Reactive direction control for a mobile robot: A locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using ‘randomised winner-take-all’ or ‘steering wheel’ algorithms for LGMD model integration, the khepera robots could escape an approaching threat in real time and with a similar distribution of escape directions as real locusts. We also found that by optimising these algorithms, we could use them to integrate the left and right DCMD responses of real jumping locusts offline and reproduce the actual escape directions that the locusts took in a particular trial. Our results significantly advance the development of an artificial collision detection and evasion system based on the locust LGMD by allowing it reactive control over robot behaviour. The success of this approach may also indicate some important areas to be pursued in future biological research

Symmetric Equations on the Surface of a Sphere as Used by Model GISS:IB

Standard vector calculus formulas of Cartesian three space are projected onto the surface of a sphere. This produces symmetric equations with three nonindependent horizontal velocity components. Each orthogonal axis has a velocity component that rotates around its axis (eastward velocity rotates around the northsouth axis) and a specific angular momentum component that is the product of the velocity component multiplied by the cosine of axis latitude. Angular momentum components align with the fixed axes and simplify several formulas, whereas the rotating velocity components are not orthogonal and vary with location. Three symmetric coordinates allow vector resolution and calculus operations continuously over the whole spherical surface, which is not possible with only two coordinates. The symmetric equations are applied to one-layer shallow water models on cubed-sphere and icosahedral grids, the latter being computationally simple and applicable to an ocean domain. Model results are presented for three different initial conditions and five different resolutions

The Impact of Different Absolute Solar Irradiance Values on Current Climate Model Simulations

Simulations of the preindustrial and doubled CO2 climates are made with the GISS Global Climate Middle Atmosphere Model 3 using two different estimates of the absolute solar irradiance value: a higher value measured by solar radiometers in the 1990s and a lower value measured recently by the Solar Radiation and Climate Experiment. Each of the model simulations is adjusted to achieve global energy balance; without this adjustment the difference in irradiance produces a global temperature change of 0.48C, comparable to the cooling estimated for the Maunder Minimum. The results indicate that by altering cloud cover the model properly compensates for the different absolute solar irradiance values on a global level when simulating both preindustrial and doubled CO2 climates. On a regional level, the preindustrial climate simulations and the patterns of change with doubled CO2 concentrations are again remarkably similar, but there are some differences. Using a higher absolute solar irradiance value and the requisite cloud cover affects the model's depictions of high-latitude surface air temperature, sea level pressure, and stratospheric ozone, as well as tropical precipitation. In the climate change experiments it leads to an underestimation of North Atlantic warming, reduced precipitation in the tropical western Pacific, and smaller total ozone growth at high northern latitudes. Although significant, these differences are typically modest compared with the magnitude of the regional changes expected for doubled greenhouse gas concentrations. Nevertheless, the model simulations demonstrate that achieving the highest possible fidelity when simulating regional climate change requires that climate models use as input the most accurate (lower) solar irradiance value

Climatic effects of 1950-2050 changes in US anthropogenic aerosols - Part 2: Climate response

We investigate the climate response to changing US anthropogenic aerosol sources over the 1950–2050 period by using the NASA GISS general circulation model (GCM) and comparing to observed US temperature trends. Time-dependent aerosol distributions are generated from the GEOS-Chem chemical transport model applied to historical emission inventories and future projections. Radiative forcing from US anthropogenic aerosols peaked in 1970–1990 and has strongly declined since due to air quality regulations. We find that the regional radiative forcing from US anthropogenic aerosols elicits a strong regional climate response, cooling the central and eastern US by 0.5–1.0 °C on average during 1970–1990, with the strongest effects on maximum daytime temperatures in summer and autumn. Aerosol cooling reflects comparable contributions from direct and indirect (cloud-mediated) radiative effects. Absorbing aerosol (mainly black carbon) has negligible warming effect. Aerosol cooling reduces surface evaporation and thus decreases precipitation along the US east coast, but also increases the southerly flow of moisture from the Gulf of Mexico resulting in increased cloud cover and precipitation in the central US. Observations over the eastern US show a lack of warming in 1960–1980 followed by very rapid warming since, which we reproduce in the GCM and attribute to trends in US anthropogenic aerosol sources. Present US aerosol concentrations are sufficiently low that future air quality improvements are projected to cause little further warming in the US (0.1 °C over 2010–2050). We find that most of the warming from aerosol source controls in the US has already been realized over the 1980–2010 period

Possibilities for a specific breeding program for organic dairy production

Presentation on breeding programs for organic dairy production at the 70th Annual EAAP Meetin

Fast Atmosphere-Ocean Model Runs with Large Changes in CO2

How does climate sensitivity vary with the magnitude of climate forcing? This question was investigated with the use of a modified coupled atmosphere-ocean model, whose stability was improved so that the model would accommodate large radiative forcings yet be fast enough to reach rapid equilibrium. Experiments were performed in which atmospheric CO2 was multiplied by powers of 2, from 1/64 to 256 times the 1950 value. From 8 to 32 times, the 1950 CO2, climate sensitivity for doubling CO2 reaches 8 C due to increases in water vapor absorption and cloud top height and to reductions in low level cloud cover. As CO2 amount increases further, sensitivity drops as cloud cover and planetary albedo stabilize. No water vapor-induced runaway greenhouse caused by increased CO2 was found for the range of CO2 examined. With CO2 at or below 1/8 of the 1950 value, runaway sea ice does occur as the planet cascades to a snowball Earth climate with fully ice covered oceans and global mean surface temperatures near 30 C

Symmetric equations on the surface of a sphere as used by model GISS:IB

Standard vector calculus formulas of Cartesian three space are projected onto the surface of a sphere. This produces symmetric equations with three nonindependent horizontal velocity components. Each orthogonal axis has a velocity component that rotates around its axis (eastward velocity rotates around the north–south axis) and a specific angular momentum component that is the product of the velocity component multiplied by the cosine of axis' latitude. Angular momentum components align with the fixed axes and simplify several formulas, whereas the rotating velocity components are not orthogonal and vary with location. Three symmetric coordinates allow vector resolution and calculus operations continuously over the whole spherical surface, which is not possible with only two coordinates. The symmetric equations are applied to one-layer shallow water models on cubed-sphere and icosahedral grids, the latter being computationally simple and applicable to an ocean domain. Model results are presented for three different initial conditions and five different resolutions.</p

Graphitic Matrix Materials for Spherical HTR Fuel Elements : Results of Material Development and Irradiation Testing : Catalogue of Pictures and Tables

The present report comprises the essential results of material development and irradiation testing of graphitic matrix materials for spherical HTR fuel elements and completes the documentation of the irradiation data for 20 matrix materials (Jül-1702). The main emphasis is given to the matrices A3-3 (standard matrix) and A3-27 (matrix with synthesized resin), both of which are being used as structural materials for the fuel elements of the AVR and THTR reactors*.) In addition, comparisons are made between 18 A3-variants and the standard matrix A3-3, which show that three of the variants may be considered as a further potential for use. Moreover, the possibilities for HTR fuel elements which are opened up by the introduction of a new technology, warm moulding, are also illustrated. The results described were obtained within the framework of the HTR project "Hochtemperaturreaktor-Brennstoffkreislauf" (High-Temperature Reactor Fuel Cycle) involving the Gesellschaft für Hochtemperaturreaktor-Technik mbH, Hochtemperaturreaktor-Brennelement GmbH, Hochtemperatur-Reaktorbau GmbH, Kernforschungsanlage Jülich GmbH, NUKEM GmbH and Sigri Elektrographit GmbH/ Ringsdorff-Werke GmbH. The project is sponsored by the "Bundesministerium für Forschung und Technologie" (Federal Ministry for Research and Technology) and by the State of North-Rhine/Westphalia