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     

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.     

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.     

Atmospheric Surface-Layer Processes During the Total Solar Eclipse Of 11 August 1999

The central path of the total solar eclipse (TSE) of 11 August 1999 mostly passedthrough a region of active monsoon in India, with the eclipse ending around localsunset. Measurements in the surface layer (SL) were carried out close to the eclipseaxis at Akola (20°42' N, 77°2' E) in central India. The globalradiation flux reaching the surface vanishes around totality at 1803:24 (LT), followedby a small recovery before again dipping to zero at sunset. The temperatures in the SL, and subsoil at 50-mm depth, show a local minimum with a lag of about 10 min after the second contact, whereas the lag appears to vanish when the temperature series is detrended. The SL exhibits near-neutral, though generally stable, conditions from about 1500 hr itself due to heavy cloud cover followed by the eclipse-induced cooling of the surface. The wind component across the eclipse axis vanishes at totality, the wind vector aligning with the azimuth of the traversing moon shadow. The deceleration of the mean flow can be due to the combined effect of the colder surface and downward heat flux, where the locally altered horizontal temperature gradients may cause, as in this instance, the cessation of the cross flow.The oscillations in temperature and wind that show significant peaks, around 90–100 min as well as the semi-period of the eclipse near 60 min, persist for several hours past the eclipse event. A fresh analysis of the published data on the TSE of 7 March 1970 shows spectral peaks in the temperature nearly coincident with those already reported from the surface pressure records. The oscillations in the SL fields during the two TSE events are very similar implying that the source mechanism is also likely to be the same in both the cases.     

Shallow lithosphere-asthenosphere boundary beneath Cambay Rift Zone of India: Inferred presence of carbonated partial melt

A vast area between Phalodi in Jodhpur and Pokaran in Jaisalmer district of western Rajasthan, is occupied distinctly by rocky, shallow gravelly surfaces and occasional hills. These surfaces exhibit quartz and quartzite pebbles, angular, sub-angular and few rounded sandstone gravels, have slightly convex outline and can be best described as desert pavements. Such land features assume significance because of their extent and variability under a dominantly dry aeolian environment. Morphology and distributional pattern of such formations indicate that sediments are either of in situ origin or may have been transported to a short distance. The present study is based on field level assessment of such surfaces in the above two desert districts. Over much of the area, the profile shows a surficial concentration of gravels followed by thick sand and silt mixed with gravels and then the parent material. There are also occasional rock outcrops of very low relief exhibiting vertical, horizontal and conchoidal pattern of fractures over these surfaces near Pokaran and north of Jaisalmer which indicate disintegration of rocks under extreme diurnal fluctuation of temperature. Such manifestations in the morphology indicate impact of both thermal as well as aeolian processes. In the east of Jaisalmer town near Basanpir and Bhojka, the pavement surfaces are found covered with abundant sub-rounded to rounded pebbles and cobbles. This type of condition would indicate a profound action by fluvial activities followed by wind sorting. Our study found significant spatial variability in the distribution of pavement surfaces, which carried imprints of climatic fluctuations and environment of deposition during Holocene.