Identification of Pitch Dynamics of An Autonomous Underwater Vehicle Using Sensor Fusion

This paper presents a method for identification of the hydrodynamic coefficients of the dive plane of an autonomous underwater vehicle. The proposed identification method uses the governing equations of motion to estimate the coefficients of the linear damping, added mass and inertia, cross flow drag and control. Parts of data required by the proposed identification method are not measured by the onboard instruments. Hence, an optimal fusion algorithm is devised which estimates the required data accurately with a high sampling rate. To excite the dive plane dynamics and obtain the required measurements, diving maneuvers should be performed. Hence, a reliable controller with satisfactory performance and stability is needed. A cascaded controller is designed based on the coefficients obtained using a semi-empirical method and its robustness to the uncertainties is verified by the μ-analysis method. The performance and accuracy of the identification and fusion algorithms are investigated through 6-DOF numerical simulations of a realistic autonomous underwater vehicle.     

Field experiment in Soultz-sous-Forêts, 1993: Changes of the pattern of induced seismicity

The data of the known field experiment on water injection in the borehole were analyzed. Parameters of self-similarity of seismicity were estimated in comparison with the changes of water pressure. Changes of seismicity parameters that indicate the redistribution of the failure from lower scales to upper are revealed. The total number of earthquakes per series of the water initiation found to be depended exponentially on the water pressure and seismic activity maximum is delayed gradually relative to beginning of initiation. The growth of induced seismicity zone in time differs from diffusion model for water flow in the porous medium. Analysis carried out from laboratory data indicates that diffusion growth of the failure area may be realized in the dry specimen, without fluid. It could be assumed that both kinetic processes — water and the failure diffusion — can be significant for the development of seismicity induced by the water injection.     

Seismotectonics and seismic quietness of the Oranie region (Western Algeria): The Mascara earthquake of August 18th 1994, Mw = 5.7, Ms = 6.0

The plate dynamics in the central western Mediterranean region is characterised by a collision between the Eurasian and African plates. In response to this dynamics, many systems of faults and folds having a NE-SW and E-W trending have been generated along the Tellian Atlas of Algeria. The Oranie region (north western Algeria) has experienced some significant earthquakes in the last centuries, the most important one is that of Oran city on February 9^th 1790, I_o = XI which destroyed the town completely and caused the loss of many lives. Since 1790 no other event was so disastrous except that of August 18^th 1994, M_w = 5.7, which struck Mascara province (Algeria) at 01 h 13 mn GMT. Since the beginning of this century the region has been dominated by a seismic quietness. Thus, no event with magnitude larger than 5.5 have occurred in this area. In relation with this recent event, a seismotectonic framework summarising the tectonic, seismicity and focal solution results is presented. The Maximum Observed Intensities Map (MOI) made for Algeria (Bezzeghoud et al., 1996) is also used to show that the Mascara region is located in an VIII-X intensity zone, which explain partially the casualties caused by the 18/08/1994 (M_w = 5.7) earthquake. This earthquake is not anomalous compared to historical records but is unusual compared to recorded seismicity of this century. The seismotectonic map made in this study and also the review of the focal solutions given by the EMSC, Harvard, and other authors shows that our event is probably associated with a source belonging to a system of faults located in the vicinity of the village of Hacine where the maximum damage was observed.     

Following the Afar: Using remote tracking systems to analyze pastoralists' trekking routes

For nomadic pastoralists in arid environments, judicious migration of the herds is the principle strategy for short term survival and long term sustainability. Yet, this efficient mechanism is increasingly challenged by mounting population pressure, appropriation of land and restricted transboundary movements. Lack of information on trekking patterns and grazing areas makes it difficult for government authorities to protect the migration routes. Data are so scarce because the object of measurement is moving in directions no outsider can predict. Consequently, data collection is costly and laborious. The present study suggests the use of satellite telemetry to trace trekking routes in a near real-time mode that can operate without the presence of external observers on the ground. We report on a pilot that tests a remote tracking technique to locate the routing of a nomadic pastoralist during the dry spell, in the Afar region of Ethiopia. From a movement analysis we infer trekking routes and grazing areas as well as the spatial and temporal correlation between the vegetation cover index NDVI, and the visits by the herd. Our first results seem encouraging in that our data collection method can produce unique information relatively quickly and at low cost.