Nonlinear adaptive control of an underwater towed vehicle     

Francisco Curado Teixeira  António Pedro Aguiar 《Ocean Engineering》2010,37(13):1193-1220

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.  相似文献   

The last deglaciation in the Picos de Europa National Park (Cantabrian Mountains,northern Spain)     

Ana Moreno  Blas L. Valero‐Garcés  Montserrat Jiménez‐Sánchez  María José Domínguez‐Cuesta  M. Pilar Mata  Ana Navas  Penélope González‐Sampériz  Heather Stoll  Pedro Farias  Mario Morellón  J. Pablo Corella  Mayte Rico 《第四纪科学杂志》2010,25(7):1076-1091

A sedimentological and geochemical study of the Lago Enol sequence (Cantabrian Mountains, northern Spain), together with detailed geomorphological mapping, provides a first record of glacier evolution and climate change over the last 40 ka in the Picos de Europa National Park. The Enol glacier retreated from its maximum extent prior to 40 ka BP as demonstrated by the onset of proglacial lacustrine sedimentation in two glaciated depressions: the Comella hollow to the north (before 40 ka BP) and the Lago Enol (before 38 ka BP). These results support previous evidence that the maximum extent of southern European glaciers occurred earlier than in northern Europe. Alternation of homogeneous and laminated proglacial sediments during the glacier retreat illustrate a dynamic glacial evolution during the Marine Isotope Stage (MIS) 3 (40–26 ka BP). A slight warming is detected at 26 ka ago with the change from proglacial sediments (in a lake located in contact to the glacier) to glaciolacustrine sedimentation (in a non‐contact or distal lake). Finally, the onset of organic‐rich sediments took place at 18 ka ago. This last transition occurred in two phases, similarly to the North Atlantic Last Termination, suggesting a link between North Atlantic Deep Water formation oscillations and palaeohydrological variability in the Cantabrian Mountains. Copyright © 2009 John Wiley & Sons, Ltd.  相似文献   

Luminescence dating of Pleistocene alluvial sediments affected by the Alhama de Murcia fault (eastern Betics,Spain) – a comparison between OSL,IRSL and post‐IR IRSL ages     

Reza Sohbati  Andrew S. Murray  Jan‐Pieter Buylaert  Maria Ortuño  Pedro P. Cunha  Eulàlia Masana 《Boreas: An International Journal of Quaternary Research》2012,41(2):250-262

  相似文献   

ON THE NUMBER OF FRACTIONS TO COMPUTE TRANSPORT OF SEDIMENT MIXTURES     

Pedro A. BASILE Center for Hydroenvironmental Research  National University of Rosario   《国际泥沙研究》2001,16(3)

1 INTRODUCTIONMany hydro-momhological mathematical models neglect the innuence of river bed maerialheterogeneity and its time and space changes during transport and related erosion/dePosition processes. Inthese models a rePresentative diameter of the river bed grain-size distribution (for examPle d5o) isspecified as initial data in each comPutational point of the modeled domain. Different d5o can be assignedto each ghd point but temPoral changes in bed material gradation cannot be simula…  相似文献   

Natural and anthropogenic C2 to C6 hydrocarbons in the central-eastern Venezuelan atmosphere during the rainy season     

Loreto Donoso  Rodrigo Romero  Alberto Rondón  Emmanuel Fernandez  Pedro Oyola  Eugenio Sanhueza 《Journal of Atmospheric Chemistry》1996,25(2):201-214

The levels of low molecular weight hydrocarbons were measured at pristine sites and rural locations affected by hydrocarbon emissions from oil and gas producing fields in Venezuela. At the clean sites, lower concentrations of C₂ to C₆ alkanes were observed, whereas, in comparison with remotes sites, very much higher levels were measured at the polluted sites. Alkenes present relatively high concentrations, with isoprene being the most abundant, all over the study region. The main sources of alkenes are likely to be natural, mainly from vegetation. The levels of alkanes recorded at the clean sites and the alkene levels found everywhere in the region are in agreement with the values reported for other clean sites in the tropics. The increase of ozone production capacity due to the anthropogenic emissions of alkanes from oil and gas fields was estimated. Due to the presence in the atmosphere of important amounts of naturally emitted isoprene, ethene and propene, which makes a substantial contribution to the reactivity of the hydrocarbon mixture, a small increase (<5%) was estimated to occur in the capacity of the ozone production at a regional scale during the rainy season.  相似文献   

A system for large volume aerosol sampling in the stratosphere using electrostatic precipitation     

Dr. Leonard R. Solon  Pedro Lilienfeld  Hugo J. DiGiovanni 《Meteorology and Atmospheric Physics》1968,17(2-3):251-289

Summary An instrumental system for securing aerosol samples in the stratosphere by electrostatic precipitation has been developed. The system is designed to be balloon borne to altitudes between 30 km and 45 km and to collect with high efficiency the aerosol content of the stratosphere at these altitudes. Volumetric sampling rates of one meter³ sec^–1 ambient air are obtained with the sampling configuration with collection efficiency in excess of 95 percent for particles between .01 microns (mmd) and 2 microns (mmd).Specially developed associated instrumentation for altitude and air flow measurement points to an important versatility in the application of gas discharges for low-pressure (or high altitude) altimetry and anemometry over a very wide range of air densities and tempertures.The theory, operation, and performance of the aerosol sampling system and associated subsytems are described. Certain new observations of low-density corona physics phenomena are reported and potential applications to other areas of research and technology are indicated.

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Zusammenfassung Es wurde ein Instrument entwickelt, mit dem man Aerosolproben aus der Stratosphäre durch elektrostatischen Niederschlag erhalten kann. Das System wird von einem Ballon in Höhen zwischen 30 und 45 km getragen und sammelt mit hoher Wirksamkeit Proben des Aerosolgehalts in diesen Höhen. Mit dem Instrument wird eine Sammelgeschwindigkeit von 1 m³/sek erreicht bei einer Sammelwirksamkeit von mehr als 95% für Partikel von Größen zwischen 0,01 und 2 Mikron.Besonders entwickelte angeschlossene Instrumente zur Messung der Höhe und der Luftströmungen zeigen die wesentliche Vielseitigkeit der Anwendung von Gasentladungen für die Höhenmessung und Windmessung bei niedrigem Druck (oder in großen Höhen) in einem großen Bereich der Luftdichte und der Temperatur.Es werden die Theorie, die Arbeitsweise und die Ausführung des Aerosolprobeninstrumentes und der angeschlossenen Hilfssysteme beschrieben. Es wird über einige neue Beobachtungen aus dem Bereich der Phänomene der Gasentladungen bei niedriger Dichte berichtet und neue mögliche Anwendungen in anderen Zweigen der Forschung und Technologie werden angegeben.

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Résumé On a construit un instrument au moyen duquel on peut obtenir des échantillons d'aérosole stratosphérique par précipitation électrostatique. Le système est emporté par un ballon à des altitudes de 30 à 45 km et rassemble avec efficacité des echantillons du contenu de l'aérosole à ces altitudes. Avec cet appareil, on obtient une vitesse de prise de 1 m³/sec avec une efficacité de plus de 95% pour les particules comprises entre 0,01 et 2 microns.Des appareils spéciaux annexes permettent de mesurer la hauteur et les courants d'air. Ils démontrent les possibilités multiples de l'utilisation de la décharge dans un gaz pour la mesure de l'altitude et des vents par pression très faible (ou à très haute altitude) dans un domaine étendu tant de la densité de l'air que de la température.On décrit dans ce mémoire la théorie, le mode de travail et l'exécution de cet instrument de prise d'échantillons d'aérosoles ainsi que des systèmes auxiliaires annexes. On rapporte sur quelques nouvelles observations faites dans le domaine des phénomènes connexes à la décharge dans un gaz par faible densité. On indique en outre de nouvelles possibilités d'utilisation du système dans d'autres branches de la recherche ou de la technologie.

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With 16 Figures

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This work has been supported by the Division of Biology and Medicine, U. S. Atomic Energy Commission, under contract at (30-1)-2363 with Del Electronics.  相似文献   

An audio-magnetotelluric investigation in Terceira Island (Azores)   总被引：2，自引：0，他引：2  

Fernando A. Monteiro Santos  Antnio Trota  Antnio Soares  Rafael Luzio  Nuno Loureno  Liliana Matos  Eugnio Almeida  Joo L. Gaspar  Jorge M. Miranda 《Journal of Applied Geophysics》2006,59(4):314-323

Ten audio-magnetotelluric soundings have been carried out along a profile crossing the Serra do Cume caldera in the eastern part of the Terceira Island (Azores). The main objectives of this investigation were to detect geoelectrical features related with tectonic structures and to characterize regional hydrological and hydrothermal aspects mainly those related to geothermal fluid dynamics.Three-dimensional numerical investigation showed that the data acquired at periods shorter than 1 s are not significantly affected by ocean effect. The data was analysed using the Smith's decomposition method in order to investigate possible distortions caused by superficial structures and to estimate a global regional strike. The results suggest that in general the soundings were not distorted. A regional N55°W strike was chosen for the two-dimensional data inversion.The low-resistivity zones (10–30 ohm-m) displayed in the central part of the 2-D geoelectrical model have been interpreted as caused by hydrothermal circulation. The low-resistivity anomalies at the ends of the profile might be attributed to alteration zones with interaction of seawater intrusion. High-resistivity (> 300 ohm-m) values have been related with less permeable zones in the SW of Cinco Picos and Guilherme Moniz caldera walls.  相似文献   

Diffuse Emission of CO2 from Showa-Shinzan, Hokkaido, Japan: A Sign of Volcanic Dome Degassing   总被引：1，自引：0，他引：1  

Pedro A. Hernández  Kenji Notsu  Hiromu Okada  Toshiya Mori  Masanori Sato  Francisco Barahona  Nemesio M. Pérez 《Pure and Applied Geophysics》2006,163(4):869-881

Two soil CO₂ efflux surveys were carried out in September 1999 and June 2002 to study the spatial distribution of diffuse CO₂ degassing and estimate the total CO₂ output from Showa-Shinzan volcanic dome, Japan. Seventy-six and 81 measurements of CO₂ efflux were performed in 1999 and 2002, respectively, covering most of Showa-Shinzan volcano. Soil CO₂ efflux data showed a wide range of values up to 552 g m^-2 d^-1. Carbon isotope signatures of the soil CO₂ ranged from -0.9‰ to -30.9‰, suggesting a mixing between different carbon reservoirs. Most of the study area showed CO₂ efflux background values during the 1999 and 2002 surveys (B = 8.2 and 4.4 g m^-2 d^-1, respectively). The spatial distribution of CO₂ efflux anomalies for both surveys showed a good correlation with the soil temperature, indicating a similar origin for the extensive soil degassing generated by condensation processes and fluids discharged by the fumarolic system of Showa-Shinzan. The total diffuse CO₂ output of Showa-Shinzan was estimated to be about 14.0–15.6 t d^-1 of CO₂ for an area of 0.53 km².  相似文献   

Sources of dissolved REE in mountainous streams draining granitic rocks, Sierras Pampeanas (Córdoba, Argentina)   总被引：1，自引：0，他引：1  

M. Gabriela García  Karina L. Lecomte  Andrea I. Pasquini  Stella M. Formica  Pedro J. Depetris 《Geochimica et cosmochimica acta》2007,71(22):5355-5368

Stream waters draining granitic terrains from the highest part (850 to 2200 m a.s.l.) of Sierras Pampeanas (Córdoba, Argentina, ∼32°S, ∼65°W) were sampled in order to define sources and distribution of dissolved rare earth elements (REE), and to describe the geochemical processes that govern their mobility. The contribution of the regional granite to the dissolved REE pool in stream water is limited due to the physical conditions predominating in the area (i.e., steep slopes and semiarid climate). Therefore, precipitation is considered a seasonally significant source controlling REE concentration in stream water. Dissolved REE concentrations are inversely correlated with monthly precipitation and rainfall frequency. During the rainy season (i.e., the austral summer) REE concentrations in stream water are lower than during the dry season (i.e., austral winter). Such low concentrations reflect the balance between the REE input from precipitation and their removal by adsorption. In contrast, during the dry season, the longer residence time of water within fractures and colluvium determines an increased REE concentration in the base flow. Lower pH values also contribute to raise REE concentration through desorption from mineral surfaces.  相似文献   

Post-collisional transition from calc-alkaline to alkaline magmatism during transcurrent deformation in the southernmost Dom Feliciano Belt (Braziliano–Pan-African, Uruguay)     

Pedro Oyhantabal  Siegfried Siegesmund  Klaus Wemmer  Robert Frei  Paul Layer 《Lithos》2007,98(1-4):141-159

In the southernmost Dom Feliciano Belt of Uruguay, highly fractionated calc-alkaline granites, mildly alkaline granites, shoshonitic volcanics, and peralkaline intrusions and volcanics are spatially and temporal associated with the evolution of shear zones. Four representative magmatic unites of this diverse association were petrographic and geochemically investigated: the Solís de Mataojo Complex, a medium to high K2O calc-alkaline granite with signature typical of mature continental arcs and post-collisional settings; the Maldonado granite, highly fractionated calc-alkaline to alkaline, with characteristics that are transitional between both types of series; the Pan de Azúcar Pluton, with characteristics typical of post-collisional alkaline granites and the Las Flores shoshonitic basalts.

Geochemistry and geotectonic setting point out that slab breakoff was most likely the mechanism associated with the generation of high-K calc-alkaline magmas (Solís de Mataojo and Maldonado) shortly after collision. Extension associated to the formation of molassic basins and emplacement of dolerites and basalt flows with shoshonitic affinity (Las Flores) 15and finally a shift to magmas with alkaline signatures (Pan de Azúcar) simultaneous with a second transpressional phase were probably linked with lithospheric thinning through delamination. This evolution took place between 615 and 575 Ma, according to available data. Contrary to previous proposals, which considered this magmatism to represent the root of a continental magmatic arc, a post-collisional environment, transitional from orogenic to anorogenic, during transcurrent deformation is proposed.  相似文献