Analysis of ship roll gyrostabiliser control

The use of dedicated spinning wheels that generate gyroscopic forces for reducing the roll motion of ships was considered and tested over 100 years ago. These devices, known as gyrostabilisers, presented a remarkable performance, but they fell into disuse due to their relatively large size and, primarily, due to the inability of the control systems to maintain performance over an extended envelope of sea states and sailing conditions (speed and heading relative to the waves). To date, advances in materials, mechanical design, electrical drives, and computer control systems have resulted in a revitalized interest in gyro-stabilisers for ships. This paper revisits the modelling of the coupled vessel-gyrostabiliser and delves into the associated gyrostabiliser control design problem. It also describes design trade-offs and potential performance limitations. A simulation study based on a navy patrol vessel is presented.

Stabilization of parametric roll resonance with active u-tanks via Lyapunov control design

Parametric ship roll resonance is a phenomenon where a ship can rapidly develop high roll motion while sailing in longitudinal waves. This effect can be described mathematically by periodic changes of the parameters of the equations of motion, which lead to a bifurcation. In this paper, the control design of an active u-tank stabilizer is carried out using Lyapunov theory. A nonlinear backstepping controller is developed to provide global exponential stability of roll. An extension of commonly used u-tank models is presented to account for large roll angles, and the control design is tested via simulation on a high-fidelity model of a vessel under parametric roll resonance.

Advances in gyro-stabilisation of vessel roll motion

The use of gyro-dynamic forces to counteract the wave-induced roll motion of marine vessels in a seaway was proposed over 100 years ago. These early systems showed a remarkable performance, reporting roll reductions of up to 95% in some sailing conditions. Despite this success, further developments were not pursued since the systems were unable to provide acceptable performance over an extended envelope of sailing and environmental conditions, and the invention of fin roll stabilisers provided a satisfactory alternative. This has been attributed to simplistic controls, heavy drive systems, and large structural mass required to withstand the loads given the low strength materials available at the time. Today, advances in material strength, bearings, motor technology and mechanical design methods, together with powerful signal processing algorithms, has resulted in a revitalized interest in gyro-stabilisers for ships. Advanced control systems have enabled optimisation of restoring torques across a range of wave environments and sailing conditions through adaptive control system design. All of these improvements have resulted in increased spinning speed, lower mass, and dramatically increased stabilising performance. This brief paper provides an overview of recent developments in the design and control of gyro-stabilisers of ship roll motion. In particular, the novel Halcyon Gyro-Stabilisers are introduced, and their performance is illustrated based on a simulation case study for a naval patrol vessel. Given the growing national and global interest in small combatants and patrol vessels, modem gyro-stabilisers may offer a significant technological contribution to the age old problem of comfort and mission operability on small ships, especially at loiter speeds.

Active Adaptive Gyrostabiliser Control System

A gyrostabiliser control system and method for stabilising marine vessel motion based on precession information only. The control system employs an Automatic Gain Control (AGC) precession controller (60). This system operates with a gain factor that is always being gradually minimized so as to let the gyro flywheel (12) develop as much precession as possible - the higher the precession, the higher the roll stabilising moment. This continuous gain change provides adaptation to changes in sea state and sailing conditions. The system effectively predicts the likelihood of maximum precession being reached. Should this event be detected, then the gain is rapidly increased so as to provide a breaking precession torque. Once the event has passed, the system again attempts to gradually decrease the gain.

The North in the Old English Orosius : A Geographical Narrative in Context

This doctoral dissertation examines the description of the North as it appears in the Old English Orosius (OE Or.) in the form of the travel accounts by Ohthere and Wulfstan and a catalogue of peoples of Germania. The description is discussed in the context of ancient and early medieval textual and cartographic descriptions of the North, with a special emphasis on Anglo-Saxon sources and the intellectual context of the reign of King Alfred (871-899). This is the first time that these sources, a multidisciplinary approach and secondary literature, also from Scandinavia and Finland, have been brought together. The discussion is source-based, and archaeological theories and geographical ideas are used to support the primary evidence. This study belongs to the disciplines of early medieval literature and (cultural) history, Anglo-Saxon studies, English philology, and historical geography. The OE Or. was probably part of Alfred s educational campaign, which conveyed royal ideology to the contemporary elite. The accounts and catalogue are original interpolations which represent a unique historical source for the Viking Age. They contain unparalleled information about peoples and places in Fennoscandia and the southern Baltic and sailing voyages to the White Sea, the Danish lands, and the Lower Vistula. The historical-philological analysis reveals an emphasis on wealth and property, rank, luxury goods, settlement patterns, and territorial divisions. Trade is strongly implied by the mentions of central places and northern products, such as walrus ivory. The references to such peoples as the Finnas, the Cwenas, and the Beormas appear in connection with information about geography and subsistence in the far North. Many of the topics in the accounts relate to Anglo-Saxon aristocratic culture and interests. The accounts focus on the areas associated with the Northmen, the Danes and the Este. These areas resonated in the Anglo-Saxon geographical imagination: they were curious about the northern margin of the world, their own continental ancestry and the geography of their homeland of Angeln, and they had an interest in the Goths and their connection with the southern Baltic in mythogeography. The non-judgemental representation of the North as generally peaceful and relatively normal place is related to Alfredian and Orosian ideas about the unity and spreading of Christendom, and to desires for unity among the Germani and for peace with the Vikings, who were settling in England. These intellectual contexts reflect the innovative and organizational forces of Alfred s reign. The description of the North in the OE Or. can be located in the context of the Anglo-Saxon worldview and geographical mindset. It mirrors the geographical curiosity expressed in other Anglo-Saxon sources, such as the poem Widsith and the Anglo-Saxon mappa mundi. The northern section of this early eleventh-century world map is analyzed in detail here for the first time. It is suggested that the section depicts the North Atlantic and the Scandinavian Peninsula. The survey of ancient and early medieval sources provides a comparative context for the OE Or. In this material, produced by such authors as Strabo, Pliny, Tacitus, Jordanes, and Rimbert, the significance of the North was related to the search for and definition of the northern edge of the world, universal accounts of the world, the northern homeland in the origin stories of the gentes, and Carolingian expansion and missionary activity. These frameworks were transmitted to Anglo-Saxon literary culture, where the North occurs in the context of the definition of Britain s place in the world.

Across the Oceans : Development of Overseas Business Information Transmission, 1815-1875

Earlier studies have shown that the speed of information transmission developed radically during the 19th century. The fast development was mainly due to the change from sailing ships and horse-driven coaches to steamers and railways, as well as the telegraph. Speed of information transmission has normally been measured by calculating the duration between writing and receiving a letter, or between an important event and the time when the news was published elsewhere. As overseas mail was generally carried by ships, the history of communications and maritime history are closely related. This study also brings a postal historical aspect to the academic discussion. Additionally, there is another new aspect included. In business enterprises, information flows generally consisted of multiple transactions. Although fast one-way information was often crucial, e.g. news of a changing market situation, at least equally important was that there was a possibility to react rapidly. To examine the development of business information transmission, the duration of mail transport has been measured by a systematic and commensurable method, using consecutive information circles per year as the principal tool for measurement. The study covers a period of six decades, several of the world's most important trade routes and different mail-carrying systems operated by merchant ships, sailing packets and several nations' steamship services. The main sources have been the sailing data of mail-carrying ships and correspondence of several merchant houses in England. As the world's main trade routes had their specific historical backgrounds with different businesses, interests and needs, the systems for information transmission did not develop similarly or simultaneously. It was a process lasting several decades, initiated by the idea of organizing sailings in a regular line system. The evolution proceeded generally as follows: originally there was a more or less irregular system, then a regular system and finally a more frequent regular system of mail services. The trend was from sail to steam, but both these means of communication improved following the same scheme. Faster sailings alone did not radically improve the number of consecutive information circles per year, if the communication was not frequent enough. Neither did improved frequency advance the information circulation if the trip was very long or if the sailings were overlapping instead of complementing each other. The speed of information transmission could be improved by speeding up the voyage itself (technological improvements, minimizing the waiting time at ports of call, etc.) but especially by organizing sailings so that the recipients had the possibility to reply to arriving mails without unnecessary delay. It took two to three decades before the mail-carrying shipping companies were able to organize their sailings in an optimal way. Strategic shortcuts over isthmuses (e.g. Panama, Suez) together with the cooperation between steamships and railways enabled the most effective improvements in global communications before the introduction of the telegraph.

Judah P. Benjamin collection, undated, 1838-1942.

The collection consists of 25 letters written by Benjamin between 1838 and 1881 on a variety of subjects, four Confederate notes and two bonds bearing his picture, miscellaneous items about Benjamin (1893-1942), nine issues of the Congressional globe with speeches by Benjamin, as well as separate copies of his printed speeches, and a photostatic copy of the "Diary of Events" (400 pp.) kept by Benjamin, the original of which is in the Library of Congress (1862-1864).

Aaron Lopez papers, undated, 1752-1794, 1846, 1852, 1953.

Contains approximately 6800 manuscripts arranged chronologically by year for years 1752-1794. Approximately 100 are letters received or written by Lopez, his partner and father-in-law, Jacob Rodriguez Rivera, members of his family and company, and commercial agents pertaining to business activities and sailing orders for the captains of various ships. Several also refer to personal matters and acquaintances, including a series of six letters from Silas Cooke of White Hall (Middletown), R.I., to Aaron Lopez, asking his aid in returning a run-away slave (1776). The great majority of the collection consists of account records, bills of sale, orders, shipping agreements, lists of sailors on the various ships, repair records and cargo invoices. Of particular interest are a receipt for payment of a half-year's subscription to the "tzedakah" of Congregation Nefutzei Israel, Newport (1755) and several documents that reveal Lopez as a supplier of kosher meat and other religious articles to people in various parts of the colonies, Surinam, and Jamaica. Also included in this group are copies of sailing lists, documents pertaining to Lopez's naturalization which shed light upon the status of a Jew applying for citizenship in Massachusetts and a check to Lopez from the United States government for a loan made during the Revolutionary War (1779).

Channel Islands marine protected areas first 5 years of monitoring: 2003-2008 [Report produced by the California Department of Fish and Game in collaboration with the Partnership for Interdisciplinary Studies of Coastal Oceans (PISCO), Channel Islands National Marine Sanctuary, and Channel Islands National Park]

The Channel Islands—sometimes called the Galapagos of North America—are known for their great beauty, rich biodiversity, cultural heritage, and recreational opportunities. In 1980, in recognition of the islands’ importance, the United States Congress established a national park encompassing 5 of California’s Channel Islands (Santa Barbara, Anacapa, Santa Cruz, Santa Rosa, and San Miguel Islands) and waters within 1 nautical mile of the islands. In the same year, Congress declared a national marine sanctuary around each of these islands, including waters up to 6 nautical miles offshore. Approximately 60,000 people visit the Channel Islands each year for aquatic recreation such as fishing, sailing, kayaking, wildlife watching, surfing, and diving. Another 30,000 people visit the islands for hiking, camping, and sightseeing. Dozens of commercial fishing boats based in Santa Barbara, Ventura, Oxnard, and other ports go to the Channel Islands to catch squid, spiny lobster, sea urchin, rockfish, crab, sheephead, flatfish, and sea cucumber, among other species. In the past few decades, advances in fishing technology and the rising number of fishermen, in conjunction with changing ocean conditions and diseases, have contributed to declines in some marine fishes and invertebrates at the Channel Islands. In 1998, citizens from Santa Barbara and Ventura proposed establishment of no-take marine reserves at the Channel Islands, beginning a 4-year process of public meetings, discussions, and scientific analyses. In 2003, the California Fish and Game Commission designated a network of marine protected areas (MPAs) in state waters around the northern Channel Islands. In 2006 and 2007, the National Oceanic and Atmospheric Administration (NOAA) extended the MPAs into the national marine sanctuary’s deeper, federal waters. To determine if the MPAs are protecting marine species and habitats, scientists are monitoring ecological changes. They are studying changes in habitats; abundance and size of species of interest; the ocean food web and ecosystem; and movement of fish and invertebrates from MPAs to surrounding waters. Additionally, scientists are monitoring human activities such as commercial and recreational fisheries, and compliance with MPA regulations. This booklet describes some results from the first 5 years of monitoring the Channel Islands MPAs. Although 5 years is not long enough to determine if the MPAs will accomplish all of their goals, this booklet offers a glimpse of the changes that are beginning to take place and illustrates the types of information that will eventually be used to assess the MPAs’ effectiveness. (PDF contains 24 pages.)

Bassenthwaite Lake: a general assessment of environmental and biological features and their susceptibility to change

Bassenthwaite (Lake) is one of the larger Cumbrian lakes, certainly one of the most distinctive, and of considerable conservation and amenity value. Although its shores lack sizeable settlements, its main inflow receives sewage effluent from a major tourist centre (Keswick) and is subject to episodic floods. These influences, the growing development of leisure activities at the lake (e.g. sailing, time-share units), and recent road-construction, have led to past appraisals of ecological impacts and lake management. The lake has not been the subject of intense and long-term ecological study, but much scattered information exists that is relevant to future management decisions. In the present Report, commissioned by North West Water, such information - published and unpublished - is surveyed. Especial attention is given to evidence bearing on susceptibility to change, affecting the lake environment and its biota or species of conservation interest. Extensive use has been made of the results of a recent (1986-7) seasonal survey by the FBA.

A general assessment of environmental and biological features of Windermere and their susceptibility to change

Bassenthwaite (Lake) is one of the larger Cumbrian lakes, certainly one of the most distinctive, and of considerable conservation and amenity value. Although its shores lack sizeable settlements, its main inflow receives sewage effluent from a major tourist centre (Keswick) and is subject to episodic floods. These influences, the growing development of leisure activities at the lake (e.g. sailing, time-share units), and recent road-construction, have led to past appraisals of ecological impacts and lake management. The lake has not been the subject of intense and long-term ecological study, but much scattered information exists that is relevant to future management decisions. In the present Report, commissioned by North West Water, such information - published and unpublished - is surveyed. Especial attention is given to evidence bearing on susceptibility to change, affecting the lake environment and its biota or species of conservation interest. Extensive use has been made of the results of a recent (1986-7) seasonal survey by the FBA.

Navegando mares tão diversos: acompanhando as discussões sobre a formação e a profissão de psicólogo no Brasil

O presente trabalho tem como objetivo pensar a formação e a prática profissional do psicólogo no Brasil. Com essa finalidade, contribuições de Bruno Latour, Isabelle Stengers e Vinciane Despret foram recrutadas como aliadas. A partir da leitura de estudos realizados a respeito do tema, de documentos pertinentes à regulamentação da profissão e do curso, bem como de material produzido durante o processo de definição das Diretrizes Curriculares para o Curso de Psicologia, buscou-se acompanhar os movimentos de actantes envolvidos e as relações estabelecidas entre diferentes versões do que é fazer psicologia no Brasil. Resultados de pesquisa desenvolvida para o Conselho Federal de Psicologia são tomados como referência para propor novos pontos para reflexão sobre o tema.

A Low-level Geographic Information System for coastal zone management, with applications to Brunei Darussalam: Part I: The concept and its design elements

This contribution is the first part of a four-part series documenting the development of B:RUN, a software program which reads data for common spreadsheets and presents them as low-resolution maps of slates and processes. The program emerged from a need which arose during a project in Brunei Darussalam for a 'low level' approach for researchers to communicate findings as efficiently and expeditiously as possible. Part I provides a overview of the concept and design elements of B:RUN. Part II will highlight results of the economics components of the program evaluating different fishing regimes, sailing distances from ports and fleet operating costs. Environmental aspects will be presented in Part III in the form of overlay maps. Part IV will summarize the implications of B:RUN results to coastal and fishery resources management in Brunei Darussalam and show how this approach can be adapted to other coastlines and used as a teaching and training tool. The following three parts will be published in future editions of Naga, the ICLARM Quarterly. The program is available through ICLARM.

The Bay Scallop, Argopecten irradians, Massachusetts Through North Carolina: Its Biology and the History of Its Habitats and Fisheries

This article covers the biology and the history of the bay scallop habitats and fishery from Massachusetts to North Carolina. The scallop species that ranges from Massachusetts to New York is Argopecten irradians irradians. In New Jersey, this species grades into A. i. concentricus, which then ranges from Maryland though North Carolina. Bay scallops inhabit broad, shallow bays usually containing eelgrass meadows, an important component in their habitat. Eelgrass appears to be a factor in the production of scallop larvae and also the protection of juveniles, especially, from predation. Bay scallops spawn during the warm months and live for 18–30 months. Only two generations of scallops are present at any time. The abundances of each vary widely among bays and years. Scallops were harvested along with other mollusks on a small scale by Native Americans. During most of the 1800’s, people of European descent gathered them at wading depths or from beaches where storms had washed them ashore. Scallop shells were also and continue to be commonly used in ornaments. Some fishing for bay scallops began in the 1850’s and 1860’s, when the A-frame dredge became available and markets were being developed for the large, white, tasty scallop adductor muscles, and by the 1870’s commercial-scale fishing was underway. This has always been a cold-season fishery: scallops achieve full size by late fall, and the eyes or hearts (adductor muscles) remain preserved in the cold weather while enroute by trains and trucks to city markets. The first boats used were sailing catboats and sloops in New England and New York. To a lesser extent, scallops probably were also harvested by using push nets, picking them up with scoop nets, and anchor-roading. In the 1910’s and 1920’s, the sails on catboats were replaced with gasoline engines. By the mid 1940’s, outboard motors became more available and with them the numbers of fishermen increased. The increases consisted of parttimers who took leaves of 2–4 weeks from their regular jobs to earn extra money. In the years when scallops were abundant on local beds, the fishery employed as many as 10–50% of the towns’ workforces for a month or two. As scallops are a higher-priced commodity, the fishery could bring a substantial amount of money into the local economies. Massachusetts was the leading state in scallop landings. In the early 1980’s, its annual landings averaged about 190,000 bu/yr, while New York and North Carolina each landed about 45,000 bu/yr. Landings in the other states in earlier years were much smaller than in these three states. Bay scallop landings from Massachusetts to New York have fallen sharply since 1985, when a picoplankton, termed “brown tide,” bloomed densely and killed most scallops as well as extensive meadows of eelgrass. The landings have remained low, large meadows of eelgrass have declined in size, apparently the species of phytoplankton the scallops use as food has changed in composition and in seasonal abundance, and the abundances of predators have increased. The North Carolina landings have fallen since cownose rays, Rhinoptera bonsais, became abundant and consumed most scallops every year before the fishermen could harvest them. The only areas where the scallop fishery remains consistently viable, though smaller by 60–70%, are Martha’s Vineyard, Nantucket, Mass., and inside the coastal inlets in southwestern Long Island, N.Y.

Small-boat surveys for coastal dolphins: line-transect surveys of Hector’s dolphins (Cephalorhynchus hectori)

Management of coastal species of small cetaceans is often impeded by a lack of robust estimates of their abundance. In the Austral summers of 1997−98, 1998−99, and 1999−2000 we conducted line-transect surveys of Hector’s dolphin (Cephalorhynchus hectori) abundance off the north, east, and south coasts of the South Island of New Zealand. Survey methods were modified for the use of a 15-m sailing catamaran, which was equipped with a collapsible sighting platform giving observers an eye-height of 6 m. Eighty-six percent of 2061 km of survey effort was allocated to inshore waters (4 nautical miles [nmi] or 7.4 km from shore), and the remainder to offshore waters (4−10 nmi or 7.4–18.5 km from shore). Transects were placed at 45° to the shore and spaced apart by 1, 2, 4, or 8 nmi according to pre-existing data on dolphin density. Survey effort within strata was uniform. Detection functions for sheltered waters and open coasts were fitted separately for each survey. The effect of attraction of dolphins to the survey vessel and the fraction of dolphins missed on the trackline were assessed with simultaneous boat and helicopter surveys in January 1999. Hector’s dolphin abundance in the coastal zone to 4 nmi offshore was calculated at 1880 individuals (CV=15.7%, log-normal 95% CI=1384−2554). These surveys are the first line-transect surveys for cetaceans in New Zealand’s coastal waters.