf is dominated by the weekly occurrence of Gulf Stream frontal eddies and meanders. These baroclinic events strongly affect the balance of momentum in the outer shelf, but not at mid-shelf. A negative alongshore sea level slope of order −10⁻⁷ is required to balance mean along-shelf momentum at the shelf edge, similar to oceanic estimates, and can contribute to the observed northward mean flow over the shelf.Low-frequency flow at mid-shelf and coastal sea level fluctuations appear to occur as a forced wave response to local alongshore wind stress events that are coherent over the shelf domain. Momentum balances indicate a trapped wave response similar to the arrested topographic wave found in the mid-Atlantic Bight (CSANADY, 1978). Density driven currents from river discharge do not appear to be significant at mid-shelf. Cold, subsurface intrusions of deeper, nutrient rich Gulf Stream waters can occasionally penetrate to mid- and inner-shelf regions north of Cape Canaveral, causing strong phytoplankton and zooplankton responses. These events were observed following the simultaneous occurrence of upwellings from northward winds and Gulf Stream frontal eddies at the shelf break during periods when the Stream was in an onshore position. Subsurface Gulf Stream intrusions to mid-shelf occur only during the summer, when the shelf is vertically stratified and cross-shelf density gradients do not present a barrier as in winter.     

Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations