Simulation and Implementation of a PMSM Sensorless Control Algorithm for Submarine Applications

In this thesis, the study and the simulation of two advanced sensorless speed control techniques for a surface PMSM are presented. The aim is to implement a sensorless control algorithm for a submarine auxiliary propulsion system. This experimental activity is the result of a project collaboration with L3Harris Calzoni, a leader company in A&D systems for naval handling in military field. A Simulink model of the whole electric drive has been developed. Due to the satisfactory results of the simulations, the sensorless control system has been implemented in C code for STM32 environment. Finally, several tests on a real brushless machine have been carried out while the motor was connected to a mechanical load to simulate the real scenario of the final application. All the experimental results have been recorded through a graphical interface software developed at Calzoni.

Marcadores orgânicos de contaminação por esgotos sanitários em sedimentos superficiais da baía de Santos, São Paulo

Organic markers, such as sterols and ketones, were used to assess sewage contamination in sediments from the Santos Bay, SP, and its continental shelf. These compounds were analyzed by GC/FID after soxhlet extraction, clean up and derivatization. The concentration of coprostanol and ratios between selected sterols were used to evaluate fecal contamination. The stations located in the mid-western part of the Santos Bay presented organic matter from sewage due to the input of fecal material from the city of Santos by submarine sewage outfall. Stations located at the continental shelf did not present fecal contamination. Coprostanol levels in sewage outfall stations were higher in comparison to other Brazilian coastal areas, except Guanabara Bay/RJ, and could be related to the fraction of the population without sewage treatment.

Coexistence of forest and savanna in an Amazonian area from a geological perspective

Question: How can the coexistence of savanna and forest in Amazonian areas with relatively uniform climates be explained? Location: Eastern Marajo Island, northeast Amazonia, Brazil. Methods: The study integrated floristic analysis, terrain morphology, sedimentology and delta(13)C of soil organic matter. Floristic analysis involved rapid ecological assessment of 33 sites, determination of occurrence, specific richness, hierarchical distribution and matrix of floristic similarity between paired vegetation types. Terrain characterization was based on analysis of Landsat images using 4(R), 5(G) and 7(B) composition and digital elevation model (DEM). Sedimentology involved field descriptions of surface and core sediments. Finally, radiocarbon dating and analysis of delta(13)C of soil profile organic matter and natural ecotone forest-savanna was undertaken. Results: Slight tectonic subsidence in eastern Marajo Island favours seasonal flooding, making it unsuitable for forest growth. However, this area displays slightly convex-up, sinuous morphologies related to paleochannels, covered by forest. Terra-firme lowland forests are expanding from west to east, preferentially occupying paleochannels and replacing savanna. Slack, running water during channel abandonment leads to disappearance of varzea/gallery forest at channel margins. Long-abandoned channels sustain continuous terra-firme forests, because of longer times for more species to establish. Recently abandoned channels have had less time to become sites for widespread tree development, and are either not vegetated or covered by savanna. Conclusion: Landforms in eastern Marajo Island reflect changes in the physical environment due to reactivation of tectonic faults during the latest Quaternary. This promoted a dynamic history of channel abandonment, which controlled a set of interrelated parameters (soil type, topography, hydrology) that determined species location. Inclusion of a geological perspective for paleoenvironmental reconstruction can increase understanding of plant distribution in Amazonia.

TOPOGRAPHIC REGISTERS OF PALEO-VALLEYS ON THE SOUTHEASTERN BRAZILIAN CONTINENTAL SHELF

The evolution of paleo-incised-valleys in the Sao Paulo State region of the southeastern Brazilian continental shelf is presented in this study in relation to the post Last Glacial Maximum (LGM) sea-level rises based on the submarine topography modeled by a detailed Digital Elevation Model and evidences noted in high resolution seismic profiles. The hypothesis that has guided this study is that the set of paleo-valley characteristics (i.e. the fluvial parameters of modern coastal drainage systems, the topographical shape and dimensions of the valleys and of the subsurface channels) may indicate aspects of the relation between the influence of the fluvial and the eustatic variation regime in geomorphological-stratigraphic registers. Models described in the literature sustain the view that faster marine transgressions tend to increase erosion in estuaries, which may explain the lack of registers of paleo-drainage both in topography and the sub-surface in areas with wider shelves. On the other hand, on narrower shelves, with a higher slope angle, the transgression process can preserve, or even enhance, the incised valley registers during shoreface retreat. In the area studied, we observed that the dimensions and form of the continental shelf varies from the northern to the southern part of the area, affecting aspects of the geomorphological registers of the submerged incised valleys.

Proposal for underwater structural analysis using the techniques of ESPI and digital holography

The purpose of this article is to study the application of the holographic interferometry techniques in the structural analysis of submarine environment. These techniques are widely used today, with applications in many areas. Nevertheless, its application in submarine environments presents some challenges. The application of two techniques, electronic speckle pattern interferometry (ESPI) and digital holography, comparison of advantages and disadvantages of each of them is presented. A brief study is done on the influence of water properties and the optical effects due to suspended particles as well as possible solutions to minimize these problems. (C) 2009 Elsevier Ltd. All rights reserved.

A strategy to fill gaps in soil survey over large spatial extents: an example from the Murray-Darling basin of Australia

We re-mapped the soils of the Murray-Darling Basin (MDB) in 1995-1998 with a minimum of new fieldwork, making the most out of existing data. We collated existing digital soil maps and used inductive spatial modelling to predict soil types from those maps combined with environmental predictor variables. Lithology, Landsat Multi Spectral Scanner (Landsat MSS), the 9-s digital elevation model (DEM) of Australia and derived terrain attributes, all gridded to 250-m pixels, were the predictor variables. Because the basin-wide datasets were very large data mining software was used for modelling. Rule induction by data mining was also used to define the spatial domain of extrapolation for the extension of soil-landscape models from existing soil maps. Procedures to estimate the uncertainty associated with the predictions and quality of information for the new soil-landforms map of the MDB are described. (C) 2002 Elsevier Science B.V. All rights reserved.

Ferrolysis induced soil transformation by natural drainage in Vertisols of sub-humid South India

In sub-humid South India, recent studies have shown that black soil areas (Vertisols and vertic Intergrades), located on flat valley bottoms, have been rejuvenated through the incision of streambeds, inducing changes in the pedoclimate and soil transformation. Joint pedological, geochemical and geophysical investigations were performed in order to better understand the ongoing processes and their contribution to the chemistry of local rivers. The seasonal rainfall causes cycles of oxidation and reduction in a perched watertable at the base of the black soil, while the reduced solutions are exported through a loamy sand network. This framework favours a ferrolysis process, which causes low base saturation and protonation of clay, leading to the weathering of 2:1 then 1:1 clay minerals. Maximum weathering conditions occur at the very end of the wet season, just before disappearance of the perched watertable. Therefore, the by-products of soil transformation are partially drained off and calcareous nodules, then further downslope, amorphous silica precipitate upon soil dehydration. The ferrolysed area is fringing the drainage system indicating that its development has been induced by the streambed incision. The distribution of (14)C ages of CaCO(3) nodules suggests that the ferrolysis process started during the late Holocene, only about 2 kyr B.P. at the studied site and about 5 kyr B.P. at the watershed outlet. The results of this study are applied to an assessment of the physical erosion rate (4.8x10(-3) m/kyr) since the recent reactivation of the erosion process. (C) 2010 Elsevier B.V. All rights reserved.

Tidal influence on behaviour of a coastal aquifer adjacent to a low-relief estuary

The tidal influence on groundwater hydrodynamics, salt-water intrusion and submarine groundwater discharge from coastal/estuarine aquifers is poorly quantified for systems with a mildly sloping beach, in contrast to the case where a vertical beach face is assumed. We investigated the effect of beach slope for a coastal aquifer adjacent to a low-relief estuary, where industrial waste was emplaced over the aquifer. The waste was suspected to discharge leachate towards the estuary. Field observations at various locations showed that tidally induced groundwater head fluctuations were skewed temporally. Frequency analysis suggested that the fluctuation amplitudes decreased exponentially and the phase-tags increased Linearly for the primary tidal signals as they propagated inland. Salinisation zones were observed in the bottom part of the estuary and near the beach surface. Flow and transport processes in a cross-section perpendicular to the estuary were simulated using SEAWAT-2000, which is capable of depicting density-dependent flow and multi-species transport. The simulations showed that the modelled water table fluctuations were in good agreement with the monitored data. Further simulations were conducted to gain insight into the effects of beach slope. In particular the limiting case of a vertical beach face was considered. The simulations showed that density difference and tidal forcing drive a more complex hydrodynamic pattern for the mildly sloping beach than the vertical beach, as well as a profound asymmetry in tidally induced water table fluctuations and enhanced salt-water intrusion. The simulation results also indicated that contaminant transport from the aquifer to the estuary was affected by the tide, where for the mildly sloping beach, the tide tended to intensify the vertical mass exchange in the vicinity of the shorelines, (c) 2005 Elsevier B.V. All rights reserved.

Yarrol terrane of the northern New England Fold Belt: forearc or backarc?

The Upper Devonian to Lower Carboniferous volcanosedimentary rocks of the Yarrol terrane of the northern New England Fold Belt have previously been ascribed to a forearc basin setting. New data presented here, however, suggest that the Yarrol terrane developed as a backarc basin during the Middle to early Late Devonian. Based on field studies, we recognise four regionally applicable strati graphic units: (i) a basal, ?Middle to Upper Devonian submarine mafic volcanic suite (Monal volcanic facies association); (ii) the lower Frasnian Lochenbar beds that locally unconformably overlie the Monal volcanic facies association: (iii) the Three Moon Conglomerate (Upper Devonian - Lower Carboniferous): and (iv) the Lower Carboniferous Rockhampton Group characterised by the presence of oolitic limestone. Stratigraphic and compositional differences suggest the Monal volcanic facies association post-dates Middle Devonian silicic-dominated magmatism that was coeval with gold-copper mineralisation at Mt Morgan. The Lochenbar beds, Three Moon Conglomerate and Rockhampton Group represent a near-continuous sedimentary record of volcanism that changed in composition and style from mafic effusive (Late Devonian) to silicic explosive volcanism (Early Carboniferous). Palaeocurrent data from the Three Moon Conglomerate and Rockhampton Group indicate dispersal of sediment to the west and northwest, and are inconsistent with derivation from a volcanic-are source situated to the west (Connors-Auburn Arch). Geochemical data show that the Monal volcanic facies association ranges from tholeiitic subalkaline basalts to calc-alkaline basaltic andesite. Trace and rare-earth element abundances are distinctly MORE-like (e.g, light rare earth element depletion), with only moderate enrichment of the large-ion lithophile elements in some units, and negative Nb anomalies, suggesting a subduction-related signature. Basalts of the Monal volcanic facies association are best described as transitional between calc-alkali basalts and N-MORB. The elevated high field strength element contents (e.g. Zr, Y, Ti) are higher than modern island-are basalts, but comparable to basalts that floor modern backarc basins. This geochemical study, coupled with stratigraphic relationships, suggest that the eruption of backarc basin basalts followed widespread Middle Devonian, extension-related silicic magmatism (e.g. Retreat Batholith, Mt Morgan), and floored the Yarrol terrane. The Monal volcanic facies association thus shows similarities in its tectonic environment to the Lower Permian successions (e.g. Rookwood Volcanics) of the northern New England Fold Belt. These mafic volcanic sequences are interpreted to record two backarc basin-forming periods (Middle - Late Devonian and Late Carboniferous - Early Permian) during the Late Palaeozoic history of the New England Orogen. Silicic-dominated explosive volcanism, occurring extensively across the northern New England Fold Belt in the Early Carboniferous (Varrol terrane, Campwyn Volcanics, Drummond and Burdekin Basins), reflects another period of crustal melting and extension, most likely related to the opening of the Drummond Basin.

Low-density koala (Phascolarctos cinereus) populations in the mulgalands of south-west Queensland. I. Faecal pellet sampling protocol

Koala (Phascolarctos cinereus) populations in eastern Australia are threatened by land clearing for agricultural and urban development. At the same time, conservation efforts are hindered by a dearth of information about inland populations. Faecal deposits offer a source of information that is readily available and easily collected non-invasively. We detail a faecal pellet sampling protocol that was developed for use in a large rangeland biogeographic region. The method samples trees in belt transects, uses a thorough search at the tree base to quickly identify trees with koala pellets under them, then estimates the abundance of faecal pellets under those trees using 1-m(2) quadrats. There was a strong linear relationship between these estimates and a complete enumeration of pellet abundance under the same trees. We evaluated the accuracy of our method in detecting trees where pellets were present by means of a misclassification index that was weighed more heavily for missed trees that had high numbers of pellets under them. This showed acceptable accuracy in all landforms except riverine, where some trees with large numbers of pellets were missed. Here, accuracy in detecting pellet presence was improved by sampling with quadrats, rather than basal searches. Finally, we developed a method to reliably age pellets and demonstrate how this protocol could be used with the faecal-standing-crop method to derive a regional estimate of absolute koala abundance.

Different mineralization styles in a volcanic-hosted ore deposit: the fluid and isotopic signatures of the Mt Morgan Au-Cu deposit, Australia

Quantitative laser ablation (LA)-ICP-MS analyses of fluid inclusions, trace element chemistry of sulfides, stable isotope (S), and Pb isotopes have been used to discriminate the formation of two contrasting mineralization styles and to evaluate the origin of the Cu and Au at Mt Morgan. The Mt Morgan Au-Cu deposit is hosted by Devonian felsic volcanic rocks that have been intruded by multiple phases of the Mt Morgan Tonalite, a low-K, low-Al2O3 tonalite-trondhjemite-dacite (TTD) complex. An early, barren massive sulfide mineralization with stringer veins is conforming to VHMS sub-seafloor replacement processes, whereas the high-grade Au-Cu. ore is associated with a later quartz-chalcopyrite-pyrite stock work mineralization that is related to intrusive phases of the Tonalite complex. LA-ICP-MS fluid inclusion analyses reveal high As (avg. 8850 ppm) and Sb (avg. 140 ppm) for the Au-Cu mineralization and 5 to 10 times higher Cu concentration than in the fluids associated with the massive pyrite mineralization. Overall, the hydrothermal system of Mt Morgan is characterized by low average fluid salinities in both mineralization styles (45-80% seawater salinity) and temperatures of 210 to 270 degreesC estimated from fluid inclusions. Laser Raman Spectroscopic analysis indicates a consistent and uniform array Of CO2-bearing fluids. Comparison with active submarine hydrothermal vents shows an enrichment of the Mt Morgan fluids in base metals. Therefore, a seawater-dominated fluid is assumed for the barren massive sulfide mineralization, whereas magmatic volatile contributions are implied for the intrusive related mineralization. Condensation of magmatic vapor into a seawater-dominated environment explains the CO2 occurrence, the low salinities, and the enriched base and precious metal fluid composition that is associated with the Au-Cu. mineralization. The sulfur isotope signature of pyrite and chalcopyrite is composed of fractionated Devonian seawater and oxidized magmatic fluids or remobilized sulfur from existing sulfides. Pb isotopes indicate that Au and Cu. originated from the Mt Morgan intrusions and a particular volcanic strata that shows elevated Cu background. (C) 2002 Elsevier Science B.V. All rights reserved.

Low-density koala (Phascolarctos cinereus) populations in the mulgalands of south-west Queensland. II. Distribution and diet

This study used faecal pellets to investigate the broadscale distribution and diet of koalas in the mulgalands biogeographic region of south-west Queensland. Koala distribution was determined by conducting faecal pellet searches within a 30-cm radius of the base of eucalypts on 149 belt transects, located using a multi-scaled stratified sampling design. Cuticular analysis of pellets collected from 22 of these sites was conducted to identify the dietary composition of koalas within the region. Our data suggest that koala distribution is concentrated in the northern and more easterly regions of the study area, and appears to be strongly linked with annual rainfall. Over 50% of our koala records were obtained from non-riverine communities, indicating that koalas in the study area are not primarily restricted to riverine communities, as has frequently been suggested. Cuticular analysis indicates that more than 90% of koala diet within the region consists of five eucalypt species. Our data highlights the importance of residual Tertiary landforms to koala conservation in the region.

Study of the Saldanha Massif (MAR, 36 degrees 34 ' N): Constrains from rock magnetic and geophysical data

We present a study of the magnetic properties of a group of basalt samples from the Saldanha Massif (Mid-Atlantic Ridge - MAR - 36degrees 33' 54" N, 33degrees 26' W), and we set out to interpret these properties in the tectono-magmatic framework of this sector of the MAR. Most samples have low magnetic anisotropy and magnetic minerals of single domain grain size, typical of rapid cooling. The thermomagnetic study mostly shows two different susceptibility peaks. The high temperature peak is related to mineralogical alteration due to heating. The low temperature peak shows a distinction between three different stages of low temperature oxidation: the presence of titanomagnetite, titanomagnetite and titanomaghemite, and exclusively of titanomaghemite. Based on established empirical relationships between Curie temperature and degree of oxidation, the latter is tentatively deduced for all samples. Finally, swath bathymetry and sidescan sonar data combined with dive observations show that the Saldanha Massif is located over an exposed section of upper mantle rocks interpreted to be the result of detachment tectonics. Basalt samples inside the detachment zone often have higher than expected oxidation rates; this effect can be explained by the higher permeability caused by the detachment fault activity.

Boulder deposition during major tsunami events

A remarkable accumulation of marine boulders located above the present spring tide level has occurred in two coastal lowlands of the Algarve (Portugal). The size-interval of the particles studied here is seldom reported in the literature in association with extreme events of coastal inundation, thus making this study of relevance to many other coasts worldwide. The spreads of boulders extend several hundred meters inland and well beyond the present landward limit of storm activity. The marine origin of the boulders is demonstrated by well-developed macro-bioerosion sculpturing and in situ skeletal remains of endolithic shallow marine bivalves. The good state preservation of the fossils within the boulders indicates that abrasion duringtransport and redeposition was not significant. We envisage boulder deposition as having taken place during the Lisbon tsunami of ad 1755 through the simultaneous landward entrainment of coarse particles from nearshore followed by rapid shoreward suspended-dominated transport and non-graded redeposition that excluded significant sorting by weight or boulder dimensions. We use numerical hydrodynamic modeling of tsunami (and storm) waves to test the observational data on boulder dimensions (density, size, distribution) on the most likely processes of sediment deposition. This work demonstrates the effectiveness of the study of boulder deposits in tsunami reconstruction. Copyright (C) 2011 John Wiley & Sons, Ltd.

Supervisão, comando e controlo para sistemas robóticos

Mestrado em Engenharia Electrotécnica e de Computadores. Área de Especialização em Sistemas Autónomos