Control synthesis and adaptation for an underactuated autonomousunderwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described     

Damage due to ultraviolet and ionizing radiation during the ejection of shielded micro-organisms from the vicinity of 1M ⊙ main sequence and red giant stars

We present the astrophysical conditions necessary for the ejection of shielded microorganisms from a solar system and the biological conditions involving ultraviolet and ionizing radiations to which they are subjected in space. The radiation dose for both UV and ionizing radiation from the host star, the destination star and interstellar space is calculated for three different micro-organisms. The time of transport and the survival of the micro-organisms are strongly dependent on the composition and thickness of any mantle encasing the micro-organism and on the mass/luminosity ratio of the two stars. The maximum size of grains that can be ejected from the vicinity of one solar mass main sequence and red giant stars ranges from 0.65-0.35µm and 2.1-1.2µm respectively, for a reasonable range of densities. We conclude that unshielded known micro-organisms are immediately killed by ultraviolet radiation, and that an ice mantle does not provide sufficient shielding for either type of star. However, micro-organisms shielded by a carbonaceous thin-film mantle can be ejected from the vicinity of a one solar-mass red-giant star, and such micro-organisms have a high probability of surviving damage from the ultraviolet and ionizing radiations to which they are exposed.     

EVIDENCE OF HIGH COSMIC DUST CONCENTRATIONS IN LATE PLEISTOCENE POLAR ICE (20,000–14,000 YEARS BP)

Dust filtered from the lower portion of the Camp Century ice core (77°10'N, 61°08'W) has been analyzed for the presence of the cosmic dust indicators iridium and nickel using the neutron activation analysis technique. This study was carried out to test the hypothesis that the climatic change toward the end of the Last Ice Age was triggered by an incursion of nebular material into the Solar System. The analytical results are consistent with this hypothesis. Concentrations of Ir and Ni in the ice were one to two orders of magnitude higher during the latter portion of the Last Ice Age (19,700-14,200 years BP) as compared with current levels. Ir and Ni levels in 6 out of 8 samples suggest a total cosmic dust influx rate of about 0.5?3 times 10⁷ tons/yr to the Earth's surface as compared with about 1?7 x× 10⁵ tons/yr for the current influx. Elemental concentrations in 6 of the 8 dust samples ranged from 6? 96 ppb for Ir and < 60 to 3200 ppm for Ni. It is concluded that a major fraction of this invading dust would have been of submicron size in which case the concentration of light scattering particles would have been sufficient to significantly alter the light transmission properties of the Solar System and substantially affect the Earth's climate. These results mark the first time that cosmic dust deposition rates have been estimated for prehistoric times using the polar ice record.     

A 20 cm2 CCD mosaic camera for a dark matter search part I : Mechanics,optics and cryogeny

A 20cm ² CCD mosaic camera has been especially built to search for dark galactic halo objects by the gravitational microlensing effect. The sensitive area is made of 16 edge-buttable CCDs developped by Thomson-CTS, with 23×23 µm ² pixels. The 35 kg camera housing and mechanical equipment is presented. The associated electronics and data acquisition system are described in a separate paper. The camera resides at the focal plane of a 40 cm, f/10, Ferson reflector. The instrument has been in operation since December 1991 at the La Silla Observatory (ESO).     

A high‐resolution pollen and geochemical analysis of late Holocene human impact and vegetation history in southern Cumbria,England

The historic era, which in Cumbria begins with the Roman invasion of AD 71, is a frequently neglected period in palaeoecological research, but its study can bring benefits in improving knowledge of landscape history and in understanding the significance and limitations of palaeoecological records. Pollen and geochemical data are presented for late Holocene records from Deer Dyke and Hulleter Mosses in southern Cumbria. The records show initially low levels of anthropogenic impact, followed by a phase of forest clearance and mixed agriculture from the 7th to 11th centuries AD. The timing of these clearances suggests that they were initially Anglo‐Saxon in origin, rather than Norse. Further clearances in the 16th century AD are interpreted as a response to monastic dissolution and late Tudor population pressures; the landscapes reached their contemporary form following extensive clearances in the 17th century AD. Silicon and titanium concentrations at Deer Dyke Moss were used to reconstruct past levels of atmospheric dust loading, which is broadly related to soil erosion. Geochemical influx was found to peak during periods of landscape transition rather than from established land use. This relationship with pollen data is thought to reflect the predominantly low levels of anthropogenic impact in the region, which changes as substantial woodland clearances during the 16th century AD and continuous land use pressure since then have greatly increased the supply of airborne dust. Copyright © 2008 John Wiley & Sons, Ltd.     

A depleted, not ideally chondritic bulk Earth: The explosive-volcanic basalt loss hypothesis

It has long been customary to assume that in the bulk composition of the Earth, all refractory-lithophile elements (including major oxides Al₂O₃ and CaO, all of the REE, and the heat-producing elements Th and U) occur in chondritic, bulk solar system, proportion to one another. Recently, however, Nd-isotopic studies (most notably Boyet M. and Carlson R. W. (2006) A new geochemical model for the Earth’s mantle inferred from ¹⁴⁶Sm-¹⁴²Nd systematics. Earth Planet. Sci. Lett.250, 254-268) have suggested that at least the outer portion of the planet features a Nd/Sm ratio depleted to ∼0.93 times the chondritic ratio. The primary reaction to this type of evidence has been to invoke a “hidden” reservoir of enriched matter, sequestered into the deepest mantle as a consequence of primordial differentiation. I propose a hypothesis that potentially explains the evidence for Nd/Sm depletion in a very different way. Among the handful of major types of differentiated asteroidal meteorites, two (ureilites and aubrites) are ultramafic restites so consistently devoid of plagioclase that meteoriticists were once mystified as to how all the complementary plagioclase-rich matter (basalt) was lost. The explanation appears to be basalt loss by graphite-fueled explosive volcanism on roughly 100-km sized planetesimals; with the dispersiveness of the process dramatically enhanced, relative to terrestrial experience, because the pyroclastic gases expand into vacuous space (Wilson L. and Keil K. (1991) Consequences of explosive eruptions on small Solar System bodies: the case of the missing basalts on the aubrite parent body. Earth Planet. Sci. Lett.104, 505-512). By analogy with lunar pyroclastic products, the typical size of pyroclastic melt/glass droplets under these circumstances will be roughly 0.1 mm. Once separated from an asteroidal or planetesimal gravitational field, droplets of this size will generally spiral toward the Sun, rather than reaccrete, because drag forces such the Poynting-Robertson effect quickly modify their orbits (the semimajor axis, in a typical scenario, is reduced by several hundred km during the first trip around the Sun). Assuming a similar process occurred on many of the Earth’s precursor planetesimals while they were still roughly 100 km in diameter, the net effect would be a depleted composition for the final Earth. I have modeled the process of trace-element depletion in the planetesimal mantles, assuming the partial melting was nonmodal and either batch or dynamic in terms of the melt-removal style. Assuming the process is moderately efficient, typical final-Earth Nd/Sm ratios are 0.93-0.96 times chondritic. Depletion is enhanced by a relatively low assumed residual porosity in batch-melting scenarios, but dampened by a relatively high value for “continuous” residue porosity in dynamic melting scenarios. Pigeonite in the source matter has a dampening effect on depletion. There are important side effects to the Nd/Sm depletion. The heat-producing elements, Th, U and K, might be severely depleted. The Eu/Eu^∗ ratio of the planet is unlikely to remain precisely chondritic. One of the most inevitable side effects, depletion of the Al/Ca ratio, is consistent with an otherwise puzzling aspect of the composition of the upper mantle. A perfectly undepleted composition for the bulk Earth is dubious.