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   

Detection of DNA damage in mussels and sea urchins exposed to crude oil using comet assay     

Taban IC  Bechmann RK  Torgrimsen S  Baussant T  Sanni S 《Marine environmental research》2004,58(2-5):701-705

The single-cell microgel electrophoresis assay or the comet assay was used to evaluate DNA damage of dispersed crude oil on sea urchins (Strongylocentrotus droebachiensis) and mussels (Mytilus edulis L.). Sea urchins were exposed to 0.06 and 0.25 mg/L dispersed crude oil in a continuous flow system, while the mussels were exposed to 0.015, 0.06 and 0.25 mg/L dispersed crude oil. Sea urchin coelomocytes and mussel haemocytes were sampled after 4 and 5 weeks exposure, respectively. In the sea urchin coelomocytes, there was a significant concentration-related increase in the percentage of DNA in comet tail. In mussel haemocytes, there was a significantly higher percentage of DNA in comet tail for all treatments compared to the control. The responses were concentration-related up to 0.06 mg/L oil. The two highest exposure concentrations of mussels were not significantly different from each other. These results indicate that the comet assay can be used for biomonitoring of DNA damage in marine invertebrates following oil contamination.  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   

Detecting lateral resistivity inhomogeneities with the Schlumberger array     

Marian Morris  Jan Steinar Rnning  Ole Bernt Lile 《Geophysical Prospecting》1997,45(3):435-448

A method of detecting lateral resistivity inhomogeneities with a multi-electrode cable for the Schlumberger array is presented. Using such a cable system, two dipole-dipole soundings are gathered in addition to the Schlumberger sounding at each point. Offset differences calculated from the dipole-dipole data give qualitative information about lateral resistivity inhomogeneities. Results from 1D modelling can give quantitative information about the 2D resistivity distribution since the dipole-dipole soundings are made to either side of the Schlumberger sounding point. Examples from two different locations in Norway are shown. At Reinøya, northern Norway, a dipping layer, confirmed by refraction seismic data, was identified. In a sedimentary basin with a contamination plume at Haslemoen, southern Norway, the method has revealed lateral variations in resistivity. In both cases, the Schlumberger soundings could be fitted with a 1D resistivity model.  相似文献   

Investigation of the change in soil fabric during cone penetration in silt using 2D measurements     

Priscilla Paniagua  Joana Fonseca  Anders Gylland  Steinar Nordal 《Acta Geotechnica》2018,13(1):135-148

Interpretation of CPTU testing in silt is non-trivial because of the partially drained conditions that are likely to occur during penetration. A better understanding of the pore pressure generation/dissipation is needed in order to obtain reliable design parameters. Following a previous study using X-ray computed tomography (micro-CT) with volumetric digital image correlation (3D-DIC) that clearly showed the formation of distinct dilation and compression areas around the cone; the present work takes a closer look at those areas in order to link volumetric behavior to changes in soil fabric. High-resolution 2D backscattered electron images of polished thin sections prepared from frozen samples at the end of penetration are used. The images have a spatial resolution of 0.4 µm/pixel that allow a clear identification of grains and pore spaces. Image processing techniques are developed to quantify local porosity and obtain the statistical distribution of the particle orientation for the zones around the cone tip and shaft. It is shown that the formation of compaction regions is related to the ability of the grains to rearrange and align along a well-defined preferred orientation forming a more closed-fabric characterized by high anisotropy values, while zones of dilation are associated with a more open packing with grains randomly oriented and with large voids within. These observations suggested that for a saturated soil, water will move from a compressive zone to a neighboring dilative zone, creating a short drainage path. By shedding light on the link between soil fabric and drainage patterns, this study contributes toward a better understanding of the measured macro-response during CPTU tests on silt.  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   

Combined three-dimensional electric and seismic tomography study on the Åknes rockslide in western Norway     

Björn Heincke  Thomas Günther  Einar Dalsegg  Jan Steinar Rønning  Guri Venvik Ganerød  Harald Elvebakk 《Journal of Applied Geophysics》2010,70(4):292-306

We present a combined 3-D geoelectric and seismic tomography study conducted on the large Åknes rockslide in western Norway. Movements on the slope are strongly influenced by water infiltration, such that the hydrogeological regime is considered as a critical factor affecting the slope stability. The aim of our combined geophysical study was to identify and visualize the main shallow tension fractures and to determine their effect on hydraulic processes by comparing the geophysical results with information from borehole logging and tracer tests. To resolve the complex subsurface conditions of the highly fractured rock mass, a three-dimensional set-up was chosen for our seismic survey. To map the water distribution within the rock mass, a pattern of nine intersecting 2-D geoelectric profiles covered the complete unstable slope. Six of them that crossed the seismic survey area were considered as a single data set in a 3-D inversion. For both methods, smoothing-constraint inversion algorithms were used, and the forward calculations and parameterizations were based on unstructured triangular meshes. A pair of parallel shallow low-velocity anomalies (< 1400 m/s) observed in the final seismic tomogram was immediately underlain by two anomalies with resistivities <13 kΩm in the resistivity tomogram. In combination with borehole logging results, the low-velocity and resistivity anomalies could be associated with the drained and water-filled part of the tension fractures, respectively. There were indications from impeller flowmeter measurements and tracer tests that such tension fractures intersected several other water-filled fractures and were responsible for distinct changes of the main groundwater flow paths.  相似文献   

Cenozoic erosion and the preglacial uplift of the Svalbard–Barents Sea region     

Panagiotis Dimakis  Bjrn Inge Braathen  Jan Inge Faleide  Anders Elverhi  Steinar T. Gudlaugsson 《Tectonophysics》1998,300(1-4)

The creation of the huge fans observed in the western Barents Sea margin can only be explained by assuming extremely high glacial erosion rates in the Barents Sea area. Glacial processes capable of producing such high erosion rates have been proposed, but require the largest part of the preglacial Barents Sea to be subaerial. To investigate the validity of these proposals we have attempted to reconstruct the western preglacial Barents Sea. Our approach was to combine erosion maps based on prepublished data into a single mean valued erosion map covering the whole western Barents Sea and consequently use it together with a simple Airy isostatic model to obtain a first rough estimate of the preglacial topography and bathymetry of the western Barents Sea margin. The mean valued erosion map presented herein is in good volumetric agreement with the sediments deposited in the western Barents Sea margin areas, and as a direct consequence of the averaging procedures employed in its construction we can safely assume that it is the most reliable erosion map based on the available information. By comparing the preglacial sequences with the glacial sequences in the fans we have concluded that 1/2 to 2/3 of the total Cenozoic erosion was glacial in origin and therefore a rough reconstruction of the preglacial relief of the western Barents Sea could be obtained. The results show a subaerial preglacial Barents Sea. Thus, during interglacials and interstadials the area may have been partly glaciated and intensively eroded up to 1 mm/y, while during relatively brief periods of peak glaciation with grounded ice extending to the shelf edge, sediments have been evacuated and deposited at the margins at high rates. The interplay between erosion and uplift represents a typical chicken and egg problem; initial uplift is followed by intensive glacial erosion, compensated by isostatic uplift, which in turn leads to the maintenance of an elevated, and glaciated, terrain. The information we have on the initial tectonic uplift suggests that the most likely mechanism to cause an uplift of the dimensions and magnitude of the one observed in the Barents Sea is a thermal mechanism.  相似文献   

Apparent radiocarbon ages of recent marine shells from Norway,Spitsbergen, and Arctic Canada     

Jan Mangerud  Steinar Gulliksen 《Quaternary Research》1975,5(2):263-273

The mean apparent radiocarbon ages of marine shells, colleted alive before the initiation of atomic bomb testing, and also before the main input of dead carbon derived from fossil fuels, are found to be 440 yr for the coast of Norway, 510 yr for Spitsbergen, and 750 yr for Ellesmere Island, Arctic Canada. The relationship between these apparent ages and the oceanic circulation pattern, is discussed. Also possible variations of the apparent ages back in time are discussed.  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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