Design and Control of a Flight-Style AUV with Hovering Capability

The small flight-style Delphin AUV is designed to evaluate the performance of a long range survey AUV with the additional capability to hover and manoeuvre at slow speed. Delphin’s hull form is based on a scaled version of Autosub6000, and in addition to the main thruster and control surfaces at the rear of the vehicle, Delphin is equipped with four rim driven tunnel thrusters. In order to reduce the development cycle time, Delphin was designed to use commercial-off-the-shelf (COTS) sensors and thrusters interfaced to a standard PC motherboard running the control software within the MS Windows environment. To further simplify the development, the autonomy system uses the State-Flow Toolbox within the Matlab/Simulink environment. While the autonomy software is running, image processing routines are used for obstacle avoidance and target tracking, within the commercial Scorpion Vision software. This runs as a parallel thread and passes results to Matlab via the TCP/IP communication protocol. The COTS based development approach has proved effective. However, a powerful PC is required to effectively run Matlab and Simulink, and, due to the nature of the Windows environment, it is impossible to run the control in hard real-time. The autonomy system will be recoded to run under the Matlab Windows Real-Time Windows Target in the near future. Experimental results are used to demonstrating the performance and current capabilities of the vehicle are presented

Numerical simulation of an ultrasonic vibratory cavitation device

Cavitation erosion prediction is one of the most important tasks in the ship propeller design. While predominantly qualitative methods are used such as paint tests or high speed video image analyses, there have been efforts to quantify such risks especially in the field of computational fluid dynamics (CFD).As an experimental quantitative method to assess erosion risk, the acoustic emission (AE) technique has been employed, for example, by Lloyds Register for more than a decade now to complement their borescopic cavitation observation at the ship scale. Boorsma and Fitzsimmons (2009) reported (see Fig. 1,) its correlation with borescope observed cavitation events appeared very positive and the location of cavitation impingement on the rudder (shown in the left image of Fig. 1) coincided with the estimated location by multiple synchronous measurements of AE at different locations. If it is possible to decipher how the AE connected with the pressure waves emitted from any given cavitation event, predicting the pressure waves we may be able to predict AE and eventually where and what intensity of cavitation events occur on any given propeller or ship structures. The transfer function can be useful for establishing quantitative correlations between CFD, full-scale trial data and with model test data.As the first step in being able to model this process and gain greater understanding in links between acoustic signal and type/location of cavitation, an open source Computational Fluid Dynamics programme openFOAM (version. 3.0.1) has been used to simulate ultrasonic cavitation on a sonotrode and hence to predict cavitation phenomena and pressure impact loads on a test specimen under the ultrasonic horn. The aim of the work is to evaluate the physical realism required and the limitations of current cavitation models

Widespread changes in UK air quality observed from space

Previous studies have used surface observations of pollutants (e.g., nitrogen dioxide [NO₂] and aerosols) to evaluate improvements in United Kingdom (UK) air quality over recent decades. However, surface monitoring networks provide limited spatial coverage and are not always representative of air quality over a wider region. Satellite observations, such as tropospheric column NO₂ (TCNO₂), aerosol optical depth (AOD) and sub‐column (0–6 km) ozone (SCO₃), provide widespread monitoring of air quality on a national scale. In this study, we use such observations to analyse trends in UK air quality, between 2005 and 2015, finding significant decreases in TCNO₂ and AOD over UK pollution hotspots. The largest changes in short‐lived NO₂ are located over populated (i.e., source) regions, associated with large emissions of nitrogen oxides (NOₓ). AOD changes are more spread out, and less strongly associated with source regions, due to a longer aerosol lifetime, secondary aerosol formation and non‐urban aerosol sources. SCO₃ shows no significant trends over England/Wales, but significant positive trends over Scotland, which is consistent with previous studies of changes in background tropospheric ozone in other remote regions of north‐western Europe

The use of a cap-mounted tri-axial accelerometer for measurement of distance, lap times and stroke rates in swim training

This paper will report some of the findings from a trial which recorded accelerometer data from six elite level swimmers (three female and three male, varying primary event stroke and distance) over the course of a regular 15 week training block. Measurements from a headmounted accelerometer are used to determine when the athlete is swimming, marking of turning points (and therefore distance and lap-time measurements), and is processed by frequency analysis to determine stroke-rate. Comparison with video where available, and with training plans and literature where not, have proven this method to be accurate and reliable for determining these performance metrics. The primary objective of this project was to develop a low-cost, simple and highly usable system for use in swim coaching, feedback from elite coaches has indicated that development of this could be an extremely useful addition to their training regime

‘In shape and mind transformed’? Televised teaching and learning Shakespeare

Reality television offers the BBC the opportunity to fulfil its dual imperatives of education and entertainment, frequently constructed as anathematic. This article considers three recent examples of televised teaching and learning Shakespeare: When Romeo Met Juliet, Macbeth, the movie star and me, and Off By Heart: Shakespeare. It demonstrates the programmes’ fit with the reality genre through their common ingredients of authenticity, contained locations, hybridity, experts, fallible and flawed participants, articulation and reconciliation of social difference. Moreover, all three share an emphasis on a reality television staple: transformation, in terms of the participants’ knowledge, skills and personal growth, but also in relation to television audiences and the British education system. The programmes might thus usefully be understood as part of a reality television subgenre, evolving in Britain since the late 1970s, of Shmake-over. This article is published as part of a collection to commemorate the 400th anniversary of William Shakespeare’s death

Modelled and observed changes in aerosols and surface solar radiation over Europe between 1960 and 2009

Substantial changes in anthropogenic aerosols and precursor gas emissions have occurred over recent decades due to the implementation of air pollution control legislation and economic growth. The response of atmospheric aerosols to these changes and the impact on climate are poorly constrained, particularly in studies using detailed aerosol chemistry–climate models. Here we compare the HadGEM3-UKCA (Hadley Centre Global Environment Model-United Kingdom Chemistry and Aerosols) coupled chemistry–climate model for the period 1960–2009 against extensive ground-based observations of sulfate aerosol mass (1978–2009), total suspended particle matter (SPM, 1978–1998), PM10 (1997–2009), aerosol optical depth (AOD, 2000–2009), aerosol size distributions (2008–2009) and surface solar radiation (SSR, 1960–2009) over Europe. The model underestimates observed sulfate aerosol mass (normalised mean bias factor (NMBF) = −0.4), SPM (NMBF = −0.9), PM10 (NMBF = −0.2), aerosol number concentrations (N30 NMBF = −0.85; N50 NMBF = −0.65; and N100 NMBF = −0.96) and AOD (NMBF = −0.01) but slightly overpredicts SSR (NMBF = 0.02). Trends in aerosol over the observational period are well simulated by the model, with observed (simulated) changes in sulfate of −68 % (−78 %), SPM of −42 % (−20 %), PM10 of −9 % (−8 %) and AOD of −11 % (−14 %). Discrepancies in the magnitude of simulated aerosol mass do not affect the ability of the model to reproduce the observed SSR trends. The positive change in observed European SSR (5 %) during 1990–2009 ("brightening") is better reproduced by the model when aerosol radiative effects (ARE) are included (3 %), compared to simulations where ARE are excluded (0.2 %). The simulated top-of-the-atmosphere aerosol radiative forcing over Europe under all-sky conditions increased by > 3.0 W m−2 during the period 1970–2009 in response to changes in anthropogenic emissions and aerosol concentrations

300 years of tropospheric ozone changes using CMIP6 scenarios with a parameterised approach

Tropospheric Ozone (O3) is both an air pollutant and a greenhouse gas. Predicting changes to O3 is therefore important for both air quality and near-term climate forcing. It is computationally expensive to predict changes in tropospheric O3 from every possible future scenario in composition climate models like those used in the 6th Coupled Model Intercomparison Project (CMIP6). Here we apply the different emission pathways used in CMIP6 with a model based on source-receptor relationships for tropospheric O3 to predict historical and future changes in O3 and its radiative forcing over a 300 year period (1750–2050). Changes in regional precursor emissions (nitrogen oxides, carbon monoxide and volatile organic compounds) and global methane abundance are used to quantify the impact on tropospheric O3 globally and across 16 regions, neglecting any impact from changes in climate. We predict large increases in global surface O3 (+8 ppbv) and O3 radiative forcing (+0.3 W m−2) over the industrial period. Nine different Shared Socio-economic Pathways are used to assess future changes in O3. Scenarios involving weak air pollutant controls and climate mitigation are inadequate in limiting the future degradation of surface O3 air quality and enhancement of near-term climate warming over all regions. Middle-of-the-road and strong mitigation scenarios reduce both surface O3 concentrations and O3 radiative forcing by up to 5 ppbv and 0.17 W m−2 globally, providing benefits to future air quality and near-term climate forcing. Sensitivity experiments show that targeting mitigation measures towards reducing global methane abundances could yield additional benefits for both surface O3 air quality and near-term climate forcing. The parameterisation provides a valuable tool for rapidly assessing a large range of future emission pathways that involve differing degrees of air pollutant and climate mitigation. The calculated range of possible responses in tropospheric O3 from these scenarios can be used to inform other modelling studies in CMIP6