Multi-AUV Control and Adaptive Sampling in Monterey Bay   总被引：3，自引：0，他引：3  

Edward Fiorelli Naomi Ehrich Leonard Pradeep Bhatta Derek A. Paley Ralf Bachmayer David M. Fratantoni 《Oceanic Engineering, IEEE Journal of》2006,31(4):935-948

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  相似文献   

Some responses of transplanted Mytilus edulis to metal-enriched sediments and sewage sludge     

Derek Johnson  Timothy J. Lack 《Marine environmental research》1985,17(2-4)

Approximately 25 % of the sewage sludge produced in the United Kingdom (about 10 million wet tonnes anually) is disposed of to British coastal waters at 15 sites. A series of tests is being evaluated in order to determine the effects of this practice in relation to the effects due to other polluting inputs, both natural and man-made, to the marine environment. The results presented here are for one site on the south-west coast of Britain. They indicate that the increased metal content of the tissue and the presence of sulphydryl-rich metal-binding proteins in the lysosomes of digestive cells in transplanted mussels can be correlated with exposure at sites overlying metal-rich sediments and to a lesser extent an area used for the disposal of sewage sludge containing metallic contaminants.  相似文献   

西天山喇嘛苏成矿斑岩年代学、地球化学特征与成因初探     

唐功建  王强  赵振华  Derek A.Wyman  贾小辉  姜子琦 《矿物岩石地球化学通报》2008,27(Z1)

近东西走向的天山造山带位于中亚造山带或阿尔泰构造拼贴体的最南端,是哈萨克斯坦和塔里木板块的汇聚地带,也是一个重要的铜一金等多金属成矿带[1].天山造山带是在古生代由塔里木和西伯利亚板块之间的古亚洲洋的消减闭合,塔里木、准噶尔、哈萨克斯坦等板块的俯冲-碰撞-增生所形成[2].  相似文献   

Exposure ages from relict lateral moraines overridden by the Fennoscandian ice sheet     

Derek Fabel  David Fink  Jon Harbor  Arjen P. Stroeven 《Quaternary Research》2006,65(1):136-146

Lateral moraines constructed along west to east sloping outlet glaciers from mountain centred, pre-last glacial maximum (LGM) ice fields of limited extent remain largely preserved in the northern Swedish landscape despite overriding by continental ice sheets, most recently during the last glacial. From field evidence, including geomorphological relationships and a detailed weathering profile including a buried soil, we have identified seven such lateral moraines that were overridden by the expansion and growth of the Fennoscandian ice sheet. Cosmogenic ¹⁰Be and ²⁶Al exposure ages of 19 boulders from the crests of these moraines, combined with the field evidence, are correlated to episodes of moraine stabilisation, Pleistocene surface weathering, and glacial overriding. The last deglaciation event dominates the exposure ages, with ¹⁰Be and ²⁶Al data derived from 15 moraine boulders indicating regional deglaciation 9600 ± 200 yr ago. This is the most robust numerical age for the final deglaciation of the Fennoscandian ice sheet. The older apparent exposure ages of the remaining boulders (14,600-26,400 yr) can be explained by cosmogenic nuclide inheritance from previous exposure of the moraine crests during the last glacial cycle. Their potential exposure history, based on local glacial chronologies, indicates that the current moraine morphologies formed at the latest during marine oxygen isotope stage 5. Although numerous deglaciation ages were obtained, this study demonstrates that numerical ages need to be treated with caution and assessed in light of the geomorphological evidence indicating moraines are not necessarily formed by the event that dominates the cosmogenic nuclide data.  相似文献   

Petrogenesis of Cretaceous adakitic and shoshonitic igneous rocks in the Luzong area, Anhui Province (eastern China): Implications for geodynamics and Cu–Au mineralization     

Qiang Wang  Derek A. Wyman  Ji-Feng Xu  Zhen-Hua Zhao  Ping Jian  Xiao-Lin Xiong  Zhi-Wei Bao  Chao-Feng Li  Zheng-Hua Bai 《Lithos》2006,89(3-4):424-446

Both adakitic and shoshonitic igneous rocks in the Luzong area, Anhui Province, eastern China are associated with Cretaceous Cu–Au mineralization. The Shaxi quartz diorite porphyrites exhibit adakite-like geochemical features, such as light rare earth element (LREE) enrichment, heavy REE (HREE) depletion, high Al₂O₃, MgO, Sr, Sr / Y and La / Yb values, and low Y and Yb contents. They have low ε_Nd(t) values (− 3.46 to − 6.28) and high (⁸⁷Sr / ⁸⁶Sr)_i ratios (0.7051–0.7057). Sensitive High-Resolution Ion Microprobe (SHRIMP) zircon analyses indicate a crystallization age of 136 ± 3 Ma for the adakitic rocks. Most volcanic rocks and the majority of monzonites and syenites in the Luzong area are K-rich (or shoshonitic) and were also produced during the Cretaceous (140–125 Ma). They are enriched in LREE and large-ion lithophile elements, and depleted in Ti, and Nb and Ba and exhibit relatively lower ε_Nd(t) values ranging from − 4.65 to − 7.03 and relatively higher (⁸⁷Sr / ⁸⁶Sr)_i ratios varying between 0.7057 and 0.7062. The shoshonitic and adakitic rocks in the Luzong area have similar Pb isotopic compositions (²⁰⁶Pb / ²⁰⁴Pb = 17.90–18.83, ²⁰⁷Pb / ²⁰⁴Pb = 15.45–15.62 and ²⁰⁸Pb / ²⁰⁴Pb = 38.07–38.80). Geological data from the Luzong area suggest that the Cretaceous igneous rocks are distributed along NE fault zones (e.g., Tanlu and Yangtze River fault zones) in eastern China and were likely formed in an extensional setting within the Yangtze Block. The Shaxi adakitic rocks were probably derived by the partial melting of delaminated lower crust at pressures equivalent to crustal thickness of > 50 km (i.e., 1.5 GPa), possibly leaving rutile-bearing eclogitic residue. The shoshonitic magmas, in contrast, originated mainly from an enriched mantle metasomatized by subducted oceanic sediments. They underwent early high-pressure (> 1.5 GPa) fractional crystallization at the boundary between thickened (> 50 km) lower crust and lithospheric mantle and late low-pressure (< 1.5 GPa) fractional crystallization in the shallow (< 50 km) crust. The adakitic and shoshonitic rocks appear to be linked to an intra-continental extensional setting where partial melting of enriched mantle and delaminated lower crust was probably controlled by lithospheric thinning and upwelling of hot asthenosphere along NE fault zones (e.g., Tanlu and Yangtze River fault zones) in eastern China. Both the shoshonitic and adakitic magmas were fertile with respect to Cu–Au mineralization.  相似文献   

Spatial process and data models: Toward integration of agent-based models and GIS   总被引：8，自引：1，他引：8  

Daniel G. Brown  Rick Riolo  Derek T. Robinson  Michael North  William Rand 《Journal of Geographical Systems》2005,7(1):25-47

The use of object-orientation for both spatial data and spatial process models facilitates their integration, which can allow exploration and explanation of spatial-temporal phenomena. In order to better understand how tight coupling might proceed and to evaluate the possible functional and efficiency gains from such a tight coupling, we identify four key relationships affecting how geographic data (fields and objects) and agent-based process models can interact: identity, causal, temporal and topological. We discuss approaches to implementing tight integration, focusing on a middleware approach that links existing GIS and ABM development platforms, and illustrate the need and approaches with example agent-based models.  相似文献   

Spectral Filtering and Classification of Terrestrial Laser Scanner Point Clouds   总被引：1，自引：0，他引：1  

Derek D.  Lichti 《The Photogrammetric Record》2005,20(111):218-240

A method is presented for filtering and classification of terrestrial laser scanner point clouds. The algorithm exploits the four-channel (blue, green, red and near infrared) multispectral imaging capability of some terrestrial scanners using supervised, parametric classification to assign thematic class labels to all scan cloud points. Its principal advantage is that it is a completely data-driven algorithm and is independent of spatial sampling resolution since the processing is performed in four-dimensional spectral feature space. Its application to two data-sets of different spatial extent and spatial and spectral complexity is reported, for which respective overall classification accuracies of 87·0% and 82·0% were achieved. Analysis of the input data with emphasis on the characteristics pertinent to the anticipated outcomes precedes detailed analysis of the classification results and error sources and their causes. Erroneously classified points are attributed to radiometric errors stemming from both detector hardware and physical effects.  相似文献   

A paper with an interest in rhythm     

Derek P. McCormack 《Geoforum》2002,33(4):469-485

This paper is a performative effort to move with and through the expressive and theoretical spaces of an interest in rhythm. This interest emerges initially from the middle of an encounter with the 5 Rhythms™, a contemporary somatic practice that uses rhythm to facilitate and catalyse expressive movement. Rather than seeking to excavate representational meaning from an encounter with the practice or using it to critically diagnose the corporeal politics of contemporary society, this paper apprehends the creative movement emerging from an encounter with/in the non-representational, performative potential of the 5 Rhythms™. By becoming a deliberately playful effort to hold onto the lines of movement emergent from the affective, kinaesthetic territories of this practice, the paper works to avoid either falling back upon a representational ethics that stops this movement dead in its tracks or becoming seduced by an aesthetics of weightless escape. This effort draws particular support from Deleuze and Guattari's writing on the refrain, a concept that provides a vehicle through which the lines of an interest in rhythm gain expressive and theoretical consistency. Because the territories of the refrain open onto lines of movement that are as much figural as discursive, the paper works to animate the lines of movement emerging from an encounter with the 5 Rhythms™ through a series of non-representational diagrammatic interventions. Finally, in drawing the diagrammatic lines of this movement in-between, the paper becomes not so much a series of lines about moving, but a series of lines moving about.  相似文献   

Managed relocation: an assessment of its feasibility as a coastal management option     

Derek J Mcglashan 《The Geographical journal》2003,169(1):6-20

Managed relocation is explained and examined as an option to add to the usual categories considered in relation to managing coastal erosion. The paper considers the relocation of buildings in one unit, as opposed to demolition and re-construction. The standard coastal erosion management options are briefly noted and how managed relocation can fit into these options is explained. This paper focuses on four case studies. Two examples are from the USA and two from the UK; of these, two (one in each of the UK and USA) took place during the nineteenth century. Managed relocation is proposed as being feasible in particular cases, particularly where there are isolated historic or high value buildings.  相似文献   

Phytolith analysis from the archaeological site of Kush, Ras al-Khaimah, United Arab Emirates   总被引：1，自引：0，他引：1  

Sachiko Ishida  Adrian G. Parker  Derek Kennet  Martin J. Hodson   《Quaternary Research》2003,59(3):310-321

Despite the wealth of archaeological sites and excellent conditions for preservation, few phytolith investigations have been undertaken from the Arabian Gulf region. The results from the Sasanian and Islamic archaeological tell of Kush, Ras al-Khaimah, United Arab Emirates, are presented. Kush is situated just inside the Gulf on an important trade route. The occupation sequence dates from the 4^th century A.D. until the 13^th century A.D., recording the development of the site in the Sasanian period, followed by the arrival of Islam in the 7^th century A.D. and the final abandonment of the site in the late 13^th century when the nearby site of al-Mataf (Julfar) began to develop closer to the present day coastline. All the samples analyzed contained abundant phytoliths (short cells, elongated cells, and groups of elongated cells) of various types. They included date palm (Phoenix dactylifera), papillae (possibly from barley (Hordeum)), and hair cells possibly from species of canary grass (Phalaris spp.). Some researchers have suggested that groups of elongated cells may indicate the presence of irrigation in semiarid environments. The present results for this class of phytoliths appeared to imply that intensive irrigation was unlikely to have taken place around Kush.  相似文献