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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 相似文献
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An Example of Island-Arc Petrogenesis: Geochemistry and Petrology of the Southern Luzon Arc, Philippines 总被引:7,自引:1,他引:6
DEFANT MARC J.; MAURY REN? C.; RIPLEY EDWARD M.; FEIGENSON MARK D.; JACQUES DARIO 《Journal of Petrology》1991,32(3):455-500
Volcanism throughout the Luzon arc is associated with eastwardsubduction of the South China Sea floor along the Manila Trench.The southern section of the arc, the focus of this study, extendsfrom the Lingayen-Dingalan fault to the small islands just southof Luzon. Two segments appear to exist along this section ofthe arc the northern Bataan and southern Mindoro segments whichare separated by the Macolod Corridor. The volcanic rocks have typical arc phenocryst mineralogies:olivine, clinopyroxene, plagioclase, and titanomagnetite inthe most mafic rocks and clinopyroxene, plagioclase, orthopyroxene,titanomagnetite, ? amphibole in the more felsic samples. Complexzoning, sieve textures, and decoupling of incompatible traceelements suggest that processes such as assimilation have takenplace. The rocks from the study area range from basalts to rhyolitesand show typical calc-alkaline features. The rocks of the MacolodCorridor and Mindoro segment are particularly enriched in largeion lithophile elements (LILE), light rare earth elements (LREE),and radiogenic Sr compared with the Bataan segment. The datafall within the mantle array on Sr-Nd isotopic diagrams andgrade toward higher Sr and lower Nd isotopic values from northto south. A likely source for the volcanics of this study is either amid-ocean ridge basalt (MORB)-type mantle that undergoes higherdegrees of partial melting than regions involved in MORB generationor a previously depleted source. We suggest that the high fieldstrength element (HFSE) anomalies have been derived throughdifferential element partitioning during fluid transport fromthe subducted lithosphere to the mantle wedge. Continental crustal material seems to play a significant roleparticularly in the Macolod Corridor and the Mindoro segment,based on the high LILE, La/Sm ratios, radiogenic Sr isotopes,and 18O values. The Macolod Corridor and the Mindoro segmenthave undergone source contamination by crustal material fromthe North Palawan-Mindoro crustal block either during the collisionof this block with the Manila Trench or by subduction of sedimentsrich in this crustal material. A similar component has alsobeen detected in the Bataan segment but in minor amounts. Thetrace element and isotopic differences between the northernand southern sections of the arc are interpreted in terms ofvariable composition (i. e., variable amounts of a crustal componentintroduced from the Palawan-Mindoro crustal terrain) of themetasomatic fluids released into the source. 相似文献
5.
Unconsolidated sand, gravel and clay deposits near Beihai and in the Leizhou Peninsula in southern China form an unconfined
aquifer, aquitard and a confined aquifer. Water and soil samples were collected from the two aquifers in the coastal Beihai
area for the determination of chemical compositions, minerals and soluble ions. Hydrogeochemical modeling of three flow paths
through the aquitard are carried out using PHREEQC to determine water–rock interactions along the flow paths. The results
indicate that the dissolution of anorthite, fluorite, halite, rhodochrosite and CO2, and precipitation of potash feldspar and kaolinite may be occurring when groundwater leaks through the aquitard from the
unconfined aquifer to the confined aquifer. Cation exchanges between Na and Ca can also happen along the flow paths. 相似文献
6.
Flaring of associated gas from oil exploitation has several consequences on the environment. This study explores the spatial
variability effects of gas flaring on the growth and development of cassava (Manihot esculenta), waterleaf (Talinum triangulare), and pepper (Piper spp.) crops commonly cultivated in the Niger Delta, Nigeria. Data was collected on soil and atmospheric temperature and moisture
at a 20-m interval, starting at 40 m from the flare point to a distance of 140 m. Lengths and widths of crop leaves, height
of crop plants and cassava yields were measured at the specified distances. The amino acid, ascorbic acid, starch, and sugar
constituents of the cassava yields were determined. The results suggest that a spatial gradient exists in the effects of gas
flares on crop development. Retardation in crop development manifests in decreased dimensions of leaf lengths and widths of
cassava and pepper crops closer to the gas flare point. Statistical analysis also confirms that cassava yields are higher
at locations further away from the flare point. In addition, the amount of starch and ascorbic acid in cassava decreased when
the plant is grown closer to the gas flare. High temperatures around the gas flare appear to be the most likely cause of this
retardation. The waterleaf crop, on the other hand, appears to thrive better around the gas flare point. 相似文献
7.
Diel patterns in the chlorophyll a specific absorption coefficient of surface picoplankton, a*pico (γ) (m2·[mg chlorophyll a]−1), were studied at 7 stations under daily cycle of in situ light condition in the western subarctic Pacific and Japan Sea. All the data were normalized by dividing the anomaly with daily averaged a*pico (γ). Opposite diel patterns were observed for the normalized a*pico (443) and a*pico (675) with maximum toward dawn or dusk and minimum toward midday at 4 stations under low-irradiance (LI) conditions and vice versa at 3 stations under high-irradiance (HI) conditions. The absorption efficiency factors at red absorption peak, Q
a (675), were determined by reconstruction with intracellular chlorophyll a concentration and cell diameter. The normalized Q
a (675) also showed diel pattern with maximum toward midday and minimum toward dawn or dusk under LI. The diel pattern in a*pico (675) and Q
a (675) were primarily caused by changes in intracellular chlorophyll a concentration due to photoadaptation under LI. The diel pattern in a*pico (443) was influenced by pigmentation, as recognized by blue to red ratio [a*pico (443)/a*pico (675)] under HI. This study proposed that the opposite diel pattern in a*pico (γ) might occur for a wide range of algal species. The results presented here have important consequences for the interpretation of diel variations in optical properties observed in the open ocean. 相似文献
8.
Toru?Iwata Keiko?Yoshikawa Katsutoshi?Nishimura Yoshihisa?Higuchi Takao?Yamashita Shigeru?Kato Eiji?OhtakiEmail author 《Journal of Oceanography》2004,60(6):995-1000
The measurements of the vertical transport of CO2 were carried out over the Sea of Japan using the specially designed pier of Kyoto University on September 20 to 22, 2000. CO2 fluxes were measured by the eddy correlation and aerodynamic techniques. Both techniques showed comparable CO2 fluxes during sea breeze conditions: −0.001 to −0.08 mg m−2s−1 with the mean of −0.05 mg m−2s−1. This means that the measuring site satisfies the fetch requirement for meteorological observations under sea breeze conditions. Moreover, the eddy diffusivity coefficient used in the aerodynamic technique is found to be consistent with the coefficient used in the eddy correlation technique. The present result leads us to conclude that the aerodynamic technique may be applicable to underway CO2 flux measurements over the ocean and may be used in place of the bulk technique. The important point is the need to maintain a measuring accuracy of CO2 concentration difference of the order of 0.1 ppmv on the research vessels or the buoys. 相似文献
9.
Partitioning of polycyclic aromatic hydrocarbons between water and particles compared to bioaccumulation in mussels: a harbour case 总被引:3,自引:0,他引:3
Hellou J Steller S Leonard J Langille MA Tremblay D 《Marine environmental research》2005,59(2):101-117
Water and particles from three sites located in Halifax Harbour, near and further away from combined municipal sewage effluents (CMSE) were analysed for parental and alkylated polycyclic aromatic hydrocarbons (par and alkPAH). Bioavailability of PAH was compared for inter-tidal mussels collected at the same sites in April and November. The PAH fingerprint determined over 9 sampling times covering a period of 19 months differed more between phases (water and particles) and seasons, than between sites. In the spring, more alkPAH associated with diesel and gasoline were detected in the soluble phase, along with more bioaccumulation of alkPAH in inter-tidal mussels. A broader number of parPAH were detected in mussels collected in the fall. The mean sum of dissolved alkPAH concentrations was higher in water at the site closer to raw CMSE than at the other two sites and particles of that site. However, lowest bioconcentration factors (BCF) were determined in mussels of this more contaminated site. Similar biota-particle accumulation factors (BPAF) were determined for parPAH in mussels from the three sites, all lower than the BCF of alkPAH. The study indicates that sewage treatment plants will reduce the amount of parPAH especially larger than fluoranthene and pyrene from being deposited in the harbour; that alk naphthalenes and fluorenes present in water will continue to be discharged; that the disturbance of sediments can make particle-bound PAH available to mussels. 相似文献
10.
Monthon?Ganmanee Teruyoshi?Narita Hideo?SekiguchiEmail author 《Journal of Oceanography》2004,60(6):1071-1083
Based on our long-term data from megabenthos sampling from 1993 to 2002 in Ise Bay, central Japan, we examined spatio-temporal variations in taxon composition, species richness and its distribution of megabenthos in the bay in relation to the occurrence of the oxygen-poor water (i.e. oxygen content less than 3 ppm) in bottom waters of the bay. A total of 261 species were identified including 6 cnidarians, 1 tentaculate, 5 annelids, 71 molluscs, 72 crustaceans, 16 echinoderms, 12 urochordates and 78 pisces. Of the most abundant 10 megabenthos species, the following 4 species of echinoderms made up more than the half of megabenthos biomass: Luidia quinaria, Echinocardium cordatum, Asterias amurensis and Astropecten scoparius. Species richness of megabenthos varied significantly between seasons and among stations. The severity and period of occurrence of the oxygen-poor water developing every summer play an important role in determining spatial distributions of species richness in the bay. 相似文献