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.     

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.     

Biodiversity of meiofauna in the intertidal khe nhan mudflat,can gio mangrove forest,vietnam with special emphasis on free living nematodes

The ecological aspect of meiofaunal communities in Can Gio mangrove forest, Ho Chi Minh city, Vietnam has not been investigated before. The composition, distribution, density and biodiversity of meiofaunal communities were studied along an intertidal transect at the Khe Nhan mudflat. Each time, three replicate samples were collected in four stations along a transect following the water line from low tide level up to the mangrove forest edge. In total, 18 meiofaunal taxa were found with the dominant taxa belonging to Nematoda, Copepoda, Sarcomastigophora and Polychaeta. The densities of meiofauna ranged from 1156 inds/10 cm² to 2082 inds/10 cm². The increase in densities from the mangrove forest edge towards the low water line was significant. Along the mudflat transect, the biodiversity (expressed by different indices) was relatively high at different taxonomic levels but did not vary significantly along the mudflat except for taxa richness. Eighty nematode genera belonging to 24 families with Comesomatidae having the highest abundance 33.8 % were found.Theristus andNeochromadora decreased in densities from the lower water line towards the mangrove forest edge, whileParacomesoma andHopperia are typical and more abundant at the middle of the mudflat.Halalaimus increased from high on the mudflat to the low water line.     

Environmental pulmonary health problems related to mineral dusts: Examples from central Anatolia, Turkey

There are a number of benign disorders including pleural thickening (PT), calcified pleural plaques (CPP), and malignant diseases such as malignant pleural mesothelioma (MPM) in central Anatolia. Earlier studies suggested tremolite was the main cause, and there was no explanation why some of the population did not have malignant cases, and plaques were by far the most frequent manifestation of asbestos-induced injury. In this study, geological, mineralogical and environmental data were evaluated. While the prolonged continuous exposure to high or low doses of long (8-30 µm) and thin (less than 0.25 µm) mixed fibers such as chrysolite, and/or anthophyllite or tremolite, and also silica particles may be the cause of MPM in central Anatolia, two different reasons for the CPP and PT are suggested. The first one is short (less than 8 µm) and thin mixed-type mineral fibers. The second reason is low doses of long, but thick, splintery tremolite fibers.     

A new numerical approach to the hyperstatic reaction method for segmental tunnel linings

This paper proposes a numerical approach to the hyperstatic reaction method (HRM) for the analysis of segmental tunnel linings. The influence of segmental joints has been considered directly using a fixity ratio that is determined on the basis of the rotational stiffness. The parameters necessary for the calculation are presented. A specific implementation has been developed using a FEM framework. This code is able to consider the three‐dimensional (3D) effect of segment joints in successive rings on the tunnel lining behaviour. The present HRM allows one to take an arbitrary distribution of segment joints along the tunnel boundary into consideration. In addition, the rotational stiffness of segment joints has been simulated using nonlinear behaviour, as it is closer to the true behaviour of a joint than linear or bilinear behaviour. The numerical results of three hypotheses on ring interaction, which allow the 3D effect of a segmental tunnel lining to be taken into account, have been compared with data obtained from the shield‐driven tunnel of the Bologna–Florence high‐speed railway line project. The numerical results presented in the paper show that the proposed HRM can be used to effectively estimate the behaviour of a segmental tunnel lining. Copyright © 2014 John Wiley & Sons, Ltd.