Hydrodynamic loads on subsea robots     

Carlos Rivera  Michael Hinchey 《Ocean Engineering》1999,26(8):589

Free floating subsea robots are often subjected to complex hydrodynamic loads due to waves/currents and wakes from nearby structures. This makes control extremely difficult. Good hydrodynamics data might counteract this. This paper presents hydrodynamics data for two configurations undergoing various combinations of steady translation and approximately steady rotation. The two configurations are: a spherical body with a single fixed link arm and a two link arm without a body. For both configurations neural networks were found to provide a reasonable fit to the data. We believe that such fits could be used to improve control.  相似文献   

Ice elevation and areal changes of glaciers from the Northern Patagonia Icefield, Chile   总被引：4，自引：3，他引：1  

Andrs Rivera  Toby Benham  Gino Casassa  Jonathan Bamber  Julian A. Dowdeswell 《Global and Planetary Change》2007,59(1-4):126

High thinning rates (up to − 4.0 ± 0.97 m a^− 1) have been measured at Campo de Hielo Patagónico Norte (CHN) or Northern Patagonia Icefield, Chile between 1975 and 2001. Results have been obtained by comparing a Digital Elevation Model (DEM) derived from regular cartography compiled by Instituto Geográfico Militar of Chile (IGM) based upon 1974/1975 aerial photographs and a DEM generated from Advanced Space-borne Thermal Emission and Reflection Radiometer (ASTER) satellite images acquired in September 2001. A complete cloud-free Landsat ETM+ satellite image mosaic acquired in March 2001 was used to update the available glacier inventory of the CHN, including all glaciers larger than 0.5 km² (48 new glaciers). A new delineation of ice divides was also performed over the accumulation areas of glaciers sharing the high plateau where the existing regular cartography exhibits poor coverage of topographic information. This updated glacier inventory produced a total ice area for 2001 of 3953 km², which represents a decrease of 3.4 ± 1.5% (140 ± 61 km² of ice) with respect to the total ice area of the CHN in 1979 calculated from a Landsat MSS satellite image. Almost 62% of the total area change between 1979 and 2001 took place in glaciers located at the western margin of the CHN, where the maximum area loss was experienced by Glaciar San Quintín with 33 km². At the southern margin, Glaciar Steffen underwent the largest ice-area loss (12 km² or 2.6% of the 1979 area), whilst at the eastern margin the greatest area loss took place in Glaciares Nef (7.9 km², 5.7% of the 1979 area) and Colonia (9.1 km², 2.7% of the 1979 area). At the northern margin of the CHN the lower debris-covered ablation area of Glaciar Grosse collapsed into a new freshwater lake formed during the late 1990s. The areal changes measured at the CHN are much larger than previously estimated due to the inclusion of changes experienced in the accumulation areas. The CHN as a whole is contributing melt water to global sea level rise at rates  25% higher than previous estimates.  相似文献   

Climate changes and recent glacier behaviour in the Chilean Lake District   总被引：1，自引：1，他引：0  

Francisca Bown  Andrs Rivera 《Global and Planetary Change》2007,59(1-4):79

Atmospheric temperatures measured at the Chilean Lake District (38°–42°S) showed contrasting trends during the second half of the 20th century. The surface cooling detected at several meteorological stations ranged from − 0.014 to − 0.021 °C a^− 1, whilst upper troposphere (850–300 gpm) records at radiosonde of Puerto Montt (41°26′S/73°07′W) revealed warming between 0.019 and 0.031 °C a^− 1. Regional rainfall data collected from 1961 to 2000 showed the overall decrease with a maximum rate of − 15 mm a^− 2 at Valdivia st. (39°38′S/73°05′W). These ongoing climatic changes, especially the precipitation reduction, seem to be related to El Niño–Southern Oscillation (ENSO) phenomena which has been more frequent after 1976. Glaciers within the Chilean Lake District have significantly retreated during recent decades, in an apparent out-of-phase response to the regional surface cooling. Moreover, very little is known about upper troposphere changes and how they can enhance the glacier responses. In order to analyse their behaviour in the context of the observed climate changes, Casa Pangue glacier (41°08′S/71°52′W) has been selected and studied by comparing Digital Elevation Models (DEMs) computed at three different dates throughout the last four decades. This approach allowed the determination of ice elevation changes between 1961 and 1998, yielding a mean thinning rate of − 2.3 ± 0.6 m a^− 1. Strikingly, when ice thinning is computed for the period between 1981 and 1998, the resulting rate is 50% higher (− 3.6 ± 0.6 m a^− 1). This enhanced trend and the related area loss and frontal retreat suggests that Casa Pangue might currently be suffering negative mass balances in response to the upper troposphere warming and decreased precipitation of the last 25–30 yr, as well as debris cover would not prevent the glacier from a fast reaction to climate forcing. Most of recent glaciological studies regarding Andean glaciers have concentrated on low altitude changes, namely frontal variations, however, in order to better understand the regional glacier changes, new data are necessary, especially from the accumulation areas.  相似文献   

Timing and formation of porphyry Cu–Mo mineralization in the Chuquicamata district, northern Chile: new constraints from the Toki cluster     

Fernando Barra  Hugo Alcota  Sergio Rivera  Victor Valencia  Francisco Munizaga  Victor Maksaev 《Mineralium Deposita》2013,48(5):629-651

The recently discovered Toki cluster, which includes the Toki, Quetena, Genoveva, Miranda, and Opache porphyry Cu–Mo prospects, is located 15 km south–southwest of the Chuquicamata–Radomiro Tomic mines in northern Chile. These prospects occur in an area of 5?×?6 km and are completely covered with Neogene alluvial deposits. Inferred resources for the cluster are estimated at about 20 Mt of fine copper, with Toki and Quetena contributing ～88 % of these resources. Mineralization in these deposits is associated with tonalite porphyries that intruded andesites and dacites of the Collahuasi Group and intrusions of the Fortuna–Los Picos Granodioritic Complex. Hypogene mineralization in the Toki cluster consists mainly of chalcopyrite–bornite with minor molybdenite with mineralization grading outward to a chalcopyrite–pyrite zone and ultimately to a pyrite halo. Alteration is dominantly of the potassic type with K-feldspar and hydrothermal biotite. Sericitic alteration is relatively restricted to late quartz–pyrite veins (D-type veins). Previous K–Ar geochronology for the cluster yielded ages within a range of 34 to 40 Ma. Four new Re–Os ages for Toki indicate that molybdenite mineralization occurred in a single pulse at ～38 Ma. Re–Os ages for three different molybdenite samples from Quetena are within error of the Toki mineralization ages. These ages are concordant with a new zircon U–Pb age of 38.6?±?0.7 Ma from the tonalite porphyry in Quetena. Two Re–Os ages for Genoveva (38.1?±?0.2 and 38.0?±?0.2 Ma) are also within error of the Toki and Quetena molybdenite ages. Four Re–Os molybdenite ages for Opache range between 36.4 and 37.6 Ma. The Miranda prospect is the youngest with an age of ～36 Ma. Four new Re–Os ages for the Chuquicamata deposit range between 33 and 32 Ma, whereas nine new ⁴⁰Ar/³⁹Ar ages of biotite, muscovite, and K-feldspar range between 32 and 31 Ma. Analyzed molybdenites have Re and Os concentrations that vary between 21–3,099 ppm and 8–1,231 ppb, respectively. The highest Re and Os concentrations are found in the Toki prospect. Three new ⁴⁰Ar/³⁹Ar ages for the Toki cluster are younger than the Re–Os mineralization ages. The age spectra for these three samples show evidence of excess argon and have similar inverse isochron ages of 35 Ma that probably reflect a late hydrothermal phyllic event. The new geochronological data presented here for the Toki cluster indicate that molybdenite mineralization occurred within a very short period, probably within 2 Ma, and synchronously (at ～38 Ma) in three mineralization centers (Toki, Quetena, and Genoveva). Furthermore, mineralization at the Toki cluster preceded the emplacement of the Chuquicamata deposit (35–31 Ma) and indicates that porphyry Cu–Mo mineralization occurred episodically over a period of several million years in the Chuquicamata district.  相似文献   

Assessing Groundwater Depletion and Dynamics Using GRACE and InSAR: Potential and Limitations          下载免费PDF全文

Pascal Castellazzi  Richard Martel  Devin L. Galloway  Laurent Longuevergne  Alfonso Rivera 《Ground water》2016,54(6):768-780

In the last decade, remote sensing of the temporal variation of ground level and gravity has improved our understanding of groundwater dynamics and storage. Mass changes are measured by GRACE (Gravity Recovery and Climate Experiment) satellites, whereas ground deformation is measured by processing synthetic aperture radar satellites data using the InSAR (Interferometry of Synthetic Aperture Radar) techniques. Both methods are complementary and offer different sensitivities to aquifer system processes. GRACE is sensitive to mass changes over large spatial scales (more than 100,000 km²). As such, it fails in providing groundwater storage change estimates at local or regional scales relevant to most aquifer systems, and at which most groundwater management schemes are applied. However, InSAR measures ground displacement due to aquifer response to fluid‐pressure changes. InSAR applications to groundwater depletion assessments are limited to aquifer systems susceptible to measurable deformation. Furthermore, the inversion of InSAR‐derived displacement maps into volume of depleted groundwater storage (both reversible and largely irreversible) is confounded by vertical and horizontal variability of sediment compressibility. During the last decade, both techniques have shown increasing interest in the scientific community to complement available in situ observations where they are insufficient. In this review, we present the theoretical and conceptual bases of each method, and present idealized scenarios to highlight the potential benefits and challenges of combining these techniques to remotely assess groundwater storage changes and other aspects of the dynamics of aquifer systems.  相似文献   

Horizontal pendulum development and the legacy of Ernst von Rebeur-Paschwitz     

Julien Fréchet  Luis Rivera 《Journal of Seismology》2012,16(2):315-343

Horizontal pendulum development was paramount in the birth of modern instrumental seismology and solid-earth tide study. This paper presents a revised history starting in the first part of the nineteenth century and culminating with Rebeur-Paschwitz’s masterpiece in its latter part. The first stage began with the invention of the horizontal pendulum by Lorenz Hengler in 1832. He was followed by several, mostly independent, inventors during the three decades from the 1850s to the 1870s, in particular Friedrich Z?llner in 1869–1872 who popularized this instrument. With the exception of an instrument designed by Alexander Gerard in 1851, all these preliminary pendulums were suspended with two wires. Slightly different forms of horizontal pendulums were invented in Japan by James Ewing and Thomas Gray in the early 1880s, based on bracket or conical suspensions. The merit of demonstrating the outstanding potential of high-sensitivity horizontal pendulums completely relies on the work of Ernst von Rebeur-Paschwitz between 1886 and 1895. He successively developed three models of pendulums, in collaboration with three different manufacturers: the Fecker pendulum in 1886, the Repsold pendulum in 1888, from which six copies were produced, and finally, the Stückrath two-component model in 1894, built in three copies. Based on the scrutiny of a large number of previously unexploited archives, the detailed chronology of Rebeur-Paschwitz’s achievements is presented. Archive, and in situ explorations allowed us to discover five out of the six original copies of the first Rebeur-Paschwitz’s Repsold pendulum previously unknown or thought to be lost.  相似文献   

Full Moment Tensor Variations and Isotropic Characteristics of Earthquakes in the Gulf of California Transform Fault System     

Roberto Ortega  Luis Quintanar  Luis Rivera 《Pure and Applied Geophysics》2014,171(10):2805-2817

The full moment tensor is a mathematical expression of six independent variables; however, on a routine basis, it is a common practice to reduce them to five assuming that the isotropic component is zero. This constraint is valid in most tectonic regimes where slip occurs entirely at the fault surface (e.g. subduction zones); however, we found that full moment tensors are best represented in transform fault systems. Here we present a method to analyze source complexity of earthquakes of different sizes using a simple formulation that relates the elastic constants obtained from independent studies with the angle between the slip and the fault normal vector, referred to as angle \( \theta \) ; this angle is obtained from the full moment tensors. The angle \( \theta \) , the proportion of volume change \( \left( k \right) \) and the constant volume (shear) component \( \left( T \right) \) are numerical indicators of complexity of the source; earthquakes are more complex as \( \theta \) deviates from \( \pi /2 \) or as T and k deviate from zero as well. These parameters are obtained from the eigensolution of the full moment tensor. We analyzed earthquakes in the Gulf of California that exhibit a clear isotropic component and we observed that the constant volume parameter T is independent of scalar moments, suggesting that big and small earthquakes are equally complex. In addition, simple models of one single fault are not sufficient to describe physically all the combinations of \( \theta \) in a source type plot. We also found that the principal direction of the strike of the Transform Fault System in the Gulf of California is following the first order approximation of the normal surface of the full moment tensor solution, whereas for deviatoric moment tensors the principal direction does not coincide with the strike of the Transform Fault System. Our observations that small and large earthquakes are equally complex are in agreement with recent studies of strike-slip earthquakes.  相似文献   

Speciation and natural attenuation of arsenic and iron in a tidally influenced shallow aquifer   总被引：2，自引：0，他引：2  

Robert A. Root  Dimitri Vlassopoulos  Nelson A. Rivera  Michael T. Rafferty  Charles Andrews  Peggy A. O&#x;Day 《Geochimica et cosmochimica acta》2009,73(19):5528-5553

The mobility of subsurface arsenic is controlled by sorption, precipitation, and dissolution processes that are tied directly to coupled redox reactions with more abundant, but spatially and temporally variable, iron and sulfur species. Adjacent to the site of a former pesticide manufacturing facility near San Francisco Bay (California, USA), soil and groundwater arsenic concentrations are elevated in sediments near the prior source, but decrease to background levels downgradient where shallow groundwater mixes with infiltrating tidal waters at the plume periphery, which has not migrated appreciably in over two decades of monitoring. We used synchrotron X-ray absorption spectroscopy, together with supporting characterizations and sequential chemical extractions, to directly determine the oxidation state of arsenic and iron as a function of depth in sediments from cores recovered from the unsaturated and saturated zones of a shallow aquifer (to 3.5 m below the surface). Arsenic oxidation state and local bonding in sediments, as As-sulfide, As(III)-oxide, or As(V)-oxide, were related to lithologic redox horizons and depth to groundwater. Based on arsenic and iron speciation, three subsurface zones were identified: (i) a shallow reduced zone in which sulfide phases were found in either the arsenic spectra (realgar-like or orpiment-like local structure), the iron spectra (presence of pyrite), or both, with and without As(III) or As(V) coordinated by oxygen; (ii) a middle transitional zone with mixed arsenic oxidation states (As(III)–O and As(V)–O) but no evidence for sulfide phases in either the arsenic or iron spectra; and (iii) a lower oxidized zone in the saturated freshwater aquifer in which sediments contained only oxidized As(V) and Fe(III) in labile (non-detrital) phases. The zone of transition between the presence and absence of sulfide phases corresponded to the approximate seasonal fluctuation in water level associated with shallow groundwater in the sand-dominated, lower oxic zone. Total sediment arsenic concentrations showed a minimum in the transition zone and an increase in the oxic zone, particularly in core samples nearest the former source. Equilibrium and reaction progress modeling of aqueous-sediment reactions in response to decreasing oxidation potential were used to illustrate the dynamics of arsenic uptake and release in the shallow subsurface. Arsenic attenuation was controlled by two mechanisms, precipitation as sulfide phases under sulfate-reducing conditions in the unsaturated zone, and adsorption of oxidized arsenic to iron hydroxide phases under oxidizing conditions in saturated groundwaters. This study demonstrates that both realgar-type and orpiment-type phases can form in sulfate-reducing sediments at ambient temperatures, with realgar predicted as the thermodynamically stable phase in the presence of pyrite and As(III) under more reduced conditions than orpiment. Field and modeling results indicate that the potential for release of arsenite to solution is maximized in the transition between sulfate-reduced and iron-oxidized conditions when concentrations of labile iron are low relative to arsenic, pH-controlled arsenic sorption is the primary attenuation mechanism, and mixed Fe(II,III)-oxide phases do not form and generate new sorption sites.  相似文献   

Evidence for plunging river plume deposits in the Pahrump Hills member of the Murray formation,Gale crater,Mars     

Kathryn M. Stack  John P. Grotzinger  Michael P. Lamb  Sanjeev Gupta  David M. Rubin  Linda C. Kah  Lauren A. Edgar  Deirdra M. Fey  Joel A. Hurowitz  Marie McBride  Frances Rivera‐Hernndez  Dawn Y. Sumner  Jason K. Van Beek  Rebecca M. E. Williams  Robin Aileen Yingst 《Sedimentology》2019,66(5):1768-1802

Recent robotic missions to Mars have offered new insights into the extent, diversity and habitability of the Martian sedimentary rock record. Since the Curiosity rover landed in Gale crater in August 2012, the Mars Science Laboratory Science Team has explored the origins and habitability of ancient fluvial, deltaic, lacustrine and aeolian deposits preserved within the crater. This study describes the sedimentology of a ca 13 m thick succession named the Pahrump Hills member of the Murray formation, the first thick fine‐grained deposit discovered in situ on Mars. This work evaluates the depositional processes responsible for its formation and reconstructs its palaeoenvironmental setting. The Pahrump Hills succession can be sub‐divided into four distinct sedimentary facies: (i) thinly laminated mudstone; (ii) low‐angle cross‐stratified mudstone; (iii) cross‐stratified sandstone; and (iv) thickly laminated mudstone–sandstone. The very fine grain size of the mudstone facies and abundant millimetre‐scale and sub‐millimetre‐scale laminations exhibiting quasi‐uniform thickness throughout the Pahrump Hills succession are most consistent with lacustrine deposition. Low‐angle geometric discordances in the mudstone facies are interpreted as ‘scour and drape’ structures and suggest the action of currents, such as those associated with hyperpycnal river‐generated plumes plunging into a lake. Observation of an overall upward coarsening in grain size and thickening of laminae throughout the Pahrump Hills succession is consistent with deposition from basinward progradation of a fluvial‐deltaic system derived from the northern crater rim into the Gale crater lake. Palaeohydraulic modelling constrains the salinity of the ancient lake in Gale crater: assuming river sediment concentrations typical of floods on Earth, plunging river plumes and sedimentary structures like those observed at Pahrump Hills would have required lake densities near freshwater to form. The depositional model for the Pahrump Hills member presented here implies the presence of an ancient sustained, habitable freshwater lake in Gale crater for at least ca 10³ to 10⁷ Earth years.  相似文献   

A note on the dynamic and static displacements from a point source in multilayered media   总被引：51，自引：0，他引：51  

Lupei Zhu  Luis A. Rivera 《Geophysical Journal International》2002,148(3):619-627

  相似文献