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     

Hydrometallurgical processing and recovery of molybdenum trioxide from spent catalyst

Hydrometallurgical processing of spent hydrodesulphurisation (HDS) catalyst for the recovery of molybdenum using sodium carbonate and hydrogen peroxide mixtures was investigated. The results indicated that the recovery of molybdenum was largely dependent on the concentrations of Na₂CO₃ and H₂O₂ in the reaction medium, which controls the acidity of the leach liquor and carry over of impurities such as Al, Ni, P, Si and V. Leaching process was exothermic and leaching efficiency of molybdenum decreased with increasing solid to liquid ratio. Large scale leaching of spent catalyst, under optimum conditions: 20% pulp density, 85 g/L Na₂CO₃, 10 vol.% H₂O₂ and 1 h reaction, resulted a leaching efficiency of 84% Mo. The obtained leach liquor contained (g/L): Mo — 22.0, Ni — 0.015 and Al — 0.82, P — 1.1, Si — 0.094 and minor quantities of V — 8 mg/L, As and Co — < 1 mg/L. Recovery of Mo from leach solution as MoO₃ of 97.30% purity was achieved by ammonium molybdate precipitation method.     

On the crosscorrelation between drought indices and solar activity

Summary Crosscorrelation structure between solar activity and drought indices is investigated by analyzing the cross correlation of the residual time series of solar activity and drought indices. Double Sunspot Cycle, Zürich Sunspot number, Palmer's Drought Index and Drought Area Index data are used in the study. White residual series derived from the observed data series by using valid time series models are used for the crosscorrelation analysis. Weak correlations between solar activity and drought area indices are inferred. The lags of significant correlation appear to vary for the different time series used in the study.With 3 Figures     

Analysis of objective functions used in urban runoff models

The objective functions used in parameter estimation in urban runoff models are compared by using a method proposed by Diskin and Simon¹ and the urban runoff model ILLUDAS. Two sets of objective functions, the first one used by Diskin and Simon in their study and a second one which includes other objective functions are used. Rainfall-runoff data from urban watersheds in the US are used in the study. The results indicate that the least squares criterion is the best among those studied.     

Role of dust on rainfall in northwest India

Summary The inter-dependences between local dust, thermal stability of the air and precipitation have been examined from the available data of two selected pairs of years for the station, Delhi, in northwest India. The indications are that the dust enters into the precipitation picture by virtue of its role in radiation balance during the relatively dry period, January to June, and by virtue of its role in cloud microstructure during the wet period, July to September.     

Some thermodynamical and microphysical aspects of monsoon clouds

The thermodynamical and microphysical characteristics of monsoon clouds in the Poona, Bombay and Rihand regions were investigated using extensive aircraft in-cloud observations. The number of clouds sampled at Poona, Bombay and Rihand is 2199, 169 and 104 respectively. The temperatures inside the cloud are colder than its environment at Poona and Rihand. The maximum difference is about 3°C at the cloud base level and the difference decreased with height. At Bombay the difference is less than 1°C and at some levels the temperatures inside the cloud are warmer than its environment. The lapse rates of temperatures inside the cloud are slightly less than those in the immediate environment of the cloud. The environmental lapse rates are nearly equal to the saturated adiabatic value. The positive increments in liquid water content (LWC) are associated with the increments in temperature inside the cloud. Similarly positive increments in temperatures inside the cloud are associated with the increments in temperature of its immediate environment at the same level or the layer immediately above. The maximum cloud lengths observed at Poona and Bombay respectively are 14 and 3 km. The horizontal cross-section of LWC showed a maximum number of 13 peaks in clouds at Poona while only 7 peaks were observed at Bombay. The location of maximum LWC in the horizontal cross-section is more or less at the centre of the cloud. The LWC profile showed an increase with height from the base of the cloud at Poona and Bombay. There is no marked variation of LWC with height at Rihand. The total droplet concentration at different altitudes at Poona and Bombay is in the range 28–82 cm^?3. The size distribution of cloud droplets experienced a broadening effect with increase in height from the cloud base at Poona. The broadening effect at Bombay is not as marked as that at Poona.     

Spatio-temporal dynamics of heavy metals in sediments of the river estuarine system: Mahanadi basin (India)

Dynamics of heavy metals in the surface sediments of Mahanadi river estuarine system were studied for three different seasons. This study demonstrates that the relative abundance of these metals follows in the order of Fe > Mn > Zn > Pb > Cr > Ni ≥ Co > Cu > Cd. The spatial pattern of heavy metals supported by enrichment ratio data, suggests their anthropogenic sources possibly from various industrial wastes and municipal wastes as well as agricultural runoff. The metal concentrations in estuarine sediments are relatively higher than in the river due to adsorption/accumulation of metals on sediments during saline mixing, while there is a decreasing trend of heavy metal concentrations towards the marine side. The temporal variations for metals, such as Fe, Mn, Zn, Ni and Pb exhibit higher values during monsoon season, which are related to agricultural runoff. Higher elemental concentrations are observed during pre-monsoon season for these above metals (except Ni) at the polluted stations and for metals, such as Cr, Co and Cd at all sites, which demonstrate the intensity of anthropogenic contribution. R-mode factor analysis reveals that “Fe–Mn oxy hydroxide”, “organic matter”, “CaCO₃”, and “textural variables” factors are the major controlling geochemical factors for the enrichment of heavy metals in river estuarine sediment and their seasonal variations, though their intensities were different for different seasons. The relationships among the stations are highlighted by cluster analysis, represented in dendrograms to categorize different contributing sites for the enrichment of heavy metals in the river estuarine system.     

Integrating cellular automata and Markov techniques to generate urban development potential surface: a study on Kolkata agglomeration

Uncontrolled, yet fragmented peripheral urban expansion has emerged as a menace to urban development. To cope with this rapid urban expansion process, identification of the forces responsible for this rapid urban expansion is a pre-requisite, especially when its threats to habitability are taken into consideration. This study tries to evaluate fragmented uncontrolled urban expansion faced by Kolkata using cellular automata-Markov chain. Urban growth patterns, land use/land cover transformations and spatial allocation correspondence with planning strategy is the main theme of this study. Depending upon the driving forces, the study result indicates a bi-directional urban development potential surface, which might be a result of the biased planning initiative along with middle-class residential demand. This simulation result provides evidence for the planning authority to evaluate the effectiveness of spatial allocation and urban expansion trends and provide flexibility to modify the current allocation scenario.     

Mechanization and technical interactions in multi-species Indian fisheries: implications for economic and biological sustainability

Joint capture of multiple species by multiple fleets results in technical and economic interactions between fleets. This paper develops a bioeconomic model that incorporates interrelationships between fleets for a representative fishery in India. The study analyzes the impacts of overcapitalization on bio-economic sustainability. Results show that a continuation of the current fishing intensity would deplete most commercially important species in the near future. However, an optimal effort re-allocation between fleets would increase fishery profits substantially, although some species would remain unsustainable. The study demonstrates how the newly emerging, large bodies of fishery data can be used for management decisions in developing countries.