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   

ANNOUNCEMENT     

Derek W. G. Sears 《Meteoritics & planetary science》1991,26(3):264-264

  相似文献   

Holes at Lindal     

Derek Leviston 《Geology Today》2001,17(3):93-95

  相似文献   

Meteorites with your breakfast cereal     

Derek Sears 《Meteoritics & planetary science》2001,36(10):1291-1291

  相似文献   

Astrophysics,Asteroids, Aubrites,Unusual Meteorites and a New Associate Editor     

Derek Sears 《Meteoritics & planetary science》1993,28(4):487-487

  相似文献   

Is Kaidun really the Rosetta stone?     

Derek Sears 《Meteoritics & planetary science》1996,31(5):543-544

  相似文献   

Tribute to John Wasson     

Ed Anders  Derek Sears 《Meteoritics & planetary science》1992,27(1):2-2

  相似文献   

Design and application of a direct-push vadose zone gravel permeameter     

Miller RB  Heeren DM  Fox GA  Storm DE  Halihan T 《Ground water》2011,49(6):920-925

A borehole permeameter is well suited for testing saturated hydraulic conductivity (K(sat)) at specific depths in the vadose zone. Most applications of the method involve fine-grained soils that allow hand auguring of test holes and require a small water reservoir to maintain a constant head. In non-cohesive gravels, hand-dug test holes are difficult to excavate, holes are prone to collapse, and large volumes of water are necessary to maintain a constant head for the duration of the test. For coarse alluvial gravels, a direct-push steel permeameter was designed to place a slotted pipe at a specific sampling depth. Measurements can be made at successive depths at the same location. A 3790 L (1000 gallons) trailer-mounted water tank maintained a constant head in the permeameter. Head in the portable tank was measured with a pressure transducer and flow was calculated based on a volumetric rating curve. A U.S. Bureau of Reclamation analytical method was utilized to calculate K(sat). Measurements with the permeameter at a field site were similar to those reported from falling-head tests.  相似文献   

Numerical simulations of granular dynamics II: Particle dynamics in a shaken granular material     

Naomi Murdoch  Patrick Michel  Derek C. Richardson  Kerstin Nordstrom  Christian R. Berardi  Simon F. Green  Wolfgang Losert 《Icarus》2012,219(1):321-335

Surfaces of planets and small bodies of our Solar System are often covered by a layer of granular material that can range from a fine regolith to a gravel-like structure of varying depths. Therefore, the dynamics of granular materials are involved in many events occurring during planetary and small-body evolution thus contributing to their geological properties.We demonstrate that the new adaptation of the parallel N-body hard-sphere code pkdgrav has the capability to model accurately the key features of the collective motion of bidisperse granular materials in a dense regime as a result of shaking. As a stringent test of the numerical code we investigate the complex collective ordering and motion of granular material by direct comparison with laboratory experiments. We demonstrate that, as experimentally observed, the scale of the collective motion increases with increasing small-particle additive concentration.We then extend our investigations to assess how self-gravity and external gravity affect collective motion. In our reduced-gravity simulations both the gravitational conditions and the frequency of the vibrations roughly match the conditions on asteroids subjected to seismic shaking, though real regolith is likely to be much more heterogeneous and less ordered than in our idealised simulations. We also show that collective motion can occur in a granular material under a wide range of inter-particle gravity conditions and in the absence of an external gravitational field. These investigations demonstrate the great interest of being able to simulate conditions that are to relevant planetary science yet unreachable by Earth-based laboratory experiments.  相似文献   

N-body simulations of cohesion in dense planetary rings: A study of cohesion parameters     

Randall P. Perrine  Derek C. Richardson 《Icarus》2012,219(2):515-533

We present results from a large suite of simulations of Saturn’s dense A and B rings using a new model of particle sticking in local simulations (Perrine, R.P., Richardson, D.C., Scheeres, D.J. [2011]. Icarus 212, 719–735). In this model, colliding particles can be incorporated into or help fragment rigid aggregations on the basis of certain user-specified parameters that can represent van der Waals forces or interlocking surface frost layers.Our investigation is motivated by laboratory results that show that interpenetration of surface layers can allow impacting frost-covered ice spheres to stick together. In these experiments, cohesion only occurs below specific impact speeds, which happen to be characteristic of impact speeds in Saturn’s rings. Our goal is to determine if weak bonding is consistent with ring observations, to constrain cohesion parameters in light of existing ring observations, to make predictions about particle populations throughout the rings, and to discover other diagnostics that may constrain bonding parameters.We considered the effects of five parameters on the equilibrium characteristics of our ring simulations: speed-based merge and fragmentation limits, bond strength, ring surface density, and patch orbital distance (i.e., the A or B ring), some with both monodisperse and polydisperse comparison cases. In total, we present data from 95 simulations.We find that weak cohesion is consistent with observations of the A and B rings (e.g., French, R.G., Nicholson, P.D. [2000]. Icarus 145, 502–523), and we present a range of simulation parameters that reproduce the observed size distribution and maximum particle size. It turns out that the parameters that match observations differ between the A and B rings, and we discuss the potential implications of this result. We also comment on other observable consequences of cohesion for the rings, such as optical depth and scale height effects, and discuss whether very large objects (e.g., “propeller” source objects) are grown bottom-up from cohesion of smaller ring particles.  相似文献