Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Quaternary evolution of the Gulf of İzmit (NW Turkey): a sedimentary basin under control of the North Anatolian Fault Zone

The Quaternary evolution of the Gulf of İzmit, situated on the tectonically active North Anatolian Fault Zone (NAFZ), was investigated using seismic reflection, paleontologic, and sediment textural data. On the basis of seismic stratigraphic and sedimentologic-paleontologic interpretations, four depositional units were distinguished within the Plio-Quaternary sequence of the Gulf of İzmit. According to these data, Plio-Quaternary deposits supplied from the northern terrestrial area started to accumulate during a progradational phase, in a south-facing half-graben. A coarse-grained sedimentary unit prograding into the gulf from the south since 200 ka b.p. indicates a dramatic variation in the evolution of the gulf, with the initiation of a new strike-slip fault of the NAFZ and a corresponding uplift of the Armutlu Peninsula in the south of the gulf. During the evolution of this fault from a wide shear zone consisting of right-stepped strike-slip faults and pull-apart basins to a localized principal fault zone, sediments were deposited under the influence of northerly prograding terrestrial and shallow-marine conditions due to relative sea-level fluctuations in the Marmara Sea. During this period, the Gulf of İzmit was invaded mainly by Mediterranean and partly by Black Sea waters. In the latest glacial period, shallow areas in the gulf became subaerially exposed, whereas the central and western sub-basins of the gulf turned into lakes. The present evolution of the Gulf of İzmit is controlled by the after effects of the new rupture of the NAFZ and the estuarine nature of the gulf environment.     

Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

Stratigraphy of the sediment infill in Bosphorus Strait: water exchange between the Black and Mediterranean Seas during the last glacial Holocene

The sediment infill over the Paleozoic bedrock in the Bosphorus Strait consists of four sedimentary units which were deposited in the last 26,000 ¹⁴C years B.P. The stratigraphy of these units suggests that this part of the Bosphorus was a freshwater lake between 26,000 and 5,300 ¹⁴C years B.P., depositing sands with a freshwater mollusc fauna of Black Sea neo-euxinian affinity (Dreissena rostriformis, Dreissena polymorpha, and Monodacna pontica). The first appearance of euryhaline Mediterranean molluscs (e.g., Ostrea edulis, Mytilus edulis) was observed at 5,300 ¹⁴C years B.P. in this part of the Bosphorus. Deposition of coarse Mytilus-bank and Ostrea-bank units suggests that the establishment of the present dual-flow regime in the Bosphorus took place at about 4,400 ¹⁴C years B.P.     

Low frequency flickering of TT arietis: Hard and soft X-ray emission region

Using archival ASCA observations of TT Arietis, X-ray energy spectra and power spectra of the intensity time series are presented for the first time. The energy spectra are well-fitted by a two continuum plasma emission model with temperatures 1 keV and 10 keV. A coherent feature at 0.643 mHz appeared in the power spectra during the observation.     

The contact binary system YY Eri

Relatively new and unanalysed photometric data-sets of the contact binary system YY Eri are presented. The light curves have been analysed using information limit optimization techniques, and the Binary Maker program of Bradstreet (1992).Comparison of the results allows insight into determinacy questions affecting the W UMa type of light curve, which relates to our general understanding of contact binaries. A limiting contact configuration cannot be ruled out on the basis of empirical data-analysis alone.Very careful analysis of the photospheric flux distribution over the surface of the Sun may help establish appropriate values of the gravity brightening parameter for cool dwarf stars. At present, however, empirical photometric information on contact binaries is non-discriminatory: i.e. alternative cosmogonies can find alternative support from available evidence. The implication is then for more and better observational data to allow better real independent parameter determination.     

Solar models with strong turbulence

A series of evolutionary models for the Sun were constructed using the strong turbulence model of the variable mixing-length theory (AMLT) of Canuto (1990). The present values of the solar model were obtained by an initial compositionX = 0.754,Z = 0.019, and(x) = 1.1. The physical variables which were obtained by applying the strong turbulence case of AMLT were similar to those of weak turbulence model (Kzlolu and Civelek, 1992) if we focused on the fitting of present solar radius and luminosity.     

A sulfur isotope study of volcanogenic massive sulfide deposits of the Eastern Black Sea province,Turkey

Kuroko-type massive sulfide deposits of the Eastern Black Sea province of Turkey are related to the Upper Cretaceous felsic lavas and pyroclastic rocks, and associated with clay and carbonate alteration zones in the footwall and hangingwall lithologies. A complete upward-vertical section of a typical orebody consists of a stringer-disseminated sulfide zone composed mainly of pyrite and chalcopyrite; a massive pyrite zone; a massive yellow ore consisting mainly of chalcopyrite and pyrite; a black ore made up mainly of galena and sphalerite with minor amounts of chalcopyrite, bornite, pyrite and various sulfosalts; and a barite zone. Most of the deposits in the province are associated with gypsum in the footwall or hangingwall. The paragenetic sequence in the massive ore is pyrite, sphalerite, chalcopyrite, bornite, galena and various sulfosalts, with some overlap between the mineral phases. Massive, stringer and disseminated sulfides from eight kuroko-type VMS deposits of the Eastern Black Sea province have a ³⁴S range of 0–7 per mil, consistent with the ³⁴S range of felsic igneous rocks. Sulfides in the massive ore at Madenköy (4.3–6.1 per mil) differ isotopically from sulfides in the stringer zone (6.3–7.2 per mil) suggesting a slightly increased input of H₂S derived from marine sulfate with time. Barite and coarse-grained gypsum have a ³⁴S range of 17.7–21.5 per mil, a few per mil higher than the ³⁴S value of contemporaneous seawater sulfate. The deposits may, therefore, have formed in restricted basins in which bacterial reduction of sulfate was taking place. Fine-grained, disseminated gypsum at Kutlular and Tunca has ³⁴S values (2.6–6.1 per mil) overlapping those of ore sulfides, indicating sulfide oxidation during waning stages of hydrothermal activity.     

Infinitesimal orbits around lagrange points in the elliptic,restricted three-body problem

This study presents a method of obtaining asymptotic approximations for motions near a Lagrange point in the planar, elliptic, restricted three-body problem by using a von Zeipel-type method. The calculations are carried out for a second-order escape solution in the proximity of the equilateral Lagrange point, L ₄, where the primaries' orbital eccentricity is taken as the small parameter .