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   

Biogeochemical mechanisms controlling trophic state and micropollutant concentrations in a tropical artificial lake     

Normara Yane Mar da Costa  Geraldo Resende Boaventura  Daniel Santos Mulholland  Daniel Ferreira Araújo  Ricardo C. A. Moreira  Kelson C. F. Faial  Eudes de Oliveira Bomfim 《Environmental Earth Sciences》2016,75(10):854

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Crustal structure in the southwestern part of the Iberian Peninsula     

S. Mueller  C. Prodehl  A.S. Mendes  V. Sousa Moreira 《Tectonophysics》1973,20(1-4):307-318

Seismic investigations to determine the crustal structure in the southwestern part of the Iberian Peninsula have been initiated in 1970. First experiments were carried out during July 1970, when a series of ten shots was fired off Cabo de Sines (Portugal) in shallow water and recorded up to distances of 185 km along a SE-profile towards Huelva (Spain). The profile was reversed in December 1970, when a series of twelve shots was fired off the south coast near Fuzeta (east of Faro) and recorded up to distances of about 260 km along a NW-profile towards Cabo da Roca west of Lisboa. A considerable increase in the seismic efficiency of the explosions could be achieved by generating standing waves in the water.

The structure deduced exhibits some peculiar features. Below the Palaeozoic sediments a fairly high velocity of 6.4 km/sec is found for the dome-shaped basement in that area. The lower crust, which is separated from the upper crust by a distinct velocity inversion (with a minimum velocity of about 5.3–5.6 km/sec), is characterized by a velocity of 7.1 km/sec. From the geological evidence and the sequence of seismic velocities it must be concluded that the upper crustal block in the southwestern part of the Iberian Peninsula has been uplifted by about 2–5 km since Permo-Triassic time, thus emphasizing the significance of vertical movement in tectonic activity.

The top of the upper mantle (8.15 km/sec) was detected at a depth of 30 km close to the Atlantic coast in the west, while near the Algarve coast in the south the depth to the M-discontinuity is about 34–35 km. This result in conjunction with studies of earthquake focal mechanisms confirms the suggestion that the Iberian block is being underthrust under the African plate.  相似文献   

Total and methylmercury in a Brazilian estuary,Rio de Janeiro     

Kehrig HA  Costa M  Moreira I  Malm O 《Marine pollution bulletin》2002,44(10):1018-1023

Guanabara Bay, in Rio de Janeiro state, is impacted by organic matter, oil and heavy metals. The present study evaluated the total mercury (THg) and methylmercury (MeHg) concentrations and the MeHg to THg ratio (%MeHg) in water samples from different points of the bay and in 245 organisms of three different trophic levels sampled between 1990 and 2000. Dissolved mercury concentration in estuarine water samples ranged from 0.72 to 5.23 ngl(-1). THg and MeHg in mussel, ranging from 11.6 to 53.5 microg THg kg(-1) wet wt. and 4.5-21.0 microg MeHg kg(-1) wet wt., varied according to sampling point and water quality. Planktivorous fish and mussel presented similar MeHg concentrations, meanwhile THg in planktivorous fish were lower than in mussel. Carnivorous fish showed higher THg and MeHg concentrations (199.5 +/- 119.3, 194.7 +/- 112.7 microg kg(-1) wet wt. respectively) than organisms from other feeding habits and lower trophic levels. There was a significant difference in the %MeHg among trophic levels: mussel presented lower MeHg percentage (33%) than planktivorous fish (54%) and carnivorous fish (98%).  相似文献   

Carbon sources of fish in an Amazonian floodplain lake     

A. Cristina B. Oliveira  M. Gercilia M. Soares  L. Antonio. Martinelli  M. Zacarias. Moreira 《Aquatic Sciences - Research Across Boundaries》2006,68(2):229-238

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Characterization of a chalcopyrite from Brazil by Mössbauer spectroscopy and other physicochemical techniques     

W. N. Mussel  E. Murad  J. D. Fabris  W. S. Moreira  J. B. S. Barbosa  C. C. Murta  W. P. Abrahão  J. W. V. De Mello  V. K. Garg 《Physics and Chemistry of Minerals》2007,34(6):383-387

We studied a chalcopyrite from a Cu ore deposit in Rio Grande do Sul, Brazil, by Mössbauer spectroscopy at room temperature and 110 K. Supporting methods to check for sample purity and to characterize further sample properties were slow-scanning X-ray powder diffraction and optical and microprobe analyses of polished sections of selected grains. Chemical analyses obtained using a scanning electron microscope equipped with an energy-dispersive X-ray spectrometer showed the sample to consist of homogeneous and essentially stoichiometric chalcopyrite (CuFeS₂). Mössbauer spectra taken at both the above temperatures consist of asymmetric magnetically ordered patterns with unequal intensities of the line pairs 1–6 and 2–5, pointing to the existence of non-equivalent or multiple Fe sites. Least-squares fittings evidenced that the resonance intensity ratio of subspectrum with lower quadrupole shift (indicative of a more symmetric environment) to that with higher shift is 69:31, at room temperature, and 68:32, at 110 K. Rietveld refinement of the XRD data indicates the existence of tetragonal [a = 0.52855(1) and c = 1.0412(1) nm] and cubic [a ₀ = 0.5273(2) nm] modifications in a proportion of 74:26, in good agreement with the Mössbauer data. The saturation magnetization of the sample was 32.7 J/(T kg), confirming the oxidation state of Fe as trivalent and pointing to little to no spin canting.  相似文献   

On the detection of pure sine waves embedded in a spectrum of stochastically excited p modes     

O. Moreira  T. Appourchaux  G. Berthomieu  T. Toutain 《Monthly notices of the Royal Astronomical Society》2005,357(1):191-199

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Upper mantle structure beneath the Mid-Atlantic Ridge north of the Azores based on observations of compressional wave     

L. Steinmetz  R. B. Whitmarsh  V. S. Moreira 《Geophysical Journal International》1977,50(2):353-380

Summary. Four seismic refraction profiles have been interpreted which serve to indicate the structure of the lithosphere near the Mid-Atlantic Ridge close to the Azores. An east–west profile which crosses the ridge axis yields a crustal structure. Although energy is propagated across the ridge axis within the crust the axial region marks a clear barrier to propagation within the mantle. A profile parallel to the axis (4 my isochron) shows, below a 7.6 km/s layer, a low-velocity zone underlain by an 8.3 km/s refractor 9 km below the sea bed. On profies normal to the ridge axis higher velocities, which are observed on lines shot towards the ridge, can be attributed to this refractor if it has a dip of several degrees away from the ridge. On another profile parallel to the axis (9 my isochron) a velocity of about 8.3 km/s is only found to exist much deeper at about 30 km depth. These observations are interpreted in the light of seismic refraction results recently obtained by Lewis & Snydsman and of quantitative petrological models, such as that of Bottinga & Allègre. A velocity model based on Bottinga & Allègre's model allows us to understand our results qualitatively. In particular the two 8.3 km/s refractors at 9 and 30 km depth correspond to two different residual peridotite layers. The upper layer contains 1.5–2 wt per cent water and as the lithosphere moves away from the ridge axis the temperature in this layer becomes low enough to start hydration reactions. These cause the low-velocity zone observed at 4 my and the total disappearance of the shallow level refractor before 9 my.  相似文献   

Deglacial palaeoclimate at Puerto del Hambre,subantarctic Patagonia,Chile     

Calvin J. Heusser  Linda E. Heusser  Thomas V. Lowell  Andrs Moreira M.  Simn Moreira M. 《第四纪科学杂志》2000,15(2):101-114

The primary objective of this study is to further substantiate multistep climatic forcing of late‐glacial vegetation in southern South America. A secondary objective is to establish the age of deglaciation in Estrecho de Magallanes–Bahía Inútil. Pollen assemblages at 2‐cm intervals in a core of the mire at Puerto del Hambre (53°36′21″S, 70°55′53″W) provide the basis for reconstructing the vegetation and a detailed account of palaeoclimate in subantarctic Patagonia. Chronology over the 262‐cm length of core is regulated by 20 AMS radiocarbon dates between 14 455 and 10 089 ¹⁴C yr BP. Of 13 pollen assemblage zones, the earliest representing the Oldest Dryas chronozone (14 455–13 000 ¹⁴C yr BP) records impoverished steppe with decreasing frequencies and loss of southern beech (Nothofagus). Successive 100‐yr‐long episodes of grass/herbs and of heath (Empetrum/Ericaceae) before 14 000 ¹⁴C yr BP infer deglacial successional communities under a climate of increased continentality prior to the establishment of grass‐dominated steppe. The Bølling–Allerød (13 000–11 000 ¹⁴C yr BP) is characterised by mesic grassland under moderating climate that with abrupt change to heath dominance after 12 000 ¹⁴C yr BP was warmer and not as humid. At the time of the Younger Dryas (11 000–10 000 ¹⁴C yr BP), grass steppe expanded with a return of colder, more humid climate. Later, with gradual warming, communities were invaded by southern beech. The Puerto del Hambre record parallels multistep, deglacial palaeoclimatic sequences reported elsewhere in the Southern Andes and at Taylor Dome in Antarctica. Deglaciation of Estrecho de Magallanes–Bahía Inútil is dated close to 14 455 ¹⁴C yr BP, invalidating earlier dates of between 15 800 and 16 590 ¹⁴C yr BP. Copyright © 2000 John Wiley & Sons, Ltd.  相似文献   

Sediments Quality Assessment of Jacarepaguá Lagoon: The Venue of the 2011 Rock in Rio     

José Tavares Araruna Júnior  Paula Elias Benedetti  Patrício José Moreira Pires  Ricardo Froitzheim Rinelli de Almeida 《洁净——土壤、空气、水》2012,40(9):906-910

In order to aid in the efforts of the 2016 Olympic Games, the organizers of 2011 Rock in Rio decided to build a permanent venue next to the Olympic Park. The area is problematic from the geotechnical point of view since it presents soils with low shear strength, low permeability, and high plasticity, so major soil improvement works were carried out. Bored soil–cement columns were placed to increase soil shear strength and reduce compressibility. A meter thick fill composed of gneiss residual soil was placed and trenches were digged to drain rainwater. However, earlier studies conducted on Jacarepaguá Lagoon have detected the presence of heavy metals in these sediments. In this study, an environmental survey on the Jacarepaguá Lagoon sediments took place in order to choose a place where its sediments could be dredged to be later used in the drainage facilities. The results indicated areas where the threshold level 1 (low probability of adverse effects) issued by the general procedures for sediments quality assessments for dredging purposes, Resolution no 344 of the Brazilian Federal Government, was surpassed. Levels above the limits established for cadmium (Cd), lead (Pb), copper (Cu), nickel (Ni), and zinc (Zn) were detected. Based on this consideration the State Environmental Agency issued a permit allowing the organizers of 2011 Rock in Rio to dredge an area close to City of Rock in order to obtain coarse sediments for the drainage facilities. In addition, it was found that those sediments were ideal for this application since their hydraulic conductivity is on the order of 10^?2 cm/s.  相似文献