LiDAR Buoy Detection for Autonomous Marine Vessel Using Pointnet Classification

Maritime autonomy, specifically the use of autonomous and semi-autonomous maritime vessels, is a key enabling technology supporting a set of diverse and critical research areas, including coastal and environmental resilience, assessment of waterway health, ecosystem/asset monitoring and maritime port security. Critical to the safe, efficient and reliable operation of an autonomous maritime vessel is its ability to perceive on-the-fly the external environment through onboard sensors. In this paper, buoy detection for LiDAR images is explored by using several tools and techniques: machine learning methods, Unity Game Engine (herein referred to as Unity) simulation, and traditional image processing. The Unity Game Engine (herein referred to as Unity) simulation data was used for the training and testing of a Pointnet neural network model while the labeled real-world maritime environment point cloud data was used for the model validation. Fitting the Pointnet model on the simulation data, after some data alignment with the LiDAR images allowed for accurate classification of buoys on the real-world data with the 93% of accuracy. A traditional image processing approach using 2D occupancy maps to detect the buoys by shape was used as well and is outlined in the paper

Reconciling the Greenland ice-core and radiocarbon timescales through the Laschamp geomagnetic excursion

Cosmogenic radionuclides, such as 10Be and 14C, share a common production signal, with their formation in the Earth's upper atmosphere modulated by changes to the geomagnetic field, as well as variations in the intensity of the solar wind. Here, we use this common production signal to compare between the radiocarbon (IntCal) and Greenland ice-core (GICC05) timescales, utilising the most pronounced cosmogenic production peak of the last 100,000 years – that associated with the Laschamp geomagnetic excursion circa 41,000 years ago. We present 54 new 14C measurements from a peat core (‘TP-2005’) from Tenaghi Philippon, NE Greece, contiguously spanning between circa 47,300 and 39,600 cal. BP, demonstrating a distinctive tripartite structure in the build up to the principal Laschamp production maximum that is not present in the consensus IntCal13 calibration curve. This is the first time that a continuous, non-reservoir corrected 14C dataset has been generated over such a long time span for this, the oldest portion of the radiocarbon timescale. This period is critical for both palaeoenvironmental and archaeological applications, with the replacement of Neanderthals by anatomically modern humans in Europe around this time. By placing our Tenaghi Philippon 14C dataset on to the Hulu Cave U-series timescale of Cheng et al. (2018) via Bayesian statistical modelling, the comparison of TP-2005 14C with Greenland 10Be fluxes also implicitly relates the underlying U-series and GICC05 timescales themselves. This comparison suggests that whilst these two timescales are broadly coherent, the IntCal13 timescale contains erroneous structure circa 40,000 cal. BP

Rapid global ocean-atmosphere response to Southern Ocean freshening during the last glacial

This is the final version of the article. Available from Springer Nature via the DOI in this record.Contrasting Greenland and Antarctic temperatures during the last glacial period (115,000 to 11,650 years ago) are thought to have been driven by imbalances in the rates of formation of North Atlantic and Antarctic Deep Water (the 'bipolar seesaw'). Here we exploit a bidecadally resolved (14)C data set obtained from New Zealand kauri (Agathis australis) to undertake high-precision alignment of key climate data sets spanning iceberg-rafted debris event Heinrich 3 and Greenland Interstadial (GI) 5.1 in the North Atlantic (~30,400 to 28,400 years ago). We observe no divergence between the kauri and Atlantic marine sediment (14)C data sets, implying limited changes in deep water formation. However, a Southern Ocean (Atlantic-sector) iceberg rafted debris event appears to have occurred synchronously with GI-5.1 warming and decreased precipitation over the western equatorial Pacific and Atlantic. An ensemble of transient meltwater simulations shows that Antarctic-sourced salinity anomalies can generate climate changes that are propagated globally via an atmospheric Rossby wave train.A challenge for testing mechanisms of past climate change is the precise correlation of palaeoclimate records. Here, through climate modelling and the alignment of terrestrial, ice and marine (14)C and (10)Be records, the authors show that Southern Ocean freshwater hosing can trigger global change.This work was funded by the Australian Research Council (FL100100195, DP170104665 and SR140300001) and the Natural Environment Research Council (NE/H009922/1 and NE/H007865/1)

Development of the IntCal database

The IntCal family of radiocarbon (14C) calibration curves is based on research spanning more than three decades. The IntCal group have collated the 14C and calendar age data (mostly derived from primary publications with other types of data and meta-data) and, since 2010, made them available for other sorts of analysis through an open-access database. This has ensured transparency in terms of the data used in the construction of the ratified calibration curves. As the IntCal database expands, work is underway to facilitate best practice for new data submissions, make more of the associated metadata available in a structured form, and help those wishing to process the data with programming languages such as R, Python, and MATLAB. The data and metadata are complex because of the range of different types of archives. A restructured interface, based on the “IntChron” open-access data model, includes tools which allow the data to be plotted and compared without the need for export. The intention is to include complementary information which can be used alongside the main 14C series to provide new insights into the global carbon cycle, as well as facilitating access to the data for other research applications. Overall, this work aims to streamline the generation of new calibration curves

High-precision dating and correlation of ice, marine and terrestrial sequences spanning Heinrich Event 3 : Testing mechanisms of interhemispheric change using New Zealand ancient kauri (Agathis australis)

Robustly testing hypotheses of geographic synchroneity of abrupt and extreme change during the late Pleistocene (60,000 to 11,650 years ago) requires a level of chronological precision often lacking in ice, marine and terrestrial sequences. Here we report a bidecadally-resolved New Zealand kauri (Agathis australis) tree-ring sequence spanning two millennia that preserves a record of atmospheric radiocarbon (14C) during ice-rafted debris event Heinrich Event 3 (HE3) in the North Atlantic and Antarctic Isotope Maximum 4 (AIM4) in the Southern Hemisphere. Using 14C in the marine Cariaco Basin and 10Be preserved in Greenland ice, the kauri 14C sequence allows us to precisely align sequences across this period. We observe no significant difference between atmospheric and marine 14C records during HE3, suggesting no stratification of surface waters and collapse in Atlantic Meridional Overturning Circulation (AMOC). Instead our results support recent evidence for a weakened AMOC across at least two millennia of the glacial period. Our work adds to a growing body of literature confirming that Heinrich events are not the cause of stadial cooling and suggests changes in the AMOC were not the primary driver of antiphase temperature trends between the hemispheres. Decadally-resolved 14C in ancient kauri offers a powerful new (and complementary) approach to polar ice core CH4 alignment for testing hypotheses of abrupt and extreme climate change

Development of the IntCal database

We would like to acknowledge the support of the NERC NEIF facility (PR19008-NEIF-Oxford) for the underlying computing infrastructure and support for the IntChron interface development.The IntCal family of radiocarbon (14C) calibration curves is based on research spanning more than three decades. The IntCal group have collated the 14C and calendar age data (mostly derived from primary publications with other types of data and meta-data) and, since 2010, made them available for other sorts of analysis through an open-access database. This has ensured transparency in terms of the data used in the construction of the ratified calibration curves. As the IntCal database expands, work is underway to facilitate best practice for new data submissions, make more of the associated metadata available in a structured form, and help those wishing to process the data with programming languages such as R, Python, and MATLAB. The data and metadata are complex because of the range of different types of archives. A restructured interface, based on the “IntChron” open-access data model, includes tools which allow the data to be plotted and compared without the need for export. The intention is to include complementary information which can be used alongside the main 14C series to provide new insights into the global carbon cycle, as well as facilitating access to the data for other research applications. Overall, this work aims to streamline the generation of new calibration curves.Publisher PDFPeer reviewe

Development of the IntCal database

We would like to acknowledge the support of the NERC NEIF facility (PR19008-NEIF-Oxford) for the underlying computing infrastructure and support for the IntChron interface development.The IntCal family of radiocarbon (14C) calibration curves is based on research spanning more than three decades. The IntCal group have collated the 14C and calendar age data (mostly derived from primary publications with other types of data and meta-data) and, since 2010, made them available for other sorts of analysis through an open-access database. This has ensured transparency in terms of the data used in the construction of the ratified calibration curves. As the IntCal database expands, work is underway to facilitate best practice for new data submissions, make more of the associated metadata available in a structured form, and help those wishing to process the data with programming languages such as R, Python, and MATLAB. The data and metadata are complex because of the range of different types of archives. A restructured interface, based on the “IntChron” open-access data model, includes tools which allow the data to be plotted and compared without the need for export. The intention is to include complementary information which can be used alongside the main 14C series to provide new insights into the global carbon cycle, as well as facilitating access to the data for other research applications. Overall, this work aims to streamline the generation of new calibration curves.Publisher PDFPeer reviewe

Response to comment on “A global environmental crisis 42,000 years ago”

Our paper about the impacts of the Laschamps Geomagnetic Excursion 42,000 years ago has provoked considerable scientific and public interest, particularly in the so-called Adams Event associated with the initial transition of the magnetic poles. Although we welcome the opportunity to discuss our new ideas, Hawks’ assertions of misrepresentation are especially disappointing given his limited examination of the material