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Multi-AUV Control and Adaptive Sampling in Monterey Bay   总被引：3，自引：0，他引：3  
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   
2.
Dynamics of heavy metals in the surface sediments of Mahanadi river estuarine system were studied for three different seasons. This study demonstrates that the relative abundance of these metals follows in the order of Fe > Mn > Zn > Pb > Cr > Ni ≥ Co > Cu > Cd. The spatial pattern of heavy metals supported by enrichment ratio data, suggests their anthropogenic sources possibly from various industrial wastes and municipal wastes as well as agricultural runoff. The metal concentrations in estuarine sediments are relatively higher than in the river due to adsorption/accumulation of metals on sediments during saline mixing, while there is a decreasing trend of heavy metal concentrations towards the marine side. The temporal variations for metals, such as Fe, Mn, Zn, Ni and Pb exhibit higher values during monsoon season, which are related to agricultural runoff. Higher elemental concentrations are observed during pre-monsoon season for these above metals (except Ni) at the polluted stations and for metals, such as Cr, Co and Cd at all sites, which demonstrate the intensity of anthropogenic contribution. R-mode factor analysis reveals that “Fe–Mn oxy hydroxide”, “organic matter”, “CaCO3”, and “textural variables” factors are the major controlling geochemical factors for the enrichment of heavy metals in river estuarine sediment and their seasonal variations, though their intensities were different for different seasons. The relationships among the stations are highlighted by cluster analysis, represented in dendrograms to categorize different contributing sites for the enrichment of heavy metals in the river estuarine system.  相似文献   
3.
Uncontrolled, yet fragmented peripheral urban expansion has emerged as a menace to urban development. To cope with this rapid urban expansion process, identification of the forces responsible for this rapid urban expansion is a pre-requisite, especially when its threats to habitability are taken into consideration. This study tries to evaluate fragmented uncontrolled urban expansion faced by Kolkata using cellular automata-Markov chain. Urban growth patterns, land use/land cover transformations and spatial allocation correspondence with planning strategy is the main theme of this study. Depending upon the driving forces, the study result indicates a bi-directional urban development potential surface, which might be a result of the biased planning initiative along with middle-class residential demand. This simulation result provides evidence for the planning authority to evaluate the effectiveness of spatial allocation and urban expansion trends and provide flexibility to modify the current allocation scenario.  相似文献   
4.
Joint capture of multiple species by multiple fleets results in technical and economic interactions between fleets. This paper develops a bioeconomic model that incorporates interrelationships between fleets for a representative fishery in India. The study analyzes the impacts of overcapitalization on bio-economic sustainability. Results show that a continuation of the current fishing intensity would deplete most commercially important species in the near future. However, an optimal effort re-allocation between fleets would increase fishery profits substantially, although some species would remain unsustainable. The study demonstrates how the newly emerging, large bodies of fishery data can be used for management decisions in developing countries.  相似文献   
5.
On August 24, 2016, an earthquake of magnitude 6.2 struck Central Italy (42.706°N and 13.223°E) at 1:36 UT. We present the results obtained from the US Navy VLF Transmitter’s NSY signal of 45.9 kHz transmitted from Niscemi, in the province of Sicily, Italy and received at the Kiel Longwave Monitor, Germany for 2016. We analysed the terminator times and their individual differences. We also analysed trends, dispersion and night time fluctuation which gave us a possible precursor the Italy earthquake. We found ionospheric perturbations in these parameters on 14th, 19th and 22nd of August, few days prior. Moreover, we filtered the possible effects due to lightning, storms and auroras if any.  相似文献   
6.
Deforestation is a major environmental challenge in the mountain areas of Pakistan. The study assessed trends in the forest cover in Chitral tehsil over the last two decades using supervised land cover classification of Landsat TM satellite images from 1992, 2000, and 2009, with a maximum likelihood algorithm. In 2009, the forest cover was 10.3% of the land area of Chitral(60,000 ha). The deforestation rate increased from 0.14% per annum in 1992–2000 to 0.54% per annum in 2000–2009, with 3,759 ha forest lost over the 17 years. The spatial drivers of deforestation were investigated using a cellular automaton modelling technique to project future forest conditions. Accessibility(elevation, slope), population density, distance to settlements, and distance to administrative boundary were strongly associated with neighbourhood deforestation. A model projection showed a further loss of 23% of existing forest in Chitral tehsil by 2030, and degradation of 8%, if deforestation continues at the present rate. Arandu Union Council, with 2212 households, will lose 85% of its forest. Local communities have limited income resources and high poverty and are heavily dependent on non-timber forest products for their livelihoods. Continued deforestation will further worsen their livelihood conditions, thus improved conservation efforts are essential.  相似文献   
7.
Sandstones of early Neoproterozoic Chandarpur Group, Chattisgarh Supergroup, central India display progressive change towards greater textural and mineralogical maturity from base to top of the succession. The clay-silt matrix decreases, sorting of sand grains improves, frequency of rounded grains increases, monocrystalline quartz content increases with concomitant decrease in polycrystalline quartz, feldspar and rock fragments. The trend of variations in different mineralogical and textural attributes, however, exhibits inflections at different stratigraphic levels. The sandstones of the basal Lohardih Formation are alluvial fan deposits, characterized by high matrix and feldspar content, iron-oxide impregnated highly angular grains and poor sorting. Petrographic properties collectively indicate that the sandstones were derived from a weathered granitic crust under a humid climatic condition. Abundance of well rounded grains within the alluvial fan and overlying braided fluvial deposit indicates prolonged wind action during episodes of high aridity. The shallow marine deposit overlying the fluvial deposits in the upper part of the Lohardih Formation exhibits bed-to-bed variation in the frequency of angular grains, feldspar content and overall maturity suggesting environmentally controlled segregation of sediments. The abrupt appearance of coarse-grained immature sandstones with concomitant reappearance of iron-oxide impregnated/altered feldspar grains in the upper part of the shelf deposits of the Chaporadih Formation point to a phase of tectonic uplift that possibly triggered a regression. Continued regression and peneplanation heralded the deposition of supermature medium-grained purple quartzarenite of the upper shoreface Kansapathar Formation in the uppermost part of the Chandarpur succession under a hot desertic climatic condition. The provenance analysis revealed that the Chandarpur clastics were derived from granites and granite-gneisses of a continental block tectonic provenance. Petrographic studies further indicate that high grade metamorphic rocks did not make any perceptible contribution to the Chandarpur system. The Eastern Ghats Granulite Belt apparently did not emerge till the early Neoproterozoic.  相似文献   
8.
Black sands rich in chromian spinel commonly occur in pockets along the eastern shoreline of Andaman Island where various types of peridotites and volcanics belonging to the Andaman ophiolite suite are exposed in close vicinity. The chemistry of these detrital chromian spinels has been extensively used here in identifying the source rocks vis-à-vis deciphering the source characteristics. The composition of the chromian spinels (Cr#: 0.20–0.88, Mg#: 0.26–0.77, Al 2 O 3: 5.04–48.21 wt.%, TiO 2: up to 1.39 wt.% and Fe 2+/Fe 3+: 1.73–9.12) varies widely signifying multiple sources, of which mantle peridotites and volcanic rocks are relevant in an ophiolitic terrain. The volcanic chromian spinels are relatively fresh, commonly euhedral, sometimes with compositional variations, and contain inclusions in contrast to the mantle peridotitic chromian spinels which are rounded, extensively fractured, and altered. We used a number of geochemical bivariate plots in order to know the provenance protoliths. The volcanic chromian spinels show geochemical characters of MORB, related to spreading centers (either MOR or back-arc) and also boninites/arc-tholeiites, related to active subduction. On the other hand, the peridotitic spinels indicate partially depleted lherzolite and depleted harzburgite source of the ophiolite suite.  相似文献   
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