Underwater autonomous manipulation for intervention missions AUVs   总被引：1，自引：0，他引：1  

Giacomo Marani  Song K. Choi  Junku Yuh 《Ocean Engineering》2009,36(1):15-23

Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.  相似文献   

Direct evidence of Middle Oligocene extension in the Calabria–Peloritani terrane from co-seismic faulting: the pseudotachylyte-bearing shear zones of Palmi (southern Calabria, Italy)     

Antonietta Grande  Gianfranco Di Vincenzo  Giacomo Prosser  Alfredo Caggianelli 《地学学报》2009,21(4):293-303

The Variscan crystalline basement of the Calabria–Peloritani terrane (CPT) in southern Italy was partly reworked by ductile and brittle shear zones throughout the Alpine tectonic evolution (from thickening to exhumation). Although evidence of extensional tectonics in the CPT has already been found and roughly constrained to the Oligocene onward, no attempt has ever been made to directly date brittle fault movements. Structural (meso- and micro-scale), kinematic and petrographic analyses and ⁴⁰Ar–³⁹Ar laser experiments reveal that the pseudotachylyte-bearing shear zones of the Palmi area in southern Calabria formed in response to extensional shearing ∼33.5 Ma ago and overprinted compressional tectonic structures. Results provide the first direct evidence of Middle Oligocene co-seismic faulting in the area and confirm the role of extensional tectonics in promoting the Oligocene exhumation of the Calabria basement.  相似文献   

Vorticity analysis of the Palmi shear zone mylonites: new insights for the Alpine tectonic evolution of the Calabria–Peloritani terrane (southern Italy)     

Vincenzo Festa  Giacomo Prosser  Alfredo Caggianelli  Antonietta Grande  Antonio Langone  Daniela Mele 《Geological Journal》2016,51(4):670-681

New microstructural data on the mylonites from the well‐exposed Palmi shear zone (southern Calabria) are presented with the aim to shed light on both the kinematics and the geometry of the southwestern branch of the Alpine belt during Eocene. In the study area, located between the Sardinia–Corsica block and the Calabria–Peloritani terrane, previous large‐scale geodynamic reconstructions suggest the presence of strike–slip or transform fault zones dissecting the southwestern branch of the Alpine belt. However, there are no field data supporting the occurrence of these structures. This paper uses vorticity analysis technique based on the aspect ratio and the long axis orientation of rigid porphyroclasts in mylonitic marbles and mylonitic granitoids, to estimate the contribution of pure and simple shear of deformation during the movement of the Palmi shear zone. Porphyroclasts aspect ratio and orientation were measured on thin sections using image analysis. Estimates of the vorticity number, W_m, indicate that the Palmi shear zone recorded general shear with a contribution of pure shear of c. 65%. Then, the Palmi shear zone can be interpreted as a segment of a left‐lateral transpressive bend along the southern termination of the Eocene Alpine front. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

Study and application of the resonant secular dynamics beyond Neptune     

Melaine Saillenfest  Marc Fouchard  Giacomo Tommei  Giovanni B. Valsecchi 《Celestial Mechanics and Dynamical Astronomy》2017,127(4):477-504

We use a secular representation to describe the long-term dynamics of transneptunian objects in mean-motion resonance with Neptune. The model applied is thoroughly described in Saillenfest et al. (Celest Mech Dyn Astron, doi: 10.1007/s10569-016-9700-5, 2016). The parameter space is systematically explored, showing that the secular trajectories depend little on the resonance order. High-amplitude oscillations of the perihelion distance are reported and localised in the space of the orbital parameters. In particular, we show that a large perihelion distance is not a sufficient criterion to declare that an object is detached from the planets. Such a mechanism, though, is found unable to explain the orbits of Sedna or \(2012\text {VP}_{113}\), which are insufficiently inclined (considering their high perihelion distance) to be possibly driven by such a resonant dynamics. The secular representation highlights the existence of a high-perihelion accumulation zone due to resonances of type 1:k with Neptune. That region is found to be located roughly at \(a\in [100;300]\) AU, \(q\in [50;70]\) AU and \(I\in [30;50]^{\circ }\). In addition to the flux of objects directly coming from the Scattered Disc, numerical simulations show that the Oort Cloud is also a substantial source for such objects. Naturally, as that mechanism relies on fragile captures in high-order resonances, our conclusions break down in the case of a significant external perturber. The detection of such a reservoir could thus be an observational constraint to probe the external Solar System.  相似文献   

Non-resonant secular dynamics of trans-Neptunian objects perturbed by a distant super-Earth     

Melaine Saillenfest  Marc Fouchard  Giacomo Tommei  Giovanni B. Valsecchi 《Celestial Mechanics and Dynamical Astronomy》2017,129(3):329-358

We use a secular model to describe the non-resonant dynamics of trans-Neptunian objects in the presence of an external ten-Earth-mass perturber. The secular dynamics is analogous to an “eccentric Kozai mechanism” but with both an inner component (the four giant planets) and an outer one (the eccentric distant perturber). By the means of Poincaré sections, the cases of a non-inclined or inclined outer planet are successively studied, making the connection with previous works. In the inclined case, the problem is reduced to two degrees of freedom by assuming a non-precessing argument of perihelion for the perturbing body. The size of the perturbation is typically ruled by the semi-major axis of the small body: we show that the classic integrable picture is still valid below about 70 AU, but it is progressively destroyed when we get closer to the external perturber. In particular, for \(a>150\) AU, large-amplitude orbital flips become possible, and for \(a>200\) AU, the Kozai libration islands at \(\omega =\pi /2\) and \(3\pi /2\) are totally submerged by the chaotic sea. Numerous resonance relations are highlighted. The most large and persistent ones are associated with apsidal alignments or anti-alignments with the orbit of the distant perturber.  相似文献   

The role of the land use, land use change and forestry sector in achieving Annex I reduction pledges   总被引：2，自引：2，他引：0  

Giacomo Grassi  Michel G. J. den Elzen  Andries F. Hof  Roberto Pilli  Sandro Federici 《Climatic change》2012,115(3-4):873-881

Annex I Parties may receive credits or debits from Land Use, Land Use Change and Forestry (LULUCF) activities, contributing to achieving individual emission reduction targets. In the Durban climate negotiations, Parties agreed new LULUCF accounting rules for the second commitment period of the Kyoto Protocol (CP2). By using these new rules, this paper presents key differences among Parties at the minimum (assuming no additional action) and potential (assuming additional actions) contribution of the forest-related LULUCF activities in achieving the pledges for 2020. Overall, the potential contribution of LULUCF is relatively modest (up to about 2 % of 1990 emissions) for the EU, the Annex I Parties likely joining the CP2, and for the Annex I Parties that joined the CP1 as a whole. However, for specific Parties, LULUCF can make a substantial contribution to achieving the pledges. For New Zealand, for instance, the potential contribution of future LULUCF credits may equal 33 % of its 1990 emission level. For Australia, the pledges are expressed relative to 2000 emission levels including LULUCF emissions. Given that LULUCF emissions have strongly declined between 1990 and 2000, and a further decline in foreseen by 2020 (based on Australia’s projections), the minimum contribution of LULUCF to meet the Australian pledges appears to be about 19 % and 7 % relative to its 1990 and 2000 emission level, respectively. A further 3 % potential contribution is estimated from additional actions.  相似文献   

Star formation in the starburst cluster in NGC 3603     

Matteo Correnti  Francesco Paresce  Rossella Aversa  Giacomo Beccari  Guido De Marchi  Marcella Di Criscienzo  Xiaoying Pang  Loredana Spezzi  Elena Valenti  Paolo Ventura 《Astrophysics and Space Science》2012,340(2):263-279

We have used new, deep, visible and near infrared observations of the compact starburst cluster in the giant HII region NGC 3603 and its surroundings with the WFC3 on HST and HAWK-I on the VLT to study in detail the physical properties of its intermediate mass (∼1–3 M_⊙) stellar population. We show that after correction for differential extinction and actively accreting stars, and the study of field star contamination, strong evidence remains for a continuous spread in the ages of pre-main sequence stars in the range ∼2 to ∼30 Myr within the temporal resolution available. Existing differences among presently available theoretical models account for the largest possible variation in shape of the measured age histograms within these limits. We also find that this isochronal age spread in the near infrared and visible Colour-Magnitude Diagrams cannot be reproduced by any other presently known source of astrophysical or instrumental scatter that could mimic the luminosity spread seen in our observations except, possibly, episodic accretion. The measured age spread and the stellar spatial distribution in the cluster are consistent with the hypothesis that star formation started at least 20–30 Myrs ago progressing slowly but continuously up to at least a few million years ago. All the stars in the considered mass range are distributed in a flattened oblate spheroidal pattern with the major axis oriented in an approximate South-East–North-West direction, and with the length of the equatorial axis decreasing with increasing age. This asymmetry is most likely due to the fact that star formation occurred along a filament of gas and dust in the natal molecular cloud oriented locally in this direction.  相似文献   

The Huygens scientific data archive: Technical overview     

Olivier Witasse  Lyle Huber  Jean-Pierre Lebreton  David Heather  John Zarnecki  Roland Trautner  Piero Leon Stoppato  Chuck See  Cyril Pennanech  Lisa McFarlane  Bobby Kazeminejad  Brijen Hathi  John Haberman  Francesca Ferri  Lyn Doose  Giacomo Colombatti  Michael Bird  Alessio Aboudan 《Planetary and Space Science》2008,56(5):770-777

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Long-term model of planimetric and bathymetric evolution of a tidal lagoon     

Giampaolo Di Silvio  Chiara Dall’Angelo  Davide Bonaldo  Giacomo Fasolato 《Continental Shelf Research》2010

This model is based on the concept of transport concentration, defined as the time-averaged concentration in a given location of a lagoon, which determines the long-term net transport of sediments as the sum of a dispersive and an advective flux. Dispersive net flux of sediments is due to the alternate components of the tidal flow, while the advective net flux of sediments is due to the residual (Eulerian) component of the tidal, fluvial and littoral flow and possibly to the asymmetry between flow and ebb tide.  相似文献   

Complementary techniques to assess physical properties of a fine soil irrigated with saline water   总被引：3，自引：2，他引：1  

Angelo Basile  Gabriele Buttafuoco  Giacomo Mele  Anna Tedeschi 《Environmental Earth Sciences》2012,66(7):1797-1807

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