Generalization of the collision cone approach for motion safety in 3-D environments

Avoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion based avoidance strategies.

Frequency domain turbo equalization for MIMO-CPSC systems with large delay spreads

In this paper, we consider low-complexity turbo equalization for multiple-input multiple-output (MIMO) cyclic prefixed single carrier (CPSC) systems in MIMO inter-symbol interference (ISI) channels characterized by large delay spreads. A low-complexity graph based equalization is carried out in the frequency domain. Because of the reduction in correlation among the noise samples that happens for large frame sizes and delay spreads in frequency domain processing, improved performance compared to time domain processing is shown to be achieved. This improved performance is attractive for equalization in severely delay spread ISI channels like ultrawideband channels and underwater acoustic channels.

Fish inspired biomimetic ionic polymer metal composite pectoral fins using labriform propulsion

Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Thus, IPMC’s provide promising application for biomimetic fish like propulsion systems. In this paper, we design and analyze IPMC underwater propulsor inspired from swimming of Labriform fishes. Different fish species in nature are source of inspiration for different biomimetic flapping IPMC fin design. Here, three fish species with high performance flapping pectoral fin locomotion is chosen and performance analysis of each fin design is done to discover the better configurations for engineering applications. In order to describe the behavior of an active IPMC fin actuator in water, a complex hydrodynamic function is used and structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping rectangular shape fin. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are analyzed with numerical simulations. Finally, a comparative study is performed to analyze the performance of three different biomimetic IPMC flapping pectoral fins.

Time dependent superhydrophobicity of drag reducing surfaces

Air can be trapped on the crevices of specially textured hydrophobic surfaces immersed in water. This heterogenous state of wetting in which the water is in contact with both the solid surface and the entrapped air is not stable. Diffusion of air into the surrounding water leads to gradual reduction in the size and numbers of the air bubbles. The sustainability of the entrapped air on such surfaces is important for many underwater applications in which the surfaces have to remain submersed for longer time periods. In this paper we explore the suitability of different classes of surface textures towards the drag reduction application by evaluating the time required for the disappearance of the air bubbles under hydrostatic conditions. Different repetitive textures consisting of holes, pillars and ridges of different sizes have been generated in silicon, aluminium and brass by isotropic etching, wire EDM and chemical etching respectively. These surfaces were rendered hydrophobic with self-assembled layer of fluorooctyl trichlorosilane for silicon and aluminium surfaces and 1-dodecanethiol for brass surfaces. Using total internal reflection the air bubbles are visualized with the help of a microscope and time lapse photography. Irrespective of the texture, both the size and the number of air pockets were found to decrease with time gradually and eventually disappear. In an attempt to reverse the diffusion we explore the possibility of using electrolysis to generate gases at the textured surfaces. The gas bubbles are nucleated everywhere on the surface and as they grow they coalesce with each other and get pinned at the texture edges.

Controlling air solubility to maintain `'Cassie'' state for sustained drag reduction

`'Cassie'' state of wetting can be established by trapping air pockets on the crevices of textured hydrophobic surfaces, leading to significant drag reduction. However, this drag reduction cannot be sustained due to gradual dissolution of trapped air into water. In this paper, we explore the possibility of sustaining the underwater Cassie state of wetting in a microchannel by controlling the solubility of air in water; the solubility being changed by controlling the local absolute pressure near the surface. We show that using this method, we can in fact make the water locally supersaturated with air thus encouraging the growth of trapped air pockets on the surface. In this case, the water acts as a pumping medium, delivering air to the crevices of the hydrophobic surface in the microchannel, where the presence of air pockets is most beneficial from the drag reduction perspective. In our experiments, the air trapped on a textured surface is visualized using total internal reflection based technique, at different local absolute pressures with the pressure drop (or drag) also being simultaneously measured. We find that, by controlling the pressure and hence the solubility close to the surface, we can either shrink or grow the trapped air bubbles, uniformly over a large surface area. The experiments show that, by precisely controlling the pressure and hence the solubility we can sustain the `'Cassie state'' over extended periods of time. This method thus provides a means of getting sustained drag reduction from a textured hydrophobic surface in channel flows. (C) 2014 Elsevier B.V. All rights reserved.

Fish Inspired Biomimetic Ionic Polymer-Metal Composite Pectoral Fins Using Labriform Propulsion

In this article, we analyze and design ionic polymer metal composite (IPMC) underwater propulsors inspired from swimming of labriform fishes. The structural model of the IPMC fin accounts for the electromechanical dynamics of the bean in water. A quasi steady blade element model that accounts for unsteady phenomena, such as added mass effects, dynamic stall, and cumulativeWagner effect is used to estimate the hydrodynamic performance. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus, and Sthethojulis trilineata, are analyzed using numerical simulations.

Molecular Dynamics Simulation of Barnacle Cement

Barnacle cement is an underwater adhesive that is used for permanent settlement. Its main components are insoluble protein complexes that have not been fully studied. In present article, we chose two proteins of barnacle cement for study, 36-KD protein and Mrcp-100K protein. In order to investigate the characteristic of above two proteins, we introduced the method of molecular modeling. And the simulation package GROMACS was used to simulate the behavior of these proteins. In this article, before the simulations, we introduce some theories to predict the time scale for polymer relaxation. During the simulation, we mainly focus on two properties of these two proteins: structural stability and adhesive force to substrate. First, we simulate the structural stability of two proteins in water, and then the stability of 36-KD protein in seawater environment is investigated.We find that the stability varies in the different environments. Next, to study adhesive ability of two proteins, we simulate the process of peeling the two proteins from the substrate (graphite). Then, we analyze the main reasons of these results. We find that hydrogen bonds in proteins play an important role in the protein stability. In the process of the peeling, we use Lennard–Jones 12-6 potential to calculate the van der Waals interactions between proteins and substrate.

Experimental Study on Hydrodynamic Behaviors of High-Speed Gas Jets in Still Water

The present paper describes experimental investigation on the flow pattern and hydrodynamic effect of underwater gas jets from supersonic and sonic nozzles operated in correct- and imperfect expansion conditions. The flow visualizations show that jetting is the flow regime for the submerged gas injection at a high speed in the parameter range under consideration. The obtained results indicate that high-speed gas jets in still water induce large pressure pulsations upstream of the nozzle exit and the presence of shock-cell structure in the over- and under-expanded jets leads to an increase in the intensity of the jet-induced hydrodynamic pressure.

水下超声速气体射流回击现象的实验研究

对水下超声速气体射流的动力学行为进行了实验研究．通过流动可视化揭示了回击现象的演化过程，利用探针排获得了射流近场区的脉动压力分布，实验结果表明：在超声速喷管出口两倍直径处，射流形貌的变化导致气体中出现了大幅值压力脉冲．通过流场可视化与压力测量的同步校验，证实了喷口端面处回击事件与流场气相区中压力脉动之间相关性．

Manual Control of Phragmites australis on Pondshores of Cape Cod National Seashore, Masachusetts, USA

The non-native, invasive genotype of the common reed ( Phragmites australis (Cav.) Trin. ex Steudel) has become a problem of significant proportions throughout wetlands of North America (Saltonstall 2001). Although attempts to suppress or eradicate Phragmites have utilized a wide variety of techniques, herbicides have generally been most effective (Marks et al. 1994). In the spring, mid-summer, and late summer of 2003, we attempted to opportunistically control Phragmites in five freshwater ponds within Cape Cod National Seashore (CCNS) by repeatedly severing stems underwater, at ground level.(PDF has 4 pages.)

Effect of Cattail (Typha domingensis) Extracts, Leachates, and Selected Phenolic Compounds on Rates of Oxygen Production by Salvinia (Salvinia minima)

Salvinia (Salvinia minima Willd.) is a water fern found in Florida waters, usually associated with Lemna and other small free-floating species. Due to its buoyancy and mat-forming abilities, it is spread by moving waters. In 1994, salvinia was reported to be present in 247 water bodies in the state (out of 451 surveyed public waters, Schardt 1997). It is a small, rapidly growing species that can become a nuisance due to its explosive growth rates and its ability to shade underwater life (Oliver 1993). Any efforts toward management of salvinia populations must consider that, in reasonable amounts, its presence is desirable since it plays an important role in the overall ecosystem balance. New management alternatives need to be explored besides the conventional herbicide treatments; for example, it has been shown that the growth of S. molesta can be inhibited by extracts of the tropical weed parthenium (Parthenium hysterophorus) and its purified toxin parthenin (Pande 1994, 1996). We believe that cattail, Typha spp. may be a candidate for control of S. minima infestations. Cattail is an aggressive aquatic plant, and has the ability to expand over areas that weren't previously occupied by other species (Gallardo et al. 1998a and references cited there). In South Florida, T. domingensis is a natural component of the Everglades ecosystem, but in many cases it has become the dominant marsh species, outcompeting other native plants. In Florida public waters, this cattail species is the most dominant emergent species of aquatic plants (Schardt 1997). Several factors enable it to accomplish opportunistic expansion, including size, growth habits, adaptability to changes in the surroundings, and the release of compounds that can prevent the growth and development of other species. We have been concerned in the past with the inhibitory effects of the T. domingensis extracts, and the phenolic compounds mentioned before, towards the growth and propagation of S. minima (Gallardo et al. 1998b). This investigation deals with the impact of cattail materials on the rates of oxygen production of salvinia, as determined through a series of Warburg experiments (Martin et al. 1987, Prindle and Martin 1996).

Whales and Sonar: Environmental Exemptions for the Navy’s Mid-Frequency Active Sonar Training

Mid-frequency active (MFA) sonar emits pulses of sound from an underwater transmitter to help determine the size, distance, and speed of objects. The sound waves bounce off objects and reflect back to underwater acoustic receivers as an echo. MFA sonar has been used since World War II, and the Navy indicates it is the only reliable way to track submarines, especially more recently designed submarines that operate more quietly, making them more difficult to detect. Scientists have asserted that sonar may harm certain marine mammals under certain conditions, especially beaked whales. Depending on the exposure, they believe that sonar may damage the ears of the mammals, causing hemorrhaging and/or disorientation. The Navy agrees that the sonar may harm some marine mammals, but says it has taken protective measures so that animals are not harmed. MFA training must comply with a variety of environmental laws, unless an exemption is granted by the appropriate authority. Marine mammals are protected under the Marine Mammal Protection Act (MMPA) and some under the Endangered Species Act (ESA). The training program must also comply with the National Environmental Policy Act (NEPA), and in some cases the Coastal Zone Management Act (CZMA). Each of these laws provides some exemption for certain federal actions. The Navy has invoked all of the exemptions to continue its sonar training exercises. Litigation challenging the MFA training off the coast of Southern California ended with a November 2008 U.S. Supreme Court decision. The Supreme Court said that the lower court had improperly favored the possibility of injuring marine animals over the importance of military readiness. The Supreme Court’s ruling allowed the training to continue without the limitations imposed on it by other courts. (pdf contains 20pp.)

Status and management of the sea cucumber fishery of La Grande Terre, New Caledonia

From October 2006 to May 2008, The WorldFish Center coordinated a ZoNéCo project to provide support to the Southern and Northern Provinces for decisions about how best to manage the sea cucumber fishery around La Grande Terre. We collected data during underwater population surveys, questionnaire-based interviews with fishers and processors, and landing catch surveys. A core aim was to furnish the Provinces with ‘ballpark’ estimates of the abundance and density of commercially important sea cucumbers on 50 lagoon and barrier reefs. Analysis and synthesis of the ecological and sociological data provide the basis for informed recommendations for fisheries management. Counts of trochus and giant clams on the reefs allow us to also describe the general status of those resources. We propose 13 recommendations for management actions and fishery regulations and advocate an adaptive management approach. This multidisciplinary study should serve as a useful template for assessing other fisheries, and we provide a series of generic ‘lessons learnt’ to aid future programmes. (PDF has 140 pages.)

Molecular Dynamics Simulation of Barnacle Cement

Barnacle cement is an underwater adhesive that is used for permanent settlement. Its main components are insoluble protein complexes that have not been fully studied. In present article, we chose two proteins of barnacle cement for study, 36-KD protein and Mrcp-100K protein. In order to investigate the characteristic of above two proteins, we introduced the method of molecular modeling. And the simulation package GROMACS was used to simulate the behavior of these proteins. In this article, before the simulations, we introduce some theories to predict the time scale for polymer relaxation. During the simulation, we mainly focus on two properties of these two proteins: structural stability and adhesive force to substrate. First, we simulate the structural stability of two proteins in water, and then the stability of 36-KD protein in seawater environment is investigated. We find that the stability varies in the different environments. Next, to study adhesive ability of two proteins, we simulate the process of peeling the two proteins from the substrate (graphite). Then, we analyze the main reasons of these results. We find that hydrogen bonds in proteins play an important role in the protein stability. In the process of the peeling, we use Lennard-Jones 12-6 potential to calculate the van der Waals interactions between proteins and substrate.