Automatic Planning and Control of Robot Natural Motion Via Feedback

A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities. For more information: Kod*La

Development and Implementation of Robust and Spectrally-Efficient Medium Data Rate Modems Part 2: Synchronisation Algorithms

Synchronisation algorithms for carrier phase recovery and symbol timing in a medium-rate QAM modem are presented. Decision directed (DD) methods that use 1 sample per symbol period are presented. New results are presented to show the effect of decision errors in the phase detector. The performance of phase and timing estimators is shown when both phase and time offsets are present, and loop convergence issues are discussed. 1 Introduction This paper examines some of the synchronisation issues relating to the high speed MPSK and QAM modem described in the companion paper [1]. As explained in that reference, the demodulator operates at tens of Mbit/s data rates, with continuous (FMDA) signals. The implementation is very largely digital, with sampling at a low-IF and subsequent conversion to baseband, digital filtering and synchronisation. Efficient hardware implementation is a prime requirement for this modem. It is therefore appropriate to employ symbol timing and carrier phase schemes..

Direct phasing of one-wavelength anomalous-scattering data

This paper presents a brief survey of methods in ab initio phasing of one-wavelength anomalous-scattering data. In particular, the method implemented in the computer program OASIS has been tested using two new data sets from orotidine 5′-monophosphate decarboxylase (OMPDC) [Appleby et al. (2000). Proc. Natl Acad. Sci. USA. In the press] and PurE [Mathews et al. (1999). Structure, 7(11), 1395-1406]. The Se atoms were located by the small-molecule program SAPI. The electron density maps after OASIS and density modification for both structures clearly revealed the Cα trace and, in the case of PurE, most side-chains. The test with the OMPDC data demonstrated that, by exploiting the anomalous signal at a single wavelength, direct methods can be used to determine phases at moderate (∼2.5 Å) macromolecular crystallographic resolution for a large-size protein (5663 non-H atoms in the asymmetric unit). The exceptionally good quality of the electron map shown in the case of PurE suggested that fully automatic model fitting is possible.link_to_subscribed_fulltex

Heterogeneous melting near the Thwaites Glacier grounding line

Thwaites Glacier represents 15% of the ice discharge from the West Antarctic Ice Sheet and influences a wider catchment1-3. Because it is grounded below sea level4,5, Thwaites Glacier is thought to be susceptible to runaway retreat triggered at the grounding line (GL) at which the glacier reaches the ocean6,7. Recent ice-flow acceleration2,8 and retreat of the ice front8-10 and GL11,12 indicate that ice loss will continue. The relative impacts of mechanisms underlying recent retreat are however uncertain. Here we show sustained GL retreat from at least 2011 to 2020 and resolve mechanisms of ice-shelf melt at the submetre scale. Our conclusions are based on observations of the Thwaites Eastern Ice Shelf (TEIS) from an underwater vehicle, extending from the GL to 3 km oceanward and from the ice-ocean interface to the sea floor. These observations show a rough ice base above a sea floor sloping upward towards the GL and an ocean cavity in which the warmest water exceeds 2 °C above freezing. Data closest to the ice base show that enhanced melting occurs along sloped surfaces that initiate near the GL and evolve into steep-sided terraces. This pronounced melting along steep ice faces, including in crevasses, produces stratification that suppresses melt along flat interfaces. These data imply that slope-dependent melting sculpts the ice base and acts as an important response to ocean warming

The Scientific Legacy of NASA’s Operation IceBridge

The National Aeronautics and Space Administration (NASA)’s Operation IceBridge (OIB) was a 13-year (2009–2021) airborne mission to survey land and sea ice across the Arctic, Antarctic, and Alaska. Here, we review OIB’s goals, instruments, campaigns, key scientific results, and implications for future investigations of the cryosphere. OIB’s primary goal was to use airborne laser altimetry to bridge the gap in fine-resolution elevation measurements of ice from space between the conclusion of NASA’s Ice, Cloud, and land Elevation Satellite (ICESat; 2003–2009) and its follow-on, ICESat-2 (launched 2018). Additional scientific requirements were intended to contextualize observed elevation changes using a multisensor suite of radar sounders, gravimeters, magnetometers, and cameras. Using 15 different aircraft, OIB conducted 968 science flights, of which 42% were repeat surveys of land ice, 42% were surveys of previously unmapped terrain across the Greenland and Antarctic ice sheets, Arctic ice caps, and Alaskan glaciers, and 16% were surveys of sea ice. The combination of an expansive instrument suite and breadth of surveys enabled numerous fundamental advances in our understanding of the Earth’s cryosphere. For land ice, OIB dramatically improved knowledge of interannual outlet-glacier variability, ice-sheet, and outlet-glacier thicknesses, snowfall rates on ice sheets, fjord and sub-ice-shelf bathymetry, and ice-sheet hydrology. Unanticipated discoveries included a reliable method for constraining the thickness within difficult-to-sound incised troughs beneath ice sheets, the extent of the firn aquifer within the Greenland Ice Sheet, the vulnerability of many Greenland and Antarctic outlet glaciers to ocean-driven melting at their grounding zones, and the dominance of surface-melt-driven mass loss of Alaskan glaciers. For sea ice, OIB significantly advanced our understanding of spatiotemporal variability in sea ice freeboard and its snow cover, especially through combined analysis of fine-resolution altimetry, visible imagery, and snow radar measurements of the overlying snow thickness. Such analyses led to the unanticipated discovery of an interdecadal decrease in snow thickness on Arctic sea ice and numerous opportunities to validate sea ice freeboards from satellite radar altimetry. While many of its data sets have yet to be fully explored, OIB’s scientific legacy has already demonstrated the value of sustained investment in reliable airborne platforms, airborne instrument development, interagency and international collaboration, and open and rapid data access to advance our understanding of Earth’s remote polar regions and their role in the Earth system