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     

Correlation between petrography,NAA, and ICP analyses: Application to early bronze Egyptian pottery from Canaan

Under favorable circumstances petrographic studies supported by chemical analysis using inductively coupled plasma (ICP) suffice to establish the provenience of pottery. A case in point is Egyptian-style pottery of Early Bronze Age found in Canaan. The pottery was divided into three groups according to four criteria determined by thin section analysis supplemented by X-ray diffraction: sorting and volume of silt-sized quartz, heavy minerals, the amount of carbonates in the matrix, and the firing temperature. Chemical analyses confirmed the classification. The source materials inferred for the three groups are Nile muds, Egyptian marly sediments, and local loess. Although the chemical analyses obtained by ICP and neutron activation analysis (NAA) were compatible, the existing database for NAA cannot be used indiscriminately. However, for provenience studies based on mineralogical and petrographic data, knowledge of the geology of the potential source areas can replace an extensive database.     

NEUTRON ACTIVATION ANALYSIS OF FIFTEEN GSJ IGNEOUS ROCK REFERENCE SAMPLES

Fifteen rock reference samples "Igneous rock series" issued by the Geological Survey of Japan were analysed for up to 31 elements by neutron activation analysis (NAA); 14 MeV-NAA for Si and Al, fission track method for U, radiochemical and instrumental NAA for rare-earth elements, and instrumental NAA for the remaining elements, with reactor neutrons for the latter three. The present results are compared with published values.     

On the inclusion of ground-based gravity measurements to the calibration process of a global rainfall-discharge reservoir model: case of the Durzon karst system (Larzac, southern France)

This work examines the relevance of the inclusion of ground-based gravity data in the calibration process of a global rainfall-discharge reservoir model. The analysis is performed for the Durzon karst system (Larzac, France). The first part of the study focuses on the hydrological interpretation of the ground-based gravity measurements. The second part of the study investigates further the information content of the gravity data with respect to water storage dynamics modelling. The gravity-derived information is found unable to either reduce equifinality of the single-objective, discharge-based model calibration process or enhance model performance through assimilation.     

Reconstruction of MODIS total suspended matter time series maps by DINEOF and validation with autonomous platform data

In situ measurements of total suspended matter (TSM) over the period 2003–2006, collected with two autonomous platforms from the Centre for Environment, Fisheries and Aquatic Sciences (Cefas) measuring the optical backscatter (OBS) in the southern North Sea, are used to assess the accuracy of TSM time series extracted from satellite data. Since there are gaps in the remote sensing (RS) data, due mainly to cloud cover, the Data Interpolating Empirical Orthogonal Functions (DINEOF) is used to fill in the TSM time series and build a continuous daily “recoloured” dataset. The RS datasets consist of TSM maps derived from MODIS imagery using the bio-optical model of Nechad et al. (Rem Sens Environ 114: 854–866, 2010). In this study, the DINEOF time series are compared to the in situ OBS measured in moderately to very turbid waters respectively in West Gabbard and Warp Anchorage, in the southern North Sea. The discrepancies between instantaneous RS, DINEOF-filled RS data and Cefas data are analysed in terms of TSM algorithm uncertainties, space–time variability and DINEOF reconstruction uncertainty.     

原地应力状态三维分布估算方法的发展及初步应用

日本原子能机构(Japan Atomic Energy Agency)提出了一种方法,即通过地表原地应力测量所得的有限数据精确估算任意一点的实际原地应力状态分布.我们假定实际地应力是由上覆岩层压力和板块构造力的综合作用形成的,并建立了两种模型:三维有限元模型和边界元模型,模型考虑了地质情况的不均匀性,如岩石类型的变化和...     

Can turbidity caused by Corophium volutator (Pallas) activity be used to assess sediment toxicity rapidly?

The standard toxicity test organism, Corophium volutator, exhibits a behavioural response to contaminated sediments that causes increased turbidity of overlying water. We quantify the effects of this response to an estuarine sediment spiked with copper and hydrocarbon contaminated sediments from an oil installation in the North Sea. Turbidity measured 24 h after the start of a toxicity test shows a strong relationship with contaminant concentrations and with mortality after 10 days. Turbidity measurements can therefore give a rapid indication of sediment toxicity, permitting a reduction in storage time of sediments to be used in dilution series and toxicity identification evaluation (TIE) tests, reducing the likelihood of contaminants degrading prior to testing.     

Analysis of Physical and Chemical Parameters for Discrimination of Water Origin in a Hydroelectric Reservoir

Seventeen physical and chemical parameters were obtained from a hydroelectric reservoir located in a tropical region in the south of Brazil. Multivariate Principal Component Analysis (PCA) and Hierarchical Group Analysis (HGA) were used to identify the parameters discriminating the origin of water from the Tibagi and the Primeiro de Maio River, after it has passed the mixing region. The study was conducted during the dry and rainy seasons in July 2002 and February 2003 at three depths and three sampling sites located 0, 5, and 10 km away from the mixing region. The statistical methods showed to be appropriate for identifying the contribution of each tributary in the water mixing site of a complex water system. The most important discriminating parameter was the absorbance relation A(253 nm)/A(203 nm), followed by the concentrations of Fe(III), Mn(III), and Ni(II). An anthropogenic interference was found in the reservoir due to high Ni(II) and orthophosphate concentrations caused by a nearby town sewage discharge. The interference was more important during the dry periods due to the lower dispersion of the pollutants. Urgent initiatives should be taken from the state government to build treatment stations for the wastewater of the small cities around the Capivara hydroelectric reservoir to prevent the drinking water quality from deteriorating.