Planar trajectory planning and tracking control design for underactuated AUVs   总被引：4，自引：0，他引：4  

Filoktimon Repoulias  Evangelos Papadopoulos   《Ocean Engineering》2007,34(11-12):1650-1667

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.  相似文献   

Effects of onshore and offshore topography on sea breeze circulation: An observational study at eastern Attica,Greece     

M. Varvayanni  C. G. Helmis  G. T. Amanatidis  D. N. Asimakopoulos  J. G. Bartzis  A. Soilemes  K. H. Papadopoulos  H. D. Kambezidis 《Pure and Applied Geophysics》1993,140(4):681-720

Field measurements of wind, air temperature and humidity were taken at the eastern part of the Attika district in June 1991, to examine the topographic influences exerted on the local sea breezes. These influences are due either to the elongated Evia island, faced by the northern half of Attica coastline some tens of kilometers offshore, or to the coast-parallel range of Hymettos mountain, rising steeply 12 km onshore. The instrumentation consisted mainly of three tethered meteorological balloons released at characteristic sires (i.e., the coast, a location between shoreline and mountain foot and the mountain top) and three autographic ground-based anemometers operating at selected locations. Data from the ground-based and upper air stations of the Hellenic National Meteorological Service, as well as the diurnal weather maps were also obtained and analyzed. Observations were made under different synoptic wind and the latter was found to determine remarkably the significance of the topographic effects. A preliminary two-dimensional numerical approach was also made concerning the sea breeze capability to reach the Hymettos mountain top in the case of a weak opposing geostrophic flow.  相似文献   

Hydrology, circulation and distribution of particulate matter in Thermaikos Gulf (NW Aegean Sea), during September 2001–October 2001 and February 2002     

V. Zervakis  A.P. Karageorgis  H. Kontoyiannis  V. Papadopoulos  V. Lykousis 《Continental Shelf Research》2005,25(19-20):2332

The hydrography, circulation and distribution of particulate matter in Thermaikos Gulf (NW Aegean Sea) are described, for September 2001 and October 2001 and February 2002. The observations were obtained to assess the impact of anthropogenic and natural resuspension processes on the coastal ecosystem. The first two periods represent highly stratified conditions and mild weather conditions; in September trawling is prohibited, whilst the October cruise took place following the commencement of the activity. The sampling in February was undertaken to record the contribution of natural resuspension to the system, in a stormy period.The water circulation was mainly baroclinic during autumn and barotropic in winter; this was due to vertical homogenisation of the water column, during the latter period. The distribution of the bottom nepheloid layer (BNL) was very different in the winter than in the autumn.Microstructure measurements were undertaken, which allowed the vertical eddy diffusivity to be estimated, together with the near-bed shear stresses. Computation of the diffusive flux of particulate matter (PM), from the BNL into the intermediate water column in response to turbulent motions, reveals that the PM flux was much higher in October than in September; this is despite the fact that the friction velocities were similar. This observation could explain partly the observed higher PM concentrations (PMC) in the intermediate layer, in October. Likewise suggest that the higher PMC in October could be attributed to trawling. The limited shear stress and friction velocity values obtained during the September and October cruises were always low; these were possibly capable of resuspending only recently deposited, “fluffy” material. Thus, the observed nepheloid layers are likely to be maintained by advection from the shallow water regions and trawled areas.  相似文献   

Geochemistry of beach sands from Sithonia Peninsula (Chalkidiki,Northern Greece)     

A. Papadopoulos  G. Christofides  G. Pe-Piper  A. Koroneos  L. Papadopoulou 《Mineralogy and Petrology》2015,109(1):53-66

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On some problems about testing stochastic models of the earthquake time series     

Gerassimos A. Papadopoulos 《Natural Hazards》1993,7(2):99-108

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Soil structure interactions to stress pulses traveling through the soil     

P.S. Theocaris  G.A. Papadopoulos  B. Badalouka 《Soil Dynamics and Earthquake Engineering》1991,10(7)

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Application of integrated methods in mapping waste disposal areas   总被引：2，自引：0，他引：2  

Pantelis Soupios  Nikos Papadopoulos  Ilias Papadopoulos  Maria Kouli  Filippos Vallianatos  Apostolos Sarris  Thrassyvoulos Manios 《Environmental Geology》2007,53(3):661-675

An integrated suite of environmental methods was used to characterize the hydrogeological, geological and tectonic regime of the largest waste disposal landfill of Crete Island, the Fodele municipal solid waste site (MSW), to determine the geometry of the landfill (depth and spatial extent of electrically conductive anomalies), to define the anisotropy caused by bedrock fabric fractures and to locate potential zones of electrically conductive contamination. A combination of geophysical methods and chemical analysis was implemented for the characterization and management of the landfill. Five different types of geophysical surveys were performed: (1) 2D electrical resistance tomography (ERT), (2) electromagnetic measurements using very low frequencies (VLF), (3) electromagnetic conductivity (EM31), (4) seismic refraction measurements (SR), and (5) ambient noise measurements (HVSR). The above geophysical methods were used with the aim of studying the subsurface properties of the landfill and to define the exact geometrical characteristics of the site under investigation.  相似文献   

Investigation of waste disposal areas using electrical methods: a case study from Chania,Crete, Greece   总被引：1，自引：0，他引：1  

Pantelis Soupios  Ilias Papadopoulos  Maria Kouli  Irene Georgaki  Filippos Vallianatos  Eleni Kokkinou 《Environmental Geology》2007,51(7):1249-1261

A geophysical investigation of a landfill area was conducted as inextricable phase of a preliminary geotechnical, geological and hydrogeological study of the area under investigation. Electrical resistivity tomography (ERT), one of the most promising prospecting techniques mainly concerning its effective contribution to resolve several environmental problems, was applied for the geophysical modeling. ERT is a robust imaging method the theory and implementation of which are well documented in geophysical research literature. The survey site is located in Akrotirion Peninsula, about 7 km east of Chania city in Crete I. The geological setting comprises Trypalion limestones, marly limestones and a clayed weathered layer. Cavities are also identified at various scales which are recent tectono-karstic voids. Due to the above-mentioned geological singularity and in the light of the requirement for an environmentally safe construction of the landfill, an ERT survey was carried out. Specifically, seven geoelectrical tomographies were conducted reaching the prospecting depth of 36 m. The resulted images conduced, to overcome geotechnical problems since the spatial distribution of karstic voids was determined, to plan the future sites for waste disposal as the geological conditions were studied in detail and to reliably estimate the thickness of the already deposited wastes. The resulted images were confirmed using available borehole logs and ambient noise measurements.  相似文献   

Conditional Probability Approach of the Assessment of Tsunami Potential: Application in Three Tsunamigenic Regions of the Pacific Ocean     

K. Orfanogiannaki  G. A. Papadopoulos 《Pure and Applied Geophysics》2007,164(2-3):593-603

We develop stochastic approaches to determine the potential for tsunami generation from earthquakes by combining two interrelated time series, one for the earthquake events, and another for the tsunami events. Conditional probabilities for the occurrence of tsunamis as a function of time are calculated by assuming that the inter-arrival times of the past events are lognormally distributed and by taking into account the time of occurrence of the last event in the time series. An alternative approach is based on the total probabilitiy theorem. Then, the probability for the tsunami occurrence equals the product of the ratio, r (= tsunami generating earthquakes/total number of earthquakes) by the conditional probability for the occurrence of the next earthquake in the zone. The probabilities obtained by the total probability theorem are bounded upwards by the ratio r and, therefore, they are not comparable with the conditional probabilities. The two methods were successfully tested in three characteristic seismic zones of the Pacific Ocean: South America, Kuril-Kamchatka and Japan. For time intervals of about 20 years and over the probabilities exceed 0.50 in the three zones. It has been found that the results depend on the approach applied. In fact, the conditional probabilities of tsunami occurrence in Japan are slightly higher than in the South America region and in Kuril-Kamchatka they are clearly lower than in South America. Probabilities calculated by the total probability theorem are systematically higher in South America than in Japan while in Kuril-Kamchatka they are significantly lower than in Japan. The stochastic techniques tested in this paper are promising for the tsunami potential assessment in other tsunamigenic regions of the world.  相似文献   

Tsunami hazard in the Eastern Mediterranean: strong earthquakes and tsunamis in Cyprus and the Levantine Sea     

Anna Fokaefs  Gerassimos A. Papadopoulos 《Natural Hazards》2007,40(3):503-526

A modern tsunami catalogue has been compiled for the region of Cyprus-Levantine Sea in which 24 certain or possible local tsunamis are listed from antiquity up to the present time, while six regional tsunamis, generated in the Hellenic arc, are documented which affected the region. Another set of 13 doubtful events not included in the catalogue are discussed. Tsunami intensities k and K were re-evaluated using the classic 6-grade and the new 12-grade intensity scales, respectively. The strongest tsunamis reported in the region of interest are those of 551 AD, 749, 1068, 1201, 1222, 1546 and 1759, all occurring along the Levantine coast from Gaza northward, with the exception of the 1222 wave which occurred in the Cyprean arc. The causative earthquakes, however, occur on land and are associated with the left-lateral strike-slip Levantine rift and, as such, remain unexplained. In this paper we speculate on the mechanism of these events. A second tsunami zone follows the Cyprean arc, where the situation of subaqueous seismogenic sources favours the generation of tsunamis by co-seismic fault displacements. Submarine or coastal earth slumping, however, may be an additional tsunamigenic component. Based on historical data, the average tsunami recurrence in the Cyprus-Levantine Sea region is roughly estimated to be around 30 years, 120 years and 375 years for moderate (k/K ≥ 2/3), strong (k/K ≥ 3/5) and very strong (k/K ≥ 5/8) events, respectively. The rate of tsunami occurrence equals 0.033, 8.3 × 10⁻³ and 2.7 × 10⁻³ events/year for intensity k/K ≥ 2/3, 3/5 and 5/8, respectively. For a Poissonian (random) process the probabilities of observing at least one moderate, strong or very strong tsunami are 0.28, 0.01 and 3 × 10⁻³ within 1 year, 0.81, 0.34 and 0.13 within 50 years and 0.96, 0.56 and 0.24 within 100 years, respectively. The tsunami potential in the Cyprus-Levantine Sea area is low relative to other Mediterranean tsunamigenic regions. However, the destructiveness of some historical events indicates the need to evaluate tsunami hazard by all available means. In addition, remote tsunamigenic sources, such as those of 1303 and 1481 in the eastern Hellenic arc, are able to threaten the coasts of the Cyprus-Levantine region and, therefore, such regional tsunamis should be taken into account in the evaluation of the tsunami risk of the region.  相似文献