Nonlinear control of an active heave compensation system

Heave motion of a vessel or a rig has an adverse impact on the response of a drill-string or a riser. To compensate for heave motion, passive and active devices are usually used. Active heave compensators, in which a control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active heave compensation system using an electro-hydraulic system driven by a double rod actuator. The control system reduces the effect of the heave motion of the vessel on the response of the riser by regulating the distance from the upper end of the riser to the seabed. The control development is based on Lyapunov's direct method and disturbance observers. The paper also includes a method to select the control and disturbance observer gains such that actuator saturations are avoided. Stability of the closed loop system is carefully examined. Simulation results illustrate the effectiveness of the proposed control system.     

Faulting, mass-wasting and deposition in an active dextral shear zone, the Gulf of Saros and the NE Aegean Sea, NW Turkey

Structural, mass-wasting and sedimentation processes along an active dextral shear zone beneath the Gulf of Saros and the NE Aegean Sea were investigated on the basis of new high-resolution swath bathymetric data and multi-channel seismics. A long history of dextral shearing operating since the Pliocene culminated in the formation of a NE-SW-trending, ca. 800-m-deep basin (the so-called inner basin) in this region, which is bordered by a broad shelf along its northern and eastern sides and a narrow shelf at the southern side. The western extension of the North Anatolian Fault Zone (the Ganos Fault) cuts the eastern shelf along a narrow deformation zone, and ends sharply at the toe of the slope, where the strain is taken up by two NE-SW-oriented fault zones. These two fault zones cut the basin floor along its central axis and generate a new, Riedel-type pull-apart basin (the so-called inner depression). According to the bathymetric and seismic data, these basin boundary fault zones are very recent features. The northern boundary of the inner depression is a through-going fault comprising several NE-SW- and E-W-oriented, overlapping fault segments. The southern boundary fault zone, on the other hand, consists of spectacular en-echelon fault systems aligned in NE–SW and WNW–ESE directions. These en-echelon faults accommodate both dextral and vertical motions, thereby generating block rotations along their horizontal axis. As the basin margins retreat, the basin widens continuously by mass-wasting of the slopes of the inner basin. The mass-wasting, triggered by active tectonics, occurs by intense landsliding and channel erosion. The eroded material is transported into the deep basin, where it is deposited in a series of deep-sea fans and slumps. The high sedimentation rate is reflected in an over 1,500-m-thick basin fill which has accumulated in Pliocene–Quaternary times.     

Glacier Extent and Volume Change （1966-9000） on the Su-lo Mountain in Northeastern Tibetan Plateau,China

The topographic maps of 1：50, 000 scales, aerial photographs taken in 1966, one Landsat image taken in 1999, and SRTM data from 2000 were used to quantify the losses in area and volume of the glaciers on the Su-lo Mountain, in the northeastern Tibetan Plateau, China in the past 30 years. The total glacier area decreased from 492.9 km^2 in 1966 to 458.2 km^2 in 1999. The volume loss of the studied glaciers reached 1.4 km^3 from 1966 to 2000. This agrees with documented changes in other mountain glaciers of the whole Tibetan Plateau.     

Estimating water fluxes in the critical zone using water stable isotope approaches in the Groundnut and Ferlo basins of Senegal

Sustainable water management in semi-arid agriculture practices requires quantitative knowledge of water fluxes within the soil-vegetation-atmosphere system. Therefore, we used stable-isotope approaches to evaluate evaporation (E_a), transpiration (T_a), and groundwater recharge (R) at sites in Senegal's Groundnut basin and Ferlo Valley pasture region during the pre-monsoon, monsoon, and post-monsoon seasons of 2021. The approaches were based upon (i) the isothermal evaporation model (for quantifying E_a); (ii) water and isotope mass balances (to partition E_a and T_a for groundnut and pasture); and (iii) the piston displacement method (for estimating R). E_a losses derived from the isothermal evaporation model corresponded primarily to Stage II evaporation, and ranged from 0.02 to 0.09 mm d⁻¹ in the Groundnut basin, versus 0.02–0.11 mm d⁻¹ in Ferlo. At the groundnut site, E_a rates ranged from 0.01 to 0.69 mm d⁻¹; T_a was in the range 0.55–2.29 mm d⁻¹; and the T_a/ET_a ratio was 74%–90%. At the pasture site, the ranges were 0.02–0.39 mm d⁻¹ for E_a; 0.9–1.69 mm d⁻¹ for T_a; and 62–90% for T_a/ET_a. The ET_a value derived for the groundnut site via the isotope approach was similar to those from eddy covariance measurements, and also to the results from the previous validated HYDRUS-1D model. However, the HYDRUS-1D model gave a lower T_a/ET_a ratio (23.2%). The computed groundwater recharge for the groundnut site amounted to less than 2% of the local annual precipitation. Recommendations are made regarding protocols for preventing changes to isotopic compositions of water in samples that are collected in remote arid regions, but must be analysed days later. The article ends with suggestions for studies to follow up on evidence that local aquifers are being recharged via preferential pathways.     

A variationally consistent hyperstatic reaction method for tunnel lining design

In this technical note, a consistent finite element formulation of the Hyperstatic Reaction Method (HRM) for tunnel linings design is proposed by introducing a variational consistently linearized formulation. It permits to consider a nonlinear interaction between a lining structure and the surrounding ground. Recent advances of the HRM in regard to the consideration of the nonlinear response of the segmented tunnel lining exposed to design loads use an iterative algorithm for solving the nonlinear system of equations. In the proposed Variationally consistent Hyperstatic Reaction Method (VHRM), a distributed nonlinear spring model representing the interaction between the lining and the ground soils is considered in a variationally consistent format. Computing the tangential spring stiffness via consistent linearization, and using Newton-Raphson iteration, requires significantly smaller number of iterations as compared to the original HRM model based on nodal springs. Furthermore, the method is applicable for simulations using solid finite elements (2D and 3D), as well as beam or finite shell elements, respectively.