A dispersive wave pattern on Jupiter's fastest retrograde jet at 20∘20^\circS

A compact wave pattern has been identified on Jupiter's fastest retrograding jet at 20S (the SEBs) on the southern edge of the South Equatorial Belt. The wave has been identified in both reflected sunlight from amateur observations between 2010 and 2015, thermal infrared imaging from the Very Large Telescope and near infrared imaging from the Infrared Telescope Facility. The wave pattern is present when the SEB is relatively quiescent and lacking large-scale disturbances, and is particularly notable when the belt has undergone a fade (whitening). It is generally not present when the SEB exhibits its usual large-scale convective activity ('rifts'). Tracking of the wave pattern and associated white ovals on its southern edge over several epochs have permitted a measure of the dispersion relationship, showing a strong correlation between the phase speed (-43.2 to -21.2 m/s) and the longitudinal wavelength, which varied from 4.4-10.0 deg. longitude over the course of the observations. Infrared imaging sensing low pressures in the upper troposphere suggest that the wave is confined to near the cloud tops. The wave is moving westward at a phase speed slower (i.e., less negative) than the peak retrograde wind speed (-62 m/s), and is therefore moving east with respect to the SEBs jet peak. Unlike the retrograde NEBn jet near 17N, which is a location of strong vertical wind shear that sometimes hosts Rossby wave activity, the SEBs jet remains retrograde throughout the upper troposphere, suggesting the SEBs pattern cannot be interpreted as a classical Rossby wave. Cassini-derived windspeeds and temperatures reveal that the vorticity gradient is dominated by the baroclinic term and becomes negative (changes sign) in a region near the cloud-top level (400-700 mbar) associated with the SEBs, suggesting a baroclinic origin for this meandering wave pattern. [Abr]Comment: 19 pages, 11 figures, article accepted for publication in Icaru

Saturn's Exploration Beyond Cassini-Huygens

For its beautiful rings, active atmosphere and mysterious magnetic field, Saturn is a fascinating planet. It also holds some of the keys to understanding the formation of our Solar System and the evolution of giant planets in general. While the exploration by the Cassini-Huygens mission has led to great advances in our understanding of the planet and its moons, it has left us with puzzling questions: What is the bulk composition of the planet? Does it have a helium core? Is it enriched in noble gases like Jupiter? What powers and controls its gigantic storms? We have learned that we can measure an outer magnetic field that is filtered from its non-axisymmetric components, but what is Saturn's inner magnetic field? What are the rings made of and when were they formed? These questions are crucial in several ways: a detailed comparison of the compositions of Jupiter and Saturn is necessary to understand processes at work during the formation of these two planets and of the Solar System. This calls for the continued exploration of the second largest planet in our Solar System, with a variety of means including remote observations and space missions. Measurements of gravity and magnetic fields very close to the planet's cloud tops would be extremely valuable. Very high spatial resolution images of the rings would provide details on their structure and the material that form them. Last but not least, one or several probes sent into the atmosphere of the planet would provide the critical measurements that would allow a detailed comparison with the same measurements at Jupiter. [abridged abstract

Spreading of Antarctic Bottom Water in the Atlantic Ocean

This paper describes the transport of bottom water from its source region in the Weddell Sea through the abyssal channels of the Atlantic Ocean. The research brings together the recent observations and historical data. A strong flow of Antarctic Bottom Water through the Vema Channel is analyzed. The mean speed of the flow is 30 cm/s. A temperature increase was found in the deep Vema Channel, which has been observed for 30 years already. The flow of bottom water in the northern part of the Brazil Basin splits. Part of the water flows through the Romanche and Chain fracture zones. The other part flows to the North American Basin. Part of the latter flow propagates through the Vema Fracture Zone into the Northeast Atlantic. The properties of bottom water in the Kane Gap and Discovery Gap are also analyzed

Planets of the solar system

Venera and Mariner spacecraft and ground based radio astronomy and spectroscopic observations of the atmosphere and surface of venus are examined. The composition and structural parameters of the atmosphere are discussed as the basis for development of models and theories of the vertical structure of the atmosphere, the greenhouse effect, atmospheric circulation and cloud cover. Recommendations for further meteorological studies are given. Ground based and Pioneer satellite observation data on Jupiter are explored as well as calculations and models of the cloud structure, atmospheric circulation and thermal emission field of Jupiter

Bio­-inspired approaches to the control and modelling of an anthropomimetic robot

Introducing robots into human environments requires them to handle settings designed specifically for human size and morphology, however, large, conventional humanoid robots with stiff, high powered joint actuators pose a significant danger to humans. By contrast, “anthropomimetic” robots mimic both human morphology and internal structure; skeleton, muscles, compliance and high redundancy. Although far safer, their resultant compliant structure presents a formidable challenge to conventional control. Here we review, and seek to address, characteristic control issues of this class of robot, whilst exploiting their biomimetic nature by drawing upon biological motor control research. We derive a novel learning controller for discovering effective reaching actions created through sustained activation of one or more muscle synergies, an approach which draws upon strong, recent evidence from animal and humans studies, but is almost unexplored to date in musculoskeletal robot literature. Since the best synergies for a given robot will be unknown, we derive a deliberately simple reinforcement learning approach intended to allow their emergence, in particular those patterns which aid linearization of control. We also draw upon optimal control theories to encourage the emergence of smoother movement by incorporating signal dependent noise and trial repetition. In addition, we argue the utility of developing a detailed dynamic model of a complete robot and present a stable, physics-­‐‑based model, of the anthropomimetic ECCERobot, running in real time with 55 muscles and 88 degrees of freedom. Using the model, we find that effective reaching actions can be learned which employ only two sequential motor co-­‐‑activation patterns, each controlled by just a single common driving signal. Factor analysis shows the emergent muscle co-­‐‑activations can be reconstructed to significant accuracy using weighted combinations of only 13 common fragments, labelled “candidate synergies”. Using these synergies as drivable units the same controller learns the same task both faster and better, however, other reaching tasks perform less well, proportional to dissimilarity; we therefore propose that modifications enabling emergence of a more generic set of synergies are required. Finally, we propose a continuous controller for the robot, based on model predictive control, incorporating our model as a predictive component for state estimation, delay-­‐‑ compensation and planning, including merging of the robot and sensed environment into a single model. We test the delay compensation mechanism by controlling a second copy of the model acting as a proxy for the real robot, finding that performance is significantly improved if a precise degree of compensation is applied and show how rapidly an un-­‐‑compensated controller fails as the model accuracy degrades

Explaining Jupiter's magnetic field and equatorial jet dynamics

Spacecraft data reveal a very Earth-like Jovian magnetic field. This is surprising since numerical simulations have shown that the vastly different interiors of terrestrial and gas planets can strongly affect the internal dynamo process. Here we present the first numerical dynamo that manages to match the structure and strength of the observed magnetic field by embracing the newest models for Jupiter's interior. Simulated dynamo action primarily occurs in the deep high electrical conductivity region while zonal flows are dynamically constrained to a strong equatorial jet in the outer envelope of low conductivity. Our model reproduces the structure and strength of the observed global magnetic field and predicts that secondary dynamo action associated to the equatorial jet produces banded magnetic features likely observable by the Juno mission. Secular variation in our model scales to about 2000 nT per year and should also be observable during the one year nominal mission duration.Comment: 7 pages, 4 figures, accepted for publication in Geophysical Research Letter

Seasonal Variability of Saturn's Tropospheric Temperatures, Winds and Para-H2_2 from Cassini Far-IR Spectroscopy

Far-IR 16-1000 $\mu$m spectra of Saturn's hydrogen-helium continuum measured by Cassini's Composite Infrared Spectrometer (CIRS) are inverted to construct a near-continuous record of upper tropospheric (70-700 mbar) temperatures and para-H$_2$ fraction as a function of latitude, pressure and time for a third of a Saturnian year (2004-2014, from northern winter to northern spring). The thermal field reveals evidence of reversing summertime asymmetries superimposed onto the belt/zone structure. The temperature structure that is almost symmetric about the equator by 2014, with seasonal lag times that increase with depth and are qualitatively consistent with radiative climate models. Localised heating of the tropospheric hazes (100-250 mbar) create a distinct perturbation to the temperature profile that shifts in magnitude and location, declining in the autumn hemisphere and growing in the spring. Changes in the para-H$_2$ ($f_p$) distribution are subtle, with a 0.02-0.03 rise over the spring hemisphere (200-500 mbar) perturbed by (i) low-$f_p$ air advected by both the springtime storm of 2010 and equatorial upwelling; and (ii) subsidence of high-$f_p$ air at northern high latitudes, responsible for a developing north-south asymmetry in $f_p$. Conversely, the shifting asymmetry in the para-H$_2$ disequilibrium primarily reflects the changing temperature structure (and the equilibrium distribution of $f_p$), rather than actual changes in $f_p$ induced by chemical conversion or transport. CIRS results interpolated to the same point in the seasonal cycle as re-analysed Voyager-1 observations show qualitative consistency, with the exception of the tropical tropopause near the equatorial zones and belts, where downward propagation of a cool temperature anomaly associated with Saturn's stratospheric oscillation could potentially perturb tropopause temperatures, para-H$_2$ and winds. [ABRIDGED]Comment: Preprint accepted for publication in Icarus, 29 pages, 18 figure

Meridional circulation dynamics in a cyclic convective dynamo

Surface observations indicate that the speed of the solar meridional circulation in the photosphere varies in anti-phase with the solar cycle. The current explanation for the source of this variation is that inflows into active regions alter the global surface pattern of the meridional circulation. When these localized inflows are integrated over a full hemisphere, they contribute to slowing down the axisymmetric poleward horizontal component. The behavior of this large-scale flow deep inside the convection zone remains largely unknown. Present helioseismic techniques are not sensitive enough to capture the dynamics of this weak large-scale flow. Moreover, the large time of integration needed to map the meridional circulation inside the convection zone, also masks some of the possible dynamics on shorter timescales. In this work we examine the dynamics of the meridional circulation that emerges from a 3D MHD global simulation of the solar convection zone. Our aim is to assess and quantify the behavior of meridional circulation deep inside the convection zone where the cyclic large-scale magnetic field can reach considerable strength. Our analyses indicate that the meridional circulation morphology and amplitude are both highly influenced by the magnetic field via the impact of magnetic torques on the global angular momentum distribution. A dynamic feature induced by these magnetic torques is the development of a prominent upward flow at mid-latitudes in the lower convection zone that occurs near the equatorward edge of the toroidal bands and that peaks during cycle maximum. Globally, the dynamo-generated large-scale magnetic field drives variations in the meridional flow, in stark contrast to the conventional kinematic flux transport view of the magnetic field being advected passively by the flow.Centra-ISTGRPS-UdeMNatural Sciences and Engineering Research Council of CanadaNational Science FoundationUniversity of the Algarveinfo:eu-repo/semantics/publishedVersio