A mobile mapping system for hazardous facilities

The Mobile Mapping System (MMS) is a completely self-contained vehicle with omnidirectional capability and extremely good odometry, capable of operation up to 12 hours between battery charges. The platform itself is based on a dual differential drive system with a compliant linkage between the two drive systems. This compliant linkage allows for low-level controller errors to be absorbed by the system and their navigational effects to be compensated for, yielding an extremely accurate navigational capability. Vehicle design also allows for a considerable payload (250 lb) and a large surface area for auxiliary equipment mounting (2 by 6 ft). The vehicle supports remote operation by reading commands and writing replies through its serial communications port. Use of a radio-ethernet and a radio-video channel allow for remote video and communications links to be maintained with the vehicle in many remote operation environments. The MMS uses a structured light system to quickly acquire coarse range images of the environment and a coherent laser radar (CLR) to acquire finer resolution range images. The coherent laser radar can also be used to determine platform position and orientation to millimeter accuracies if targets of known. Sensor range image data as well as video are off loaded to a remote computer for postprocessing, display, and archiving. Diagrams and images below include an image of the MMS vehicle before addition of sensors, diagram of vehicle with sensors, and computer system connections

Three Dimensional, Integrated Characterization and Archival System for Remote Facility Contaminant Characterization

The largest problem facing the Department of Energy's Office of Environmental Management (EM) is the cleanup of the Cold War legacy nuclear production plants that were built and operated from the mid-forties through the late eighties. EM is now responsible for the remediation of no less than 353 projects at 53 sites across the country at, an estimated cost of $147 billion over the next 72 years. One of the keys to accomplishing a thorough cleanup of any site is a rigorous but quick contaminant characterization capability. If the contaminants present in a facility can be mapped accurately, the cleanup can proceed with surgical precision, using appropriate techniques for each contaminant type and location. The three dimensional, integrated characterization and archival system (3D-ICAS) was developed for the purpose of rapid, field level identification, mapping, and archiving of contaminant data. The system consists of three subsystems, an integrated work and operating station, a 3-D coherent laser radar, and a contaminant analysis unit. Target contaminants that can be identified include chemical (currently organic only), radiological, and base materials (asbestos). In operation, two steps are required. First, the remotely operable 3-D laser radar maps an area of interest in the spatial domain. Second, the remotely operable contaminant analysis unit maps the area of interest in the chemical, radiological, and base material domains. The resultant information is formatted for display and archived using an integrated workstation. A 3-D model of the merged spatial and contaminant domains cart be displayed along with a color-coded contaminant tag at each analysis point. In addition, all of the supporting detailed data are archived for subsequent QC checks. The 3D-ICAS system is capable of performing all contaminant characterization in a dwell time of 6 seconds. The radiological and chemical sensors operate at US Environmental Protection Agency regulatory levels. Base materials identification is accomplished using a molecular vibrational spectroscopy, which can identify materials such as asbestos, concrete, wood, or transite. The multipurpose sensor head is positioned robotically using a small CRS Robotics A465 arm, which is registered to the environment map by the 3-D laser radar

Composition and evolution of the Ancestral South Sandwich Arc: implications for the flow of deep ocean water and mantle through the Drake Passage gateway

The Ancestral South Sandwich Arc (ASSA) has a short life-span of c.20 m.y. (Early Oligocene to Middle-Upper Miocene) before slab retreat and subsequent ‘resurrection’ as the active South Sandwich Island Arc (SSIA). The ASSA is, however, significant because it straddled the eastern margin of the Drake Passage Gateway where it formed a potential barrier to deep ocean water and mantle flow from the Pacific to Atlantic. The ASSA may be divided into three parts, from north to south: the Central Scotia Sea (CSS), the Discovery segment, and the Jane segment. Published age data coupled with new geochemical data (major elements, trace elements, Hf-Nd-Sr-Pb isotopes) from the three ASSA segments place constraints on models for the evolution of the arc and hence gateway development. The CSS segment has two known periods of activity. The older, Oligocene, period produced basic-acid, mostly calc-alkaline rocks, best explained in terms of subduction initiation volcanism of Andean-type (no slab rollback). The younger, Middle-Late Miocene period produced basic-acid, high-K calc-alkaline rocks (lavas and pyroclastic rocks with abundant volcanigenic sediments) which, despite being erupted on oceanic crust, have continental arc characteristics best explained in terms of a large, hot subduction flux most typical of a syn- or post-collision arc setting. Early-Middle Miocene volcanism in the Discovery and Jane arc segments is geochemically quite different, being typically tholeiitic and compositionally similar to many lavas from the active South Sandwich island arc front. There is indirect evidence for Western Pacific-type (slab rollback) subduction initiation in the southern part of the ASSA and for the back-arc basins (the Jane and Scan Basins) to have been active at the time of arc volcanism. Models for the death of the ASSA in the south following a series of ridge-trench collisions, are not positively supported by any geochemical evidence of hot subduction, but cessation of subduction by approach of progressively more buoyant oceanic lithosphere is consistent with both geochemistry and geodynamics. In terms of deep ocean water flow the early stages of spreading at the East Scotia Ridge (starting at 17-15 Ma) may have been important in breaking up the ASSA barrier while the subsequent establishment of a STEP (Subduction-Transform Edge Propagator) fault east of the South Georgia microcontinent (< 11 Ma) led to formation of the South Georgia Passage used by the Antarctic Circumpolar Current today. In terms of mantle flow, the subduction zone and arc root likely acted as a barrier to mantle flow in the CSS arc segment such that the ASSA itself became the Pacific-South Atlantic mantle domain boundary. This was not the case in the Discovery and Jane arc segments, however, because northwards flow of South Atlantic mantle behind the southern part of the ASSA gave an Atlantic provenance to the whole southern ASSA

Charge Deficiency, Charge Transport and Comparison of Dimensions

We study the relative index of two orthogonal infinite dimensional projections which, in the finite dimensional case, is the difference in their dimensions. We relate the relative index to the Fredholm index of appropriate operators, discuss its basic properties, and obtain various formulas for it. We apply the relative index to counting the change in the number of electrons below the Fermi energy of certain quantum systems and interpret it as the charge deficiency. We study the relation of the charge deficiency with the notion of adiabatic charge transport that arises from the consideration of the adiabatic curvature. It is shown that, under a certain covariance, (homogeneity), condition the two are related. The relative index is related to Bellissard's theory of the Integer Hall effect. For Landau Hamiltonians the relative index is computed explicitly for all Landau levels.Comment: 23 pages, no figure

Diverse Lifestyles and Strategies of Plant Pathogenesis Encoded in the Genomes of Eighteen Dothideomycetes Fungi

The class Dothideomycetes is one of the largest groups of fungi with a high level of ecological diversity including many plant pathogens infecting a broad range of hosts. Here, we compare genome features of 18 members of this class, including 6 necrotrophs, 9 (hemi)biotrophs and 3 saprotrophs, to analyze genome structure, evolution, and the diverse strategies of pathogenesis. The Dothideomycetes most likely evolved from a common ancestor more than 280 million years ago. The 18 genome sequences differ dramatically in size due to variation in repetitive content, but show much less variation in number of (core) genes. Gene order appears to have been rearranged mostly within chromosomal boundaries by multiple inversions, in extant genomes frequently demarcated by adjacent simple repeats. Several Dothideomycetes contain one or more gene-poor, transposable element (TE)-rich putatively dispensable chromosomes of unknown function. The 18 Dothideomycetes offer an extensive catalogue of genes involved in cellulose degradation, proteolysis, secondary metabolism, and cysteine-rich small secreted proteins. Ancestors of the two major orders of plant pathogens in the Dothideomycetes, the Capnodiales and Pleosporales, may have had different modes of pathogenesis, with the former having fewer of these genes than the latter. Many of these genes are enriched in proximity to transposable elements, suggesting faster evolution because of the effects of repeat induced point (RIP) mutations. A syntenic block of genes, including oxidoreductases, is conserved in most Dothideomycetes and upregulated during infection in L. maculans, suggesting a possible function in response to oxidative stress