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     

Porphyroblast inclusion-trail orientation data: eppure non son girate*!

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.     

A circular passive synthetic array: an inverse problem approach

Based on the general concept of the inverse acoustic radiation problem, the temporal scanning of a stationary acoustic field along a closed contour is used to simplify the measurement approach for obtaining information on source directionality. The mathematical formulation is derived from a model of the two-dimensional acoustic field. The formulation of the inverse problem is also investigated to establish a methodology for improving the angular resolution of the array processing. The fundamental relationship between the sound sources and the circular passive synthetic array is explored, utilizing existing mathematical methods, in order to develop the processing algorithm. Other subjects of practical interest, such as directional ambiguity, effect of Doppler frequency, interference noise, and processing gain are discussed. It is concluded that the results can be used to establish guidelines for engineering design and deployment of this type of synthetic array, and to further exploit the new array signal processing technique     

A sedimentary record from a deep Quaternary valley in the southern Lillebælt area, Denmark: Eemian and Early Weichselian lithology and chronology at Mommark

A unique sequence of Late Saalian, Eemian and Early Weichselian strata is exposed in a coastal outcrop at Mommark in the western Baltic. The sedimentary facies and faunas reflect palaeoenvironmental changes from an initial freshwater lake followed by marine transgression and interglacial deposition in a palaeo-Baltic sea. The upper part of the Eemian marine record indicates regression followed by lacustrine sedimentation and deposition of Early Weichselian aeolian sediments, which are truncated by an erosional unconformity overlain by a till bed. The lower and middle parts of the sequence have previously been correlated with the European glacial-interglacial stratigraphy on the basis of pollen analysis, while the upper part has been dated for the present study using optically stimulated luminescence (OSL) of samples from the aeolian and glacial deposits. A similar complete glacial-interglacial-glacial succession has not previously been recorded from this area. The Mommark sequence of conformable strata has been subjected to lateral compression, evidenced by folding and low-angle reverse faults. Seismic records from the adjacent waters in the western Baltic reveal a system of buried Quaternary valleys in the area. It is suggested that the interglacial deposition took place in a basin within one of these valleys and that a slab constituting the Mommark sequence, originating from the margin of a valley, has been glaciotectonically displaced northwestwards to the present location.     

Simulation of adaptive optics for the Vacuum Tower Telescope

A simulation model of the adaptive optics of the German Vacuum Tower Telescope (VTT), Observatorio del Teide, Tenerife, is presented. The model uses modules from the integrated model of the Euro50 extremely large telescope, and includes submodels of a Shack-Hartmann wavefront sensor, a de-formable mirror, a tip-tilt mirror, high-voltage amplifier low-pass filters, a reconstructor and a controller. We investigate the impact on the closed loop bandwidth of changes in controller configuration and certain system parameters, such as low pass filter bandwidth and camera integration and readout time. Control strategies were tested on simple models before implementation on the full VTT model. Using the models, different control strategies are compared.     

The Siberian Solar Radio Telescope: the current state of the instrument,observations, and data

The Siberian Solar Radio Telescope (SSRT) is one of the world's largest solar radio heliographs. It commenced operation in 1983, and since then has undergone several upgrades. The operating frequency of the SSRT is 5.7 GHz. Since 1992 the instrument has had the capability to make one-dimensional scans with a high time resolution of 56 ms and an angular resolution of 15 arc sec. Making one of these scans now takes 14 ms. In 1996 the capability was added to make full, two-dimensional images of the solar disk. The SSRT is now capable of obtaining images with an angular resolution of 21 arc sec every 2 min. In this paper we describe the main features and operation of the instrument, particularly emphasizing issues pertaining to the imaging process and factors limiting data quality. Some of the data processing and analysis techniques are discussed. We present examples of full-disk solar images of the quiet Sun, recorded near solar activity minimum, and images of specific structures: plages, coronal bright points, filaments and prominences, and coronal holes. We also present some observations of dynamic phenomena, such as eruptive prominences and solar flares, which illustrate the high-time-resolution observations that can be done with this instrument. We compare SSRT observations at 5.7 GHz, including computed `light curves', both morphologically and quantatively, with observations made in other spectral domains, such as 17 GHz radio images, Hα filtergrams and magnetograms, extreme-ultraviolet and X-ray observations, and dynamic radio spectra.     

Structurally controlled gold and sulfosalt mineralization: the Altenberg example, Salzburg Province, Austria

Summary ?In the south-eastern Altenbergkar–Silbereck area in the eastern Tauern window (Lungau, Salzburg) structurally controlled precious-metal (Au–Ag) mineralization is hosted in marbles of the Permo(?)-Mesozoic Silbereck Formation and in the underlying Variscan Central gneiss. During the Alpine otogeny both lithologies were affected by ductile deformation (shearing, D1; folding, D2/D3) and subsequent brittle deformation (tension gashes, D4; normal faulting, D5) related to the uplift and exhumation of the Tauern window. Mineralization is controlled by brittle D4 structures. NE–SW trending steeply dipping tension gashes of the “Tauerngoldgang” type occur within the Central gneiss. Three different marble-hosted ore types following fracture systems as well as foliation and bedding planes can be distinguished: 1) metasomatic replacement ores, 2) ores in tension gashes and 3) ores in talc-bearing structures, often containing high-grade gold and silver mineralization (native gold in association with Ag–Pb–Bi–sulfosalts). Four stages of mineralization can be distinguished which occur in all ore types: arsenopyrite–pyrite–pyrrhotite (first stage), Au–(Ag–Pb–Bi–sulfosalts) (second stage), base-metal sulfides and tetrahedrite–tennantite (third stage) and Ag-rich galena (fourth stage). Preliminary fluid inclusion data indicate temperatures of ore formation well above 300 °C (346 °C mean) for the second stage within the Central gneiss and temperatures between 310 and 230 °C for the second and third stages in the marble. Received October 12, 2001; revised version accepted September 5, 2002 Published online March 10, 2003     

Occurrence of varved lake sediment sequences in Varmland, west central Sweden: lake characteristics, varve chronology and AMS radiocarbon dating

Varved lake sediments can be used to set multiple environmental proxies within a calendar year time scale. We undertook a systematic survey of lakes in the Province of Värmland, west central Sweden, with the aim of finding continuous varved lake sediment sequences covering the majority of the Holocene. In Fennoscandia, such sediments have previously only been recorded in northern Sweden and in southern and central Finland. By following a selective process and fieldwork we discovered three new varved sites (i.e. Furskogstjärnet, Mötterudstjärnet and Kälksjön). We found that lakes with varved sediments have several common lake morphometry properties and lake catchment characteristics such as maximum water depth, maximum water depth/lake surface area ratio, catchment soil types, altitude and number of inflows. Varve chronologies, supported by AMS-¹⁴C dating and tephrochronology were established for two of the sediment profiles. These varve chronologies are the longest geological records with an annual resolution known to exist in Sweden. In Furskogstjärnet, the AMS- ¹⁴C dates based on terrestrial plant macrofossils at several levels deviate significantly from the varve based time-depth curve. In Motterudstjarnet, a fully reasonable time-depth model based on the ¹⁴C dates gives older ages in the lower part of the sequence compared to the varve chronology. These results highlight that seemingly acceptable AMS radiocarbon dates may be erroneous. They also point to the fact that varved lake sediments are reliable geological archives with respect to chronological control and accuracy. Thus, these archives should be of prime interest for studies of climate and environmental change undertaken with the aim of providing sub-decadal resolution proxy data sets.