An on-line adaptation method in a neural network based controlsystem for AUVs     

Ishii  K. Fujii  T. Ura  T. 《Oceanic Engineering, IEEE Journal of》1995,20(3):221-228

A neural network based control system “Self-Organizing Neural-Net-Controller System: SONCS” has been developed as an adaptive control system for Autonomous Underwater Vehicles (AUVs). In this paper, an on-line adaptation method “Imaginary Training” is proposed to improve the time-consuming adaptation process of the original SONCS. The Imaginary Training can be realized by a parallel structure which enables the SONCS to adjust the controller network independently of actual operation of the controlled object. The SONCS is divided into two separate parts: the Real-World Part where the controlled object is operated according to the objective, and the Imaginary-World Part where the Imaginary Training is carried out. In order to adjust the controller network by the Imaginary Training, it is necessary to introduce a forward model network which can generate simulated state variables without involving actual data. A neural network “Identification Network” which has a specific structure to simulate the behavior of dynamical systems is proposed as the forward model network. The effectiveness of the Imaginary Training is demonstrated by applying to the heading keeping control of an AUV “Twin-Burger”. It is shown that the SONCS adjusts the controller network-through on-line processes in parallel with the actual operation  相似文献   

Substances of cometary grains estimated from evaporation and radiation pressure mechanisms     

Keiji Saito  Shuzo Isobe  Kimihiko Nishioka  Tatsuro Ishii 《Icarus》1981,47(3):351-360

The shape and intensity distribution of tails for several large comets are estimated on the basis of grain properties in the solar radiation field. The following results are obtained: (1) The ratio of the maximum radiation pressure force to the gravitaional force acting on dust grains in cometary tails is found to be less than 2.5. This means that grains such as graphite particles in the size range 0.02–0.2 μm do not exist in them, because such particles would allow forces greater than 2.5 (2) Tail substances supplied near the time of perihelion passage for the Sun-grazing comet Ikeya-Seki (1965 VIII) and Comet Seki-Lines (1962 III) were composed of particular grains which had values of radiation pressure ratio less than 1.0. Therefore, it is concluded that the material was composed of silicate grains only, since iron grains had sublimated and there were no graphite particles.  相似文献   

Simultaneous boninitic and arc-tholeiitic volcanisms in the Izu forearc region during early arc volcanism, based on ODP Leg 125 Site 786     

Satoru Haraguchi  Teruaki Ishii 《Contributions to Mineralogy and Petrology》2007,153(5):509-531

Early arc volcanism during Eocene to Oligocene in the Izu forearc region was investigated during ODP Legs 125 and 126 in 1989, and effusive and intrusive volcanics were recovered from Leg 125 Site 786. These rocks were all classified into boninites and associated rocks by Leg 125 Shipboard Scientific Party, and they concluded that boninitic volcanism had occurred before 40 Ma, and arc tholeiitic volcanism began after 40 Ma. In this study, lava flows and breccias that classified into boninite series are divided into two groups, tholeiite and boninite, based on petrographical and petrological properties. Both series are also distinguished by bulk rock composition. It is considered that the sources of both rock types have similar depleted compositions because of their similar, very low bulk HFSE concentrations. We suggest that boninitic and tholeiitic volcanism occurred closely in time and space, and reflected different temperature and water condition.  相似文献   

Development of an apparatus to measure groundwater qualities in situ and to sample groundwater using boreholes     

H. Ii  Yoshihiro Horie  Takashi Ishii  Jun Shimada 《Environmental Geology》1997,32(1):17-22

 To accurately measure the pH, Eh, EC and temperature of groundwater retrieved from boreholes, a deep groundwater sampling apparatus was developed which provided sensory measurements both in situ and in a flow-through cell at ground level. Under a pressure of 1×10⁶ Pa the in situ accuracy of the apparatus sensor was within the following limits: pH ±0.2, temperature ±0.1°C, Eh ±10 mV, and EC ±2.4%. The measuring and sampling of deep groundwater from a borehole of more than 1000 m in depth was performed continuously for 30 days. Values of pH were the same for the in situ sensor, the flow-through cell sensor and the laboratory measurements of the sampled water. At the beginning of the sampling period, Eh values of the in situ sensor indicated deep groundwater conditions. The apparatus is particularly useful for Eh measurement. Chemical composition and stable isotope ratios indicated that the groundwater sampled from more than 1000 m depth was a connate water with a chemical composition slightly different from seawater of the present time, and the groundwater retrieved from 800 m depth was a meteoric water. Natural radioactive elements are thought to be the origin of the tritium in the groundwater retrieved from the 1000 m depth. Received: 6 August 1996 / Accepted: 22 October 1996  相似文献   

Hydrographic structure of the Kuroshio large meander-cold water mass region down to the deeper layers of the ocean     

Haruo Ishii  Yoshihiko Sekine  Yoshiaki Toba 《Journal of Oceanography》1983,39(5):240-250

The hydrographic structure of the region of large meander of the Kuroshio and the large cold water mass, which were formed in 1975, was observed down to the ocean bottom, during three cruises of the R/VHakuho Maru in September 1975, September 1976, and December 1977. The analysis of observed data indicates the following common features: the horizontal gradient of the specific volume anomaly exists down to a 3,500 db surface, corresponding to the existence of baroclinic geostrophic current down to this depth. These facts demonstrate that the current of the Kuroshio is not confined to the upper layer during periods of existence of the large meander. On a T-S diagram, the Kuroshio water and the water in the large cold water mass can be discriminated down to a 5°C surface, but there is evidence of mixing due to conspicuous interleaving between the two water masses, near the thermocline. Below the thermocline, water types defined by points on the T-S diagram can be traced from a deeper level in the Kuroshio water to a shallower level in the cold water mass, indicating that in the deeper layers the Kuroshio water continues to be uplifted toward the center of the cold water mass. The same inference is also obtained from the distribution of dissolved oxygen.  相似文献   

Seasonal Changes in Oceanic pCO2 in the Oyashio Region from Winter to Spring     

Takashi Midorikawa  Sonoki Iwano  Kazuhiro Saito  Hiroyuki Takano  Hitomi Kamiya  Masao Ishii  Hisayuki Y. Inoue 《Journal of Oceanography》2003,59(6):871-882

We observed the partial pressure of oceanic CO₂, pCO₂ ^sea, and related surface properties in the westernmost region of the subarctic North Pacific, seasonally from 1998 to 2001. The pCO₂ ^sea in the Oyashio region showed a large decrease from winter to spring. In winter, pCO₂ ^sea was higher than 400 μatm in the Oyashio region and this region was a source of atmospheric CO₂. In spring, pCO₂ ^sea decreased to extremely low values, less than 200 μatm (minimum, 139 μatm in 2001), around the Oyashio region with low surface salinity and this region turned out to be a strong sink. The spatial variations of pCO₂ ^sea were especially large in spring in this region. The typical Oyashio water with minimal mixing with subtropical warm water was extracted based on the criterion of potential alkalinity. The contribution of main oceanic processes to the changes in pCO₂ ^sea from winter to spring was estimated from the changes in the concentrations of dissolved inorganic carbon and nutrients, total alkalinity, temperature and salinity observed in surface waters in respective years. These quantifications indicated that photosynthesis made the largest contribution to the observed pCO₂ ^sea decreases in all years and its magnitude was variable year by year. These year-to-year differences in spring biological contribution could be linked to those in the development of the density stratification due to the decrease in surface salinity. Thus, the changes in the surface physical structure could induce those in pCO₂ ^sea in the Oyashio region in spring. Furthermore, it is suggested that the direction and magnitude of the air-sea CO₂ flux during this season could be controlled significantly by the onset time of the spring bloom. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

Early tholeiitic and calc-alkaline arc magmatism of middle to Late Eocene Age in the southern Ogasawara (Bonin) forearc     

Satoru Haraguchi  Teruaki Ishii  Jun-Ichi Kimura 《Contributions to Mineralogy and Petrology》2008,155(5):593-618

Analysis of middle and upper Eocene rocks from the IBM forearc, including the Ogasawara and Mariana Islands, help illuminate early arc volcanism of the proto-IBM arc. Dredged volcanic rocks from the forearc are two-pyroxene basalt to andesite, and may be divided into two groups, tholeiite and calc-alkaline, on the basis of mineralogy, petrography, and bulk chemistry. Tholeiites are characterized by high HFSE contents, high crystallization temperatures, and low water contents. In contrast, the calc-alkaline rocks are characterized by low HFSE contents, low crystallization temperatures, and higher water contents. These characteristics indicate that magma genesis for the two series differed. The tholeiites resulted from high degrees of partial melting of slightly depleted mantle under anhydrous conditions, whereas the calc-alkaline rocks were generated by low degrees of melting of depleted mantle under hydrous conditions. We believe that differences in mantle depletion arose from compositional layering and fluid zonations caused by MORB volcanism and slab dehydration, respectively. Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.  相似文献   

Effects of seismic wave propagation on a long and narrow building: Body wave and surface wave propagation     

T. SugiyamaT. Ishii  M. Kaneko 《Computers and Geotechnics》1995,17(4):547-564

In the case of the dynamic analysis of the structures using the recorded earthquake ground motions, it is usually assumed that the ground motion consists of body waves propagating vertically. However, the response of a long and narrow structure may be influenced by the oblique propagation of body waves and the dispersion of surface waves. In this paper, the effects of the seismic wave propagation on the response of this kind of structure are investigated. The characteristics of the wave propagation were verified using the recorded motions and soil information at the building site. The ground motion at every input point of the building was evaluated using the difference of arrival time of seismic waves calculated by assuming the velocity and the direction of the wave propagation. Using these ground motions, response analyses of the lumped mass model for the structure were performed. By considering the characteristics of the seismic wave propagation, the average response decreased but the local response increased around the end of the roof. Further studies of the structure were also performed in order to restrain the response around the end of the roof.  相似文献   

Origin of waters responsible for serpentinization of the Izu-Ogasawara-Mariana forearc seamounts in view of hydrogen and oxygen isotope ratios     

Ryutaro Sakai  Minoru Kusakabe  Masami Noto  Teruaki Ishii   《Earth and Planetary Science Letters》1990,100(1-3)

Many serpentinite seamounts occur over a region 20–120 km west of the trench axis in the Izu-Ogasawara-Mariana forearc regions. The hydrogen and oxygen isotopic compositions of serpentine from these regions indicate that there are at least two kinds of waters responsible for serpentinization: seawater and water derived from dehydration of the descending slab. Serpentine from two Mariana and two Torishima samples with microscopically ductile and sheared texture (sheared-type) have lowerδD(−63to−52‰) and slightly higherδ18O values (+6.1 to +8.2‰) than that of other nine Ogasawara samples with mesh texture (mesh-type) (δD= −43to−49‰ andδ¹⁸O= +5.8to+6.7‰). This suggests that the sheared-type serpentine with lowerδD and slightly higherδ¹⁸O values was formed within the wedge mantle by interaction with water derived from a descending slab. The sheared texture is likely to have been produced during diapiric uplift. The unaltered portion of the ultramafic bodies later interacted with seawater after emplacement at or near the seafloor, resulting in formation of the mesh-type serpentine with higherδD values.  相似文献   

Elasticity of MgO to 130 GPa: Implications for lower mantle mineralogy     

Motohiko Murakami  Yasuo Ohishi  Naohisa Hirao  Kei Hirose 《Earth and Planetary Science Letters》2009,277(1-2):123-129

The aggregate shear wave velocities of MgO (periclase) have been determined throughout Earth's lower mantle pressure regime approaching 130 GPa using Brillouin spectroscopy in conjunction with synchrotron X-ray diffraction technique in a diamond anvil cell apparatus. We found that the extrapolations of the high-pressure shear wave velocities and shear moduli to ambient pressure are highly consistent with earlier studies. However, the measurements over a wide pressure range revealed that the pressure derivative of the shear modulus (dG/dP = G₀′) of MgO is 1.92(2), which is distinctly lower than that of previous lower-pressure experiments. Compared with the previous results on (Mg,Fe)O ferropericlase, there is no clear correlation between iron content and G₀′. We calculate that the shear wave velocity profile of lower mantle along the adiabatic geotherm applied by the lower G₀′ value of periclase can remarkably well reproduce the global seismological 1-D velocity profile model with uniform composition model. The best-fitting result indicates the possibility of a lower mantle mineralogy with ~ 92 vol.% silicate perovskite phase, implying that the bulk composition of lower mantle is likely not to be pyrolitic but more chondritic. The present acoustic measurements performed over the large pressure range have thus led us to a better understanding of compositional model of the Earth's lower mantle.  相似文献