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     

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.     

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     

Multi-AUV Control and Adaptive Sampling in Monterey Bay

Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project     

Signatures of solar wind interaction with the nightside ionosphere of Venus

Plasma and field relationships observed across the nightside of Venus evidence a chaotic variety of interactions between the ionosphere and the combined effect of the solar wind and interplanetary magnetic field draped about the planet. Close examination of these data reveal within the chaos a number of repeatable signatures key to understanding fundamental field-plasma interactions. Observed from the Pioneer Venus Orbiter, (PVO), nightside conditions range from extensive, full-up ionospheres with little evidence of dynamic or energetic perturbations, to an almost full depletion, sometimes described as disappearing ionospheres. Between these extremes, the ionospheric structure is often irregular, sometimes exhibiting well-defined density troughs, at other times complex intervals of either abundant or minimal plasma concentration. Consistently, large B-fields (typically exceeding 5–10 nanoteslas) coincide with plasma decreases, whereas stable, abundant plasma distributions are associated with very low-level field. We examine hundreds of nightside orbits, identifying close correlations between regions of elevated magnetic fields featuring polarity reversals, and (a) exclusive low-frequency or distinctive broadband noise, or both, in the electric field data, (b) turbulent, superthermal behavior of the the ions and electrons. We review extensive studies of nightside fields to show that the correlations observed are consistent with theoretical arguments that the presence of strong magnetic fields within normal ionospheric heights indicates the intrusion of magnetosheath fields and plasma within such regions. We find abundant evidence that the ionosphere is frequently disrupted by such events, exhibiting a chaotic, auroral-like complexity appearing over a wide range of altitude and local time. We show that field-plasma disturbances, widely suggested to be similar to conditions in the Earth's auroral regions, are tightly linked to the electric field noise otherwise attributed to lightning. Owing to the coincidence inherent in this relationship, we suggest that natural, predictable plasma instabilities associated with the plasma gradients and current sheets evident within these events produce the E-field noise. The data relationships argue for a more detailed investigation of solar wind induced E-field noise mechanisms as the appropriate scientific procedure for invoking sources for the noise previously attributed to lightning. Consistent with these views, we note that independent analyses have offered alternative explanations of the noise as arising from ionospheric disturbances, that repeated searches for optical evidence of lightning have found no such evidence, and that no accepted theoretical work has yet surfaced to support the inference of lightning at Venus.     

Mathematical models for petroleum-forming processes: n-paraffins and isoprenoid hydrocarbons

Mathematical models have been developed which simulate both random and nonrandom thermal cracking of branched and straight-chain hydrocarbons. Application of these models to n-paraffins suggests that thermal cracking alone cannot be the dominant mechanism in formation of the n-paraffin distributions present in crude oils. Application to isoprenoid hydrocarbons indicates that nonrandom cracking could be important in producing the isoprenoid distributions found in oils.Results of the mathematical modeling show that methane formation should, as predicted from energy considerations, be kinetically disfavored. It therefore is likely that substantial quantities of methane are produced from saturated hydrocarbons only under thermal conditions more severe than those under which oil is produced.The mathematical models employed are adaptable for other geochemical applications, such as isotope fractionation.     

On the geologic structure of the Explora Escarpment (Weddell Sea,Antarctica) revealed by satellite and Shipboard data evaluation

Bathymetric, gravity, and magnetic data from Antarctic expeditions with RV POLARSTERN and satellite altimeter data from the Geosat Geodetic Mission are analysed using methods from geostatistics and geophysical inverse theory.The Explora Escarpment represents the edge between the Antarctic Continental Shelf and the Weddell Abyssal Plain. It is an important link in the reconstruction of Gondwana breakup, but a feature as large as the 2000 m deep Wegener Canyon was only discovered in 1984, when extensive bathymetric, gravimetric, and magnetic surveys with RV POLARSTERN began.Geostatistics, the theory of regionalized variables, is applied to integrate dense surveys of Wegener Canyon and sparse observations in adjacent areas into maps with full coverage of the 230 km by 330 km area at 10°–20° W/70°–72° S. The resultant highresolution bathymetric and gravity maps reveal detailed structures of the Explora Escarpment. Using geophysical inversion, the gravity terrain effect is calculated. Satellite data are used for their better coverage, but have much lower resolution. Nevertheless, the structures of Wegener Canyon and other more prominent features appear with surprisingly good correlation also in the Geosat altimeter data. While it was initially supposed that Wegener Canyon is purely an erosional structure, the magnetic map now provides evidence of the canyon's tectonic origin.     

PM2.5 co-benefits of climate change legislation part 2: California governor’s executive order S-3-05 applied to the transportation sector

California Governor’s Executive Order (CGEO) S-3-05 requires that California greenhouse gas (GHG) emissions be reduced to 80 % below 1990 levels by the year 2050. Meeting this target will require drastic changes in transportation technology, fuel, and behavior which will reduce criteria pollutant emissions as well as GHG emissions. The improvement to local air quality caused by the reduced criteria pollutant emissions must be calculated to fully evaluate the overall benefits and costs of CGEO S-3-05. In the present study, seven different transportation scenarios that move towards the goals of CGEO S-3-05 in the transportation sector were examined to determine how they would affect future airborne particulate matter (PM_2.5) concentrations in California: (1) hydrogen fuel cells, (2) electric vehicles, (3) high efficiency vehicles, (4) public mass transit, (5) biofuels, (6) biofuels + hybrid electric vehicles, and (7) hydrogen fuel cells + electric vehicles. The air quality implications of each scenario were evaluated using a chemical transport model applied during a wintertime stagnation episode representing future climate in California. Scenarios (6) and (7) reduced population-weighted PM_2.5 mass concentrations by ~9 % and PM_2.5 elemental carbon (EC) concentrations by ~30 % relative to base-case predictions.