The emergence of biorobotic autonomous undersea vehicle (AUV) as a focus for discipline-integrated research in the context of underwater propulsion and maneuvering is considered within the confines of the Biorobotics Program in the Office of Naval Research. The significant advances in three disciplines, namely the biology-inspired high-lift unsteady hydrodynamics, artificial muscle technology and neuroscience-based control, are discussed in an effort to integrate them into viable products. The understanding of the mechanisms of delayed stall, molecular design of artificial muscles and the neural approaches to the actuation of control surfaces is reviewed in the context of devices based on the pectoral fins of fish, while remaining focused on their integrated implementation in biorobotic AUVs. A mechanistic understanding of the balance between cruising and maneuvering in swimming animals and undersea vehicles is given. All aquatic platforms, in both nature and engineering, except during short duration burst speeds that are observed in a few species, appear to lie within the condition where their natural period of oscillation equals the time taken by them to travel the distance of their own lengths. Progress in the development of small underwater experimental biorobotic vehicles is considered where the three aforementioned disciplines are integrated into one novel maneuvering device or propulsor. The potential in maneuvering and silencing is discussed. 相似文献
Results of comparison exercises carried out between the state-of-the-art TOPEX/POSEIDON altimeter-derived ocean surface wind speed and ocean wave parameters (significant wave height and wave period) and those measured by a set of ocean data buoys in the North Indian Ocean are presented in this article. Altimeter-derived significant wave height values exhibited rms deviation as small as ±0.3 m, and surface wind speed of ±1.6 m/s. These results are found consistent with those found for the Pacific Ocean. For estimation of ocean wave period, the spectral moments-based semiempirical approach, earlier applied on GEOSAT data, was extended to TOPEX/POSEIDON. For this purpose, distributions of first four years of TOPEX/POSEIDON altimeter data and climatology over the North Indian Ocean were analyzed and a new set of coefficients generated for estimation of wave period. It is shown that wave periods thus estimated from TOPEX/POSEIDON data (for the subsequent two years), when compared with independent data set of ocean data buoys deployed in the North Indian Ocean, exhibit improved accuracy (rms ~ ±1.4 nos) over those determined earlier with GEOSAT data. 相似文献
Basal part of the Gondwana Supergroup represented by Talchir and Karharbari Formations (Permo-Carboniferous) records an abrupt
change-over from glacio-marine to terrestrial fluviolacustrine depositional environment. The contact between the two is an
unconformity. Facies analysis of the glacio-marine Talchir Formation reveals that basal glaciogenic and reworked glaciogenic
sediments are buried under storm influenced inner and outer shelf sediments. Facies associations of the Karharbari Formation
suggest deposition as fluvio-lacustrine deposits in fault-controlled troughs. An attempt has been made in this paper to explain
the sedimentation pattern in Talchir and Karharbari basins, and the abrupt change-over from glacio-marine to terrestrial fluviolacustrine
depositional environment in terms of glacio-isostacy. 相似文献
The present study attempts to identify the land - ocean contrast in cloud - aerosol relation during lightning and non-lightning days and its effect on subsequent precipitation pattern. The thermal hypothesis in view of Convective Available Potential Energy (CAPE) behind the land - ocean contrast is observed to be insignificant in the present study region. The result shows that the lightning activities are significantly and positively correlated with aerosols over both land and ocean in case of low aerosol loading whereas for high aerosol loading the correlation is significant but, only over land. The study attempts to comprehend the mechanism through which the aerosol and lightning interact using the concept of aerosol indirect effect that includes the study of cloud effective radius, cloud fraction and precipitation rate. The result shows that the increase in lightning activity over ocean might have been caused due to the first aerosol indirect effect, while over land the aerosol indirect effect might have been suppressed due to lightning. Thus, depending on the region and relation between cloud parameters it is observed that the precipitation rate decreases (increases) over ocean during lightning (non-lightning) days. On the other hand during non-lightning days, the precipitation rate decreases over land. 相似文献
International Journal of Earth Sciences - In the present study we investigate the microstructural development in mullite, quartz and garnet in an anatectic migmatite hosted within a Grenvillian-age... 相似文献
The present research is an attempt to assess the Barakar Formation of the Raniganj Gondwana Basin, India, in the frame of fluvio-marine (estuarine) depositional systems using sequence stratigraphic elements. Analysis of predominant facies associations signify deposition in three sub-environments: (i) a river-dominated bay-head delta zone in the inner estuary, with transition from braided fluvial channels (FA-B1) to tide-affected meandering fluvial channels and flood plains (FA-B2) in the basal part of the succession; (ii) a mixed energy central basin zone, which consists of transitional fluvio-tidal channels (FA-B2), tidal flats, associated with tidal channels and bars (FA-B3) in the middle-upper part of the succession; and (iii) a wave-dominated outer estuary (coastal) zone (FA-B4 with FA-B3) in the upper part of the succession. Stacked progradational (P1, P2)–retrogradational (R1, R2) successions attest to one major base level fluctuation, leading to distinct transgressive–regressive (T–R) cycles with development of initial falling stage systems tract (FSST), followed by lowstand systems tract (LST) and successive transgressive systems tracts (TST-1 and TST-2). Shift in the depositional regime from regressive to transgressive estuarine system in the early Permian Barakar Formation is attributed to change in accommodation space caused by mutual interactions of (i) base level fluctuations in response to climatic amelioration and (ii) basinal tectonisms (exhumation/sagging) related to post-glacial isostatic adjustments in the riftogenic Gondwana basins. 相似文献
The relevance of groundwater hydrogeochemistry to explain the occurrence and distribution of arsenic in groundwater is of great interest. The insightful discussions on the control of shallow groundwater (< 50 m) hydrogeochemistry in arsenic mobilization are known to be a viable tool to explain the arsenic menace in shallow groundwater. The present investigation emphasizes the hydrogeochemical driver and/or control over the reductive dissolution of Fe-bearing host minerals and thereby releasing arsenic into the shallow groundwater of the study area. The study suggests that hydrogeochemical evolution is mainly governed by carbonate minerals dissolution, silicate weathering, and competitive ion-exchange processes in the shallow aquifers (< 50 m). The present study also indicates the prevalence of carbonate minerals dissolution over silicate weathering. The emergence of Cl− concentration in the shallow groundwater founds the possibilities of anthropogenic inputs into the shallow aquifers (< 50 m). The reducing environment in shallow aquifers (< 50 m) of the study area is evident in the reductive dissolution of Fe- bearing shallow aquifer minerals which absorb arsenic in the solid phase and mobilize arsenic onto shallow groundwater. The study opted for many statistical approaches to delineate the correlation among major and minor ionic constituents of the groundwater which are very helpful to understand the comprehensive mechanism of arsenic mobilization into shallow groundwater.
Trace-element geochemistry of sandstones are being used to determine provenance. We have conducted preliminary and limited experiments to determine to what extent daughter sands retain the geochemical signature of parent rocks. Six sets of first-order stream sediments, soils from adjacent slopes, and a variety of parent rocks were collected from southwestern Montana, U.S.A. Sampling in a low-relief area ensured that climate and residence time of soils on slopes could be eliminated as variables. Sand-size fractions of stream sediments and soils, and the corresponding parent rocks (granodiorite, quartz monzonite, granite gneiss, biotite-tonalite gneiss and amphibolite) were analyzed for most major elements and selected trace elements. Petrologic modal analysis of the parent rocks and the 0.25–0.50-mm fraction of each sand was done to monitor major mineralogic control, if any, on chemical compositions of the samples.
Our data show that the abundances of the Si and Al in sediments do not discriminate provenance. Abundances of Ca, Mg, Fe and Ti may broadly distinguish between sands derived from metamorphic and igneous source rocks, at least in the area studied. Differences in abundances of the Ba and Th, and the ratio of La/Lu between granitic, tonalitic and amphibolitic parent rocks are preserved in the daughter sediments that we studied. However, the size of the Eu anomaly in the REE patterns of different daughter sediments is not diagnostic of parent rocks. Abundances of Co and Sc distinguish between sediments derived from felsic and mafic rocks. A better provenance discrimination is obtained if the ratios La/Sc, Th/Sc, La/Co, Ba/Sc and Ba/Co are used.
Petrologic modal data show that mineral contents and chemical compositions of parent rocks are compatible with each other. The chemical composition of the sands may be roughly correlated to the petrological modal data but the abundances of some minor and trace elements of sediments cannot be inferred from modal mineralogy. This is expected because these elements may concentrate in accessory minerals and/or may weather out into aqueous or clay mineral fractions; it is also compatible with conclusions of previous studies that some of these elements do not reside in sand-size fractions of siliciclastic sediments. 相似文献
