Path following control system for a tanker ship model

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.     

Oil dispersal modelling: reanalysis of the Rena oil spill using open-source modelling tools

ABSTRACT

Oil spill forecast modelling is typically used immediately after a spill to predict oil dispersal and promote mobilisation of more effective response operations. The aim of this work was to map oil dispersal after the grounding of the MV Rena on Astrolabe Reef and to verify the results against observations. Model predictions were broadly consistent with observed distribution of oil contamination. However, some hot spots of oil accumulation, likely due to surf-zone and rip current circulation, were not well represented. Additionally, the model was run with 81 differing wind conditions to show that the events occurring during the grounding represented the typical likely behaviour of an oil spill on Astrolabe Reef. Oil dispersal was highly dependent on prevailing wind patterns; more accurate prediction would require better observations of local wind patterns. However, comparison of predictions with observations indicated that the GNOME model was an effective low-cost approach.     

Crustal structure in the southwestern part of the Iberian Peninsula

Seismic investigations to determine the crustal structure in the southwestern part of the Iberian Peninsula have been initiated in 1970. First experiments were carried out during July 1970, when a series of ten shots was fired off Cabo de Sines (Portugal) in shallow water and recorded up to distances of 185 km along a SE-profile towards Huelva (Spain). The profile was reversed in December 1970, when a series of twelve shots was fired off the south coast near Fuzeta (east of Faro) and recorded up to distances of about 260 km along a NW-profile towards Cabo da Roca west of Lisboa. A considerable increase in the seismic efficiency of the explosions could be achieved by generating standing waves in the water.

The structure deduced exhibits some peculiar features. Below the Palaeozoic sediments a fairly high velocity of 6.4 km/sec is found for the dome-shaped basement in that area. The lower crust, which is separated from the upper crust by a distinct velocity inversion (with a minimum velocity of about 5.3–5.6 km/sec), is characterized by a velocity of 7.1 km/sec. From the geological evidence and the sequence of seismic velocities it must be concluded that the upper crustal block in the southwestern part of the Iberian Peninsula has been uplifted by about 2–5 km since Permo-Triassic time, thus emphasizing the significance of vertical movement in tectonic activity.

The top of the upper mantle (8.15 km/sec) was detected at a depth of 30 km close to the Atlantic coast in the west, while near the Algarve coast in the south the depth to the M-discontinuity is about 34–35 km. This result in conjunction with studies of earthquake focal mechanisms confirms the suggestion that the Iberian block is being underthrust under the African plate.     

Total and methylmercury in a Brazilian estuary,Rio de Janeiro

Guanabara Bay, in Rio de Janeiro state, is impacted by organic matter, oil and heavy metals. The present study evaluated the total mercury (THg) and methylmercury (MeHg) concentrations and the MeHg to THg ratio (%MeHg) in water samples from different points of the bay and in 245 organisms of three different trophic levels sampled between 1990 and 2000. Dissolved mercury concentration in estuarine water samples ranged from 0.72 to 5.23 ngl(-1). THg and MeHg in mussel, ranging from 11.6 to 53.5 microg THg kg(-1) wet wt. and 4.5-21.0 microg MeHg kg(-1) wet wt., varied according to sampling point and water quality. Planktivorous fish and mussel presented similar MeHg concentrations, meanwhile THg in planktivorous fish were lower than in mussel. Carnivorous fish showed higher THg and MeHg concentrations (199.5 +/- 119.3, 194.7 +/- 112.7 microg kg(-1) wet wt. respectively) than organisms from other feeding habits and lower trophic levels. There was a significant difference in the %MeHg among trophic levels: mussel presented lower MeHg percentage (33%) than planktivorous fish (54%) and carnivorous fish (98%).     

In vitro screening for endocrine disruptive activity in selected South African harbours and river mouths

Various waterborne anthropogenic contaminants disrupt the endocrine systems of wildlife and humans, targeting reproductive pathways, among others. Very little is known, however, regarding the occurrence of endocrine disruptive activity in South African freshwater ecosystems, and coastal ecosystems have not been studied in this regard. In a first attempt to investigate endocrine disruptive activity in South African coastal waters, surface water samples collected from harbours, river mouths and estuaries in three metropolitan municipalities, eThekwini (which includes Durban), Nelson Mandela (specifically Port Elizabeth Harbour) and City of Cape Town, were screened for (anti) oestrogenicity and (anti)androgenicity using recombinant yeast bioassays. Moreover, levels of the female hormone 17β-(o)estradiol (E2) were determined in all samples, as well as a selection of hydrocarbons in the eThekwini samples. A high proportion of samples collected from eThekwini were oestrogenic, whereas none from Port Elizabeth Harbour and only a single river mouth sampled in the City of Cape Town were oestrogenic. E2 was detected in all the samples tested, but at higher concentrations at the eThekwini and City of Cape Town localities than Port Elizabeth Harbour. In addition, the recombinant yeast assays revealed that anti-androgenicity was widespread, being detected in the majority of samples screened apart from those representing Port Elizabeth Harbour. Conversely, no anti-oestrogenic or androgenic activity was detected. Anti-androgenicity did not associate with hydrocarbon loads, providing evidence that other anti-androgens were responsible for the observed activity. The present data suggest potential reproductive disruption in marine and estuarine fauna inhabiting the eThekwini and City of Cape Town regions.     

Characterization of a chalcopyrite from Brazil by Mössbauer spectroscopy and other physicochemical techniques

We studied a chalcopyrite from a Cu ore deposit in Rio Grande do Sul, Brazil, by Mössbauer spectroscopy at room temperature and 110 K. Supporting methods to check for sample purity and to characterize further sample properties were slow-scanning X-ray powder diffraction and optical and microprobe analyses of polished sections of selected grains. Chemical analyses obtained using a scanning electron microscope equipped with an energy-dispersive X-ray spectrometer showed the sample to consist of homogeneous and essentially stoichiometric chalcopyrite (CuFeS₂). Mössbauer spectra taken at both the above temperatures consist of asymmetric magnetically ordered patterns with unequal intensities of the line pairs 1–6 and 2–5, pointing to the existence of non-equivalent or multiple Fe sites. Least-squares fittings evidenced that the resonance intensity ratio of subspectrum with lower quadrupole shift (indicative of a more symmetric environment) to that with higher shift is 69:31, at room temperature, and 68:32, at 110 K. Rietveld refinement of the XRD data indicates the existence of tetragonal [a = 0.52855(1) and c = 1.0412(1) nm] and cubic [a ₀ = 0.5273(2) nm] modifications in a proportion of 74:26, in good agreement with the Mössbauer data. The saturation magnetization of the sample was 32.7 J/(T kg), confirming the oxidation state of Fe as trivalent and pointing to little to no spin canting.     

Upper mantle structure beneath the Mid-Atlantic Ridge north of the Azores based on observations of compressional wave

Summary. Four seismic refraction profiles have been interpreted which serve to indicate the structure of the lithosphere near the Mid-Atlantic Ridge close to the Azores. An east–west profile which crosses the ridge axis yields a crustal structure. Although energy is propagated across the ridge axis within the crust the axial region marks a clear barrier to propagation within the mantle. A profile parallel to the axis (4 my isochron) shows, below a 7.6 km/s layer, a low-velocity zone underlain by an 8.3 km/s refractor 9 km below the sea bed. On profies normal to the ridge axis higher velocities, which are observed on lines shot towards the ridge, can be attributed to this refractor if it has a dip of several degrees away from the ridge. On another profile parallel to the axis (9 my isochron) a velocity of about 8.3 km/s is only found to exist much deeper at about 30 km depth. These observations are interpreted in the light of seismic refraction results recently obtained by Lewis & Snydsman and of quantitative petrological models, such as that of Bottinga & Allègre. A velocity model based on Bottinga & Allègre's model allows us to understand our results qualitatively. In particular the two 8.3 km/s refractors at 9 and 30 km depth correspond to two different residual peridotite layers. The upper layer contains 1.5–2 wt per cent water and as the lithosphere moves away from the ridge axis the temperature in this layer becomes low enough to start hydration reactions. These cause the low-velocity zone observed at 4 my and the total disappearance of the shallow level refractor before 9 my.