Path following control system for a tanker ship model     

Lúcia Moreira  Thor I. Fossen  C. Guedes Soares   《Ocean Engineering》2007,34(14-15):2074-2085

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.  相似文献   

The fall and rise of metropolitan government in Copenhagen     

Hans Thor Andersen  Frank Hansen  John Jørgensen 《GeoJournal》2002,58(1):43-52

In this paper it is argued that the re-establishment of a metropolitan government in the Greater Copenhagen Area in 2000 (Greater Copenhagen Authority) is not to be seen as a return to the kind of regional, coordinative authority (Greater Copenhagen Council) that was abolished in the Thatcherite climate of the 1980s. Throughout the 1980s and 1990s new forms of urban governance, entrepreneurialism and a higher national priority to the capital region were introduced, which changed the conditions under which the new metropolitan government is operating. This `contextualization' of the analysis of the two generations of metropolitan government points to the fact that typologies of metropolitan government, such as the one put forward by Sharpe (1995), often lacks analytical cogency. This revised version was published online in August 2006 with corrections to the Cover Date.  相似文献   

A catalogue of major and trace element data for Icelandic Holocene silicic tephra layers     

RH. H. Meara  TH. Thordarson  N. J. G. Pearce  C. Hayward  G. Larsen 《第四纪科学杂志》2020,35(1-2):122-142

Tephra layers with Icelandic provenance have been identified across the North Atlantic region in terrestrial, lacustrine, marine and glacial environments. These tephra layers are used as marker horizons in tephrochronology including climate studies, archaeology and environmental change. The major element chemistries of 19 proximally deposited Holocene Icelandic silicic tephra layers confirm that individual volcanic systems have unique geochemical signatures and that eruptions from the same system can often be distinguished. In addition, glass trace element chemistry highlights subtle geochemical variations between tephra layers which appear to have identical major element chemistry and thus allows for the identification of some, if not all, tephra layers previously considered identical in composition. This paper catalogues the compositional variation between the widespread Holocene Icelandic silicic tephra deposits.  相似文献   

Long range forecasts of Northern Hemisphere 500 mb height fields by ARIMA modesl     

Dr. Thor Jakobsson 《Meteorology and Atmospheric Physics》1979,28(2-3):149-158

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Comparison of seismic activity for Llaima and Villarrica volcanoes prior to and after the Maule 2010 earthquake     

Cindy Mora-Stock  Martin Thorwart  Tina Wunderlich  Stefan Bredemeyer  Thor H. Hansteen  Wolfgang Rabbel 《International Journal of Earth Sciences》2014,103(7):2015-2028

Llaima and Villarrica are two of the most active volcanoes in the Chilean Southern Volcanic Zone and presently show contrasting types of activity. Llaima is a closed vent edifice with fumarolic activity, while Villarrica has an open vent with a lava lake, continuous degassing and tremor activity. This study is focused on characterizing the relationships between volcanic and seismic activity in the months before and after the 2010 M8.8 Maule earthquake, which was located in NNW direction from the volcanoes. Time series for tremors, long-period and volcano-tectonic events were obtained from the catalogue of the Volcanic Observatory of the Southern Andes (OVDAS) and from the SFB 574 temporary volcanic network. An increase in the amount of tremor activity, long-period events and degassing rates was observed at Villarrica weeks before the mainshock and continued at a high level also after it. This increase in activity is interpreted to be caused by enhanced magma influx at depth and may be unrelated to the Maule event. In Llaima, an increase in the volcano-tectonic activity was observed directly after the earthquake. The simultaneous post-earthquake activity at both volcanoes is consistent with a structural adjustment response. Since this enhanced activity lasted for more than a year, we suggest that it is related to a medium-term change in the static stress. Thus, the Maule earthquake may have affected both volcanoes, but did not trigger eruptions, from which we assume that none of the volcanoes were in a critical state.  相似文献   

The AD 1362 Öræfajökull eruption,S.E. Iceland: Physical volcanology and volatile release     

Kirti Sharma  Stephen Self  Stephen Blake  Thorvaldur Thordarson  Gudrun Larsen 《Journal of Volcanology and Geothermal Research》2008

The explosive rhyolitic eruption of Öræfajökull volcano, Iceland, in AD 1362 is described and interpreted based on the sequence of pyroclastic fall and flow deposits at 10 proximal locations around the south side of the volcano. Öræfajökull is an ice-clad stratovolcano in south central Iceland which has an ice-filled caldera (4–5 km diameter) of uncertain origin. The main phase of the eruption took place over a few days in June and proceeded in three main phases that produced widely dispersed fallout deposits and a pyroclastic flow deposit. An initial phase of phreatomagmatic eruptive activity produced a volumetrically minor, coarse ash fall deposit (unit A) with a bi-lobate dispersal. This was followed by a second phreatomagmatic, possibly phreatoplinian, phase that deposited more fine ash beds (unit B), dispersed to the SSE. Phases A and B were followed by an intense, climactic Plinian phase that lasted ∼ 8–12 h and produced unit C, a coarse-lapilli, pumice-clast-dominated fall deposit in the proximal region. At the end of Plinian activity, pyroclastic flows formed a poorly-sorted deposit, unit D, presently of very limited thickness and exposed distribution. Much of Eastern Iceland is covered with a very fine distal ash layer, dispersed to the NE. This was probably deposited from an umbrella cloud and is the distal representation of the Plinian fallout. A total bulk fall deposit volume of ∼ 2.3 km³ is calculated (∼ 1.2 km³ DRE). Pyroclastic flow deposit volumes have been crudely estimated to be < 0.1 km³. Maximum clast size data interpreted by 1-D models suggests an eruption column ∼ 30 km high and mass discharge rates of ∼ 10⁸ kg s^− 1. Ash fall may have taken place from heights around 15 km, above the local tropopause (∼ 10 km), with coarser clasts dispersed below that under a different wind regime. Analyses of glass inclusions and matrix glasses suggest that the syn-eruptive SO₂ release was only ∼ 1 Mt. This result is supported by published Greenland ice-core acidity peak data that also suggest very minor sulphate deposition and thus SO₂ release. The small sulphur release reflects the low sulphur solubility in the 1362 rhyolitic melt. The low tropopause over Iceland and the 30-km-high eruption column certainly led to stratospheric injection of gas and ash but little sulphate aerosol was generated. Moreover, pre-eruptive and degassed halogen concentrations (Cl, F) indicate that these volatiles were not efficiently released during the eruption. Besides the local pyroclastic flow (and related lahar) hazard, the impact of the Öræfajökull 1362 eruption was perhaps restricted to widespread ash fall across Eastern Iceland and parts of northern Europe.  相似文献   

Katla volcano,Iceland: magma composition,dynamics and eruption frequency as recorded by Holocene tephra layers   总被引：1，自引：0，他引：1  

Bergrún Arna Óladóttir  Olgeir Sigmarsson  Gudrun Larsen  Thor Thordarson 《Bulletin of Volcanology》2008,70(4):475-493

The Katla volcano in Iceland is characterized by subglacial explosive eruptions of Fe–Ti basalt composition. Although the nature and products of historical Katla eruptions (i.e. over the last 1,100 years) at the volcano is well-documented, the long term evolution of Katla’s volcanic activity and magma production is less well known. A study of the tephra stratigraphy from a composite soil section to the east of the volcano has been undertaken with emphasis on the prehistoric deposits. The section records ∼8,400 years of explosive activity at Katla volcano and includes 208 tephra layers of which 126 samples were analysed for major-element composition. The age of individual Katla layers was calculated using soil accumulation rates (SAR) derived from soil thicknesses between ¹⁴C-dated marker tephra layers. Temporal variations in major-element compositions of the basaltic tephra divide the ∼8,400-year record into eight intervals with durations of 510–1,750 years. Concentrations of incompatible elements (e.g. K₂O) in individual intervals reveal changes that are characterized as constant, irregular, and increasing. These variations in incompatible elements correlate with changes in other major-element concentrations and suggest that the magmatic evolution of the basalts beneath Katla is primarily controlled by fractional crystallisation. In addition, binary mixing between a basaltic component and a silicic melt is inferred for several tephra layers of intermediate composition. Small to moderate eruptions of silicic tephra (SILK) occur throughout the Holocene. However, these events do not appear to exhibit strong influence on the magmatic evolution of the basalts. Nevertheless, peaks in the frequency of basaltic and silicic eruptions are contemporaneous. The observed pattern of change in tephra composition within individual time intervals suggests different conditions in the plumbing system beneath Katla volcano. At present, the cause of change of the magma plumbing system is not clear, but might be related to eruptions of eight known Holocene lavas around the volcano. Two cycles are observed throughout the Holocene, each involving three stages of plumbing system evolution. A cycle begins with an interval characterized by simple plumbing system, as indicated by uniform major element compositions. This is followed by an interval of sill and dyke system, as depicted by irregular temporal variations in major element compositions. This stage eventually leads to a formation of a magma chamber, represented by an interval with increasing concentrations of incompatible elements with time. The eruption frequency within the cycle increases from the stage of a simple plumbing system to the sill and dyke complex stage and then drops again during magma chamber stage. In accordance with this model, Katla volcano is at present in the first interval (i.e. simple plumbing system) of the third cycle because the activity in historical time has been characterized by uniform magma composition and relatively low eruption frequency.  相似文献   

A nonlinear PDE formulation for offshore vessel pipeline installation     

Gullik A. Jensen  Niklas Säfström  Thor I. Fossen 《Ocean Engineering》2010,37(4):365-2819

In this paper a nonlinear dynamic PDE formulation for a pipe string suspended from a pipelay vessel to the seabed in a pipelay operation is developed. This model extends a three-dimensional beam model capable of undergoing finite extension, shearing, twist and bending, to apply for marine applications by adding the effects of restoring forces, hydrodynamic drag and seabed interaction. The model is validated against the natural catenary equation and the FEM code RIFLEX. The model is extended to include the pipelay vessel dynamics by applying a potential theory formulation of a surface vessel, suited for dynamic positioning and low speed maneuvering, as a boundary condition for the PDE. This system is found to be input-output passive and stable. Pipeline installation applications where the presented model is suited are e.g., analysis and simulation of the installation operation, operability analysis, hardware-in-the-loop (HIL) testing for vessel control systems, and automation of the pipelay operation.  相似文献   

Fluid and silicate glass inclusions in ultramafic and mafic xenoliths from Hierro,Canary Islands: implications for mantle metasomatism   总被引：4，自引：1，他引：4  

Thor H. Hansteen  Tom Andersen  Else-Ragnhild Neumann  Hielke Jelsma 《Contributions to Mineralogy and Petrology》1991,107(2):242-254

Fluid and solid inclusions have been studied in selected samples from a series of spinel-bearing Crdiopside-and Al-augite-series ultramafic (harzburgites, lherzolites, and olivine-clinopyroxene-rich rocks), and gabbroic xenoliths from Hierro, Canary Islands. In these samples several generations of fluid inclusions and ultramafic-and mafic-glass inclusions may be texturally related to different stages of crystal growth. The fluid inclusions consist of pure, or almost pure, CO₂. The solid inclusions in the ultramafic xenoliths comprise early inclusions of devitrified ultramafic glass, sulphide inclusions, as well as polyphase inclusions (spinel+clinopyroxene±glass±other silicates) believed to have formed from trapped basaltic melts. Vitreous basaltic glass±CO₂±sulphide±silicates are common as secondary inclusions in the ultramafic xenoliths, and as primary inclusions in the gabbroic xenoliths. Microthermometry gives minimum trapping temperatures of 1110° C for the early ultramafic-and mafic-glass inclusions, and a maximum of 1260–1280° C for late inclusions of host basaltic glass. In most samples the CO₂ inclusions show a wide range in homogenization temperatures (-40 to +31° C) as a result of decrepitation during ascent. The lowest homogenization temperatures of about-40° C, recorded in some of the smallest CO₂ inclusions, indicate a minimum depth of origin of 35 km (12 kbar) for both the Cr-diopside-and Al-augite-series xenoliths. The gabbroic xenoliths originate from a former magma chamber at a depth of 6–12 km.Contribution no. 100 of the Norwegian programme of the International Lithosphere Project  相似文献   

Fish are attracted to vessels   总被引：1，自引：0，他引：1  

Rostad  Anders; Kaartvedt  Stein; Klevjer  Thor A.; Melle  Webjorn 《ICES Journal of Marine Science》2006,63(8):1431-1437

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