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     

Guided wave propagation in a moving magnetized plasma bounded by parallel perfectly conducting planes

The structure of the Saturnian rings is compared with the asteroidal belt and the relative importance of the resonance effects and the cosmogonic effects is evaluated. No visible correspondence to the Kirkwood gaps is expected theoretically, nor is there any observational evidence for such effects. The only possible resonance is the 1:1 resonance with Saturn's spin period.Cosmogonic shadow effects are responsible for the main features of the ring structure, including Cassini's division, the limit between the B and C ring, and possibly also Guérin's division.     

Introduction

Marine Geophysical Research -     

Damping of slow magnetoacoustic waves in an inhomogeneous coronal plasma

We study the propagation and dissipation of slow magnetoacoustic waves in an inhomogeneous viscous coronal loop plasma permeated by uniform magnetic field. Only viscosity and thermal conductivity are taken into account as dissipative processes in the coronal loop. The damping length of slow-mode waves exhibit varying behaviour depending upon the physical parameters of the loop in an active region AR8270 observed by TRACE. The wave energy flux associated with slow magnetoacoustic waves turns out to be of the order of 10⁶ erg cm^?2 s^?1 which is high enough to replace the energy lost through optically thin coronal emission and the thermal conduction below to the transition region. It is also found that only those slow-mode waves which have periods more than 240s provide the required heating rate to balance the energy losses in the solar corona. Our calculated wave periods for slow-mode waves nearly match with the oscillation periods of loop observed by TRACE.     

Peperite occurrence and its implications on origin and temporal development of the Proterozoic Dhala basin,Mohar area,Shivpuri district,Madhya Pradesh

In the western part of Bundelkhand massif, a caldera with intra-caldera sediments, known as Dhala Formation, occurs as an outlier in and around Mohar village of Shivpuri district, Madhya Pradesh. For the first time, occurrence of peperite is being reported from the basal part of the Dhala sediment. Two types of peperites have been recognized: blocky and fluidal or globular with variable morphology. In peperitic zones, features like soft sediment deformations, presence of sediment into the rhyolite along cracks, vesiculation of the sediments and other evidences suggestive of sediment fluidization are some definite characteristics of interaction of hot magma with wet sediments forming peperite. The occurrence of peperites reflects the contemporaniety of deposition of the Dhala sediments and volcanism, which is well in accordance to the volcanic origin of Dhala structure. Further, the nature of unconformity between the Dhala and overlying Kaimur which is characterized by merely a few centimeter thick pebbly/conglomeratic bed does not appear to represent a large hiatus as expected between the Semri and Kaimur of Vindhyan Supergroup. So, the contemporaniety of the Dhala Formation (at least the lower part) as reflected by occurrence of peperites, coupled with the available age of the rhyolite and the nature of the unconformity between the Dhala and overlying Kaimur provide convincing evidence to correlate the Dhala Formation with the Lower part of the Kaimur and unlikely with the Semri Group or Bijawar as proposed earlier.     

Detailed 1×1° gravimetric Indian Ocean geoid and comparison with GEOS-3 radar altimeter geoid profiles

Summary. A new set of 1×1° mean free-air anomalies in the Indian Ocean is determined on the basis of previously published free-air anomaly maps (Talwani & Kahle) and the most recent Lamont surface ship gravity measurements. The data are then used to compute a (total) 1×1° gravimetric Indian Ocean geoid. The computation is carried out by combining the Goddard Space Flight Center (GSFC) GEM-6 geoid and a difference geoid that corresponds to the differences between the set of 1×1° surface gravity values and the GEM-6 gravity anomalies. The difference geoid is highest over the Madagascar Ridge (+ 20 m) and lowest over the Timor Trough (-30 m). The total geoid is compared with GEOS-3 radar altimeter derived geoid profiles and geophysical implications are discussed.     

Magnetic Mapping of Banded Iron Formation of Sandur Schist Belt,Dharwar Craton,India

High ground magnetic anomalies are observed at western basin of the Sandur schist belt (SSB) near Muraripura village, Karnataka. Sources for these anomalies are inferred due to presence of exposed banded iron formations hosted by metabasalts, arenaous and argillaceous rocks associated with the Donimali Formation of the schist belt. Two varieties of BIF bands are observed in the study area viz. Band 1 and Band 2. The bands 1 and 2 are displaced by lateral strike-slip fault. Band 1 is dominantly composed of banded iron formation, rich in iron ore minerals and silica chert. Band 2 is largely composed of ferruginous quartzite and quartz arenites. Qualitative analysis of the magnetic data indicates that the study area can be divided into three lithologically important BIF/BQ formations. Spectral and quantitative analysis of the magnetic data indicates, the average depth of band 1 is 70 m and band 2 is 130 m. The magnetic data results are well correlated with chemical analysis of borehole and surface rock samples data.     

Late Pleistocene–Holocene hydrologic changes in the interfluve areas of the central Ganga Plain, India

Abandoned channel belts, ponds and point bar deposits of palaeochannels in the interfluve regions of the central Ganga Plain suggest changes in the morphohydrologic conditions during the Latest Pleistocene–Holocene. Stratigraphy of these ponds comprises channel sand at the base overlain by shell-bearing clayey silt. The contact of the two facies marks the phase when channels converted into standing water bodies. Point bar deposits of some palaeochannels are overlain by oxidised aeolian sand, indicating that the channel abandonment possibly occurred due to the desiccation and aridity in the region.Optically stimulated luminescence (OSL) chronometry of the pond sediments suggests that the deposition of the basal channel sand started before 13 ka and continued up to 8 ka. The ponds formed around 8–6 ka when the channel activity ceased. Evidence from the point bar deposits also indicates that the fluvial activity in the region ended sometime during 7–5 ka. This was followed by aeolian aggradation. The present study thus suggests that the hydrologic conditions in the Gangetic plains, i.e. initiation of channels and their abandonment, formation of microgeomorphologic features such as ponds and their eventual siltation, were controlled largely by climatic changes (i.e. monsoon changes) supported by tectonic activity. For the past 2 ka, increasing human and related agricultural activity has substantially accentuated the natural siltation rate of ponds.     

Luminescence chronology of river adjustment and incision of Quaternary sediments in the alluvial plain of the Sabarmati River, north Gujarat, India

River adjustment and incision in the Sabarmati basin, Gujarat, India have been examined at a site near Mahudi. Towards this, the morphostratigraphy and depositional chronometry of the middle alluvial plains were investigated. The upper fluvial sequence, along with the overlying aeolian sand and riverbed scroll plains, provide clues to the evolution of the present Sabarmati River. Sedimentological analyses of the upper fluvial sequence indicate its deposition by a meandering river system during what is believed to be a persistent wetter phase. Luminescence chronology bracketed this sequence to between 54 and 30 ka, which corresponds to Oxygen Isotope Stage-3, during which the SW monsoon was enhanced. The overlying aeolian sand has been dated to 12 ka, indicating that dune accretion occurred simultaneously with the strengthening of the SW monsoon during the Early Holocene. Adjustment of the Sabarmati along a N–S transect is placed around 12 ka and the incision is bracketed between 12 and 4.5 ka. River adjustment could have been tectonic; however, the incision was facilitated by the availability of continuous flow in the river caused by the SW monsoon. The basin experienced two tectonic events at about 3 and 0.3 ka, as demonstrated by the morphology of the scroll plains.     

Water-soluble organics in atmospheric particles: A critical review of the literature and application of thermodynamics to identify candidate compounds

Although organic compounds typically constitute a substantial fraction of the fine particulate matter (PM) in the atmosphere, their molecular composition remains poorly characterized. This is largely because atmospheric particles contain a myriad of diverse organic compounds, not all of which extract in a single solvent or elute through a gas chromatograph; therefore, a substantial portion typically remains unanalyzed. Most often the chemical analysis is performed on a fraction that extracts in organic solvents such as benzene, ether or hexane; consequently, information on the molecular composition of the water-soluble fraction is particularly sparse and incomplete.This paper investigates theoretically the characteristics of the water-soluble fraction by splicing together various strands of information from the literature. We identify specific compounds that are likely to contribute to the water-soluble fraction by juxtaposing observations regarding the extraction characteristics and the molecular composition of atmospheric particulate organics with compound-specific solubility and condensibility for a wide variety of organics. The results show that water-soluble organics, which constitute a substantial fraction of the total organic mass, include C2 to C7 multifunctional compounds (e.g., diacids, polyols, amino acids). The importance of diacids is already recognized; our results provide an impetus for new experiments to establish the atmospheric concentrations and sources of polyols, amino acids and other oxygenated multifunctional compounds.