Tectonic Affinity, T-t Path and Uplift Trajectory of Eclo gites from Northern Dabie Mountains, Central-Eastern China

Petrologic geochemistry and isotopic chronology of the eclogites sug ge st that most of the eclogites in northern Dabie Mountains produced from the Tria ssic Yangtze subducted continental crust (lower crust and formed during the deep subduction) and the metamorphosed mafic untramafic belt with eclogite, marble and meta peridotite blocks around the Mozitan Xiaotian fault zone may represen t the meta tectonic melange produced during the active subduction of an ancient oceanic slab and subsequent collision between the Yangtze and North China conti nental plates. The cooling history of the eclogites from ～900 ℃ to 300 ℃ can b e subdivided into three stages: one isothermal stage and two rapid cooling stage s. The initial stage between (230±6) and 210 Ma was a near isothermal or tempe rature rise process corresponding to the retrograded metamorphism of granulite facies with a rapid uplift of 4 mm/a, then two fast cooling stages occurred with cooling rate of ～10 ℃/Ma during 210 Ma to (172±3) Ma and ～4 ℃/Ma durin g (172±3) Ma to 130 Ma. After the peak metamorphism of eclogite facies, their in itial isothermal stage with slower uplift rate and cooling rate and high T overprinting of granulite facies metamorphism is the major difference between t he eclogites in northern Dabie Mountains from those in southern Dabie Mountains. This may be one of the most important reasons to preserve few evidences of earl ier ultrahigh pressure metamorphism.

An Intelligent Multi-robot Path Planning in a Dynamic Environment Using Improved Gravitational Search Algorithm

This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm(IGSA) in clutter environment. Classical GSA has been improved in this paper based on the communication and memory characteristics of particle swarm optimization(PSO). IGSA technique is incorporated into the multi-robot system in a dynamic framework, which will provide robust performance, self-deterministic cooperation, and coping with an inhospitable environment. The robots in the team make independent decisions, coordinate, and cooperate with each other to accomplish a common goal using the developed IGSA. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position in the proposed environment. Finally, the analytical and experimental results of the multi-robot path planning were compared with those obtained by IGSA, GSA and differential evolution(DE) in a similar environment. The simulation and the Khepera environment result show outperforms of IGSA as compared to GSA and DE with respect to the average total trajectory path deviation, average uncovered trajectory target distance and energy optimization in terms of rotation.

Equidistance target-following controller for underactuated autonomous underwater vehicles

Purpose–Autonomous Underwater Vehicles(AUVs)play a crucial role in marine biology research and oceanic natural resources exploration.Since most AUVs are underactuated they require sophisticated trajectory planning and tracking algorithms.The purpose of this paper is to develop a new method that allows an underactuated AUV to track a moving object while constraining the approach to a direction tangent to the path of the target.Furthermore,the distance at which the AUV follows the target is constrained,reducing the probability of detection and unwanted behavior change of the target.Design/methodology/approach–First,a kinematic controller that generates a trajectory tangent to the path of the moving target is designed such that the AUV maintains a prescribed distance and approaches the target from behind.Using a Lyapunov based method the stability of the kinematic controller is proven.Second,a dynamic sliding mode controller is employed to drive the vehicle on the trajectory computed in the first step.Findings–The kinematic and dynamic controllers are shown to be stable and robust against parameter uncertainty in the dynamic model of the vehicle.Results of numerical simulations for equidistant tracking of a target on both smooth and discontinuous derivatives trajectories for a variety of relative initial positions and orientations are shown.Originality/value–The contribution of this research is development of a new method for path planning and tracking of moving targets for underactuated AUVs in the horizontal plane.The method allows control of both the direction of approach and the distance from a moving object.