Development and evaluation of a predictive algorithm for telerobotic task complexity

There is a wide range of complexity in the various telerobotic servicing tasks performed in subsea, space, and hazardous material handling environments. Experience with telerobotic servicing has evolved into a knowledge base used to design tasks to be 'telerobot friendly.' This knowledge base generally resides in a small group of people. Written documentation and requirements are limited in conveying this knowledge base to serviceable equipment designers and are subject to misinterpretation. A mathematical model of task complexity based on measurable task parameters and telerobot performance characteristics would be a valuable tool to designers and operational planners. Oceaneering Space Systems and TRW have performed an independent research and development project to develop such a tool for telerobotic orbital replacement unit (ORU) exchange. This algorithm was developed to predict an ORU exchange degree of difficulty rating (based on the Cooper-Harper rating used to assess piloted operations). It is based on measurable parameters of the ORU, attachment receptacle and quantifiable telerobotic performance characteristics (e.g., link length, joint ranges, positional accuracy, tool lengths, number of cameras, and locations). The resulting algorithm can be used to predict task complexity as the ORU parameters, receptacle parameters, and telerobotic characteristics are varied

The Temperature Scale of Metal-Rich M Giants Based on TiO Bands: Population Synthesis in the Near Infrared

We have computed a grid of high resolution synthetic spectra for cool stars (2500<Teff<6000 K) in the wavelength range 6000 -- 10200A, by employing an updated line list of atomic and molecular lines, together with state-of-the-art model atmospheres. As a by-product, by fitting TiO bandheads in spectra of well-known M giants, we have derived the electronic oscillator strengths of the TiO gamma prime, delta, epsilon and phi systems. The derived oscillator strenghts for the gamma prime, epsilon and phi systems differ from the laboratory and ab initio values found in the literature, but are consistent with the model atmospheres and line lists employed, resulting in a good match to the observed spectra of M giants of known parameters. The behavior of TiO bands as a function of the stellar parameters Teff, log g and [Fe/H] is presented and the use of TiO spectral indices in stellar population studies is discussed.Comment: ApJ accepted, 27 pages + 11 figures, AASLatex v4.

Dust in the Photospheric Environment: Unified Cloudy Models of M, L, and T Dwarfs

We address the problem of how dust forms and how it could be sustained in the static photospheres of cool dwarfs for a long time. In the cool and dense gas, dust forms easily at the condensation temperature, T_cond, and the dust can be in detailed balance with the ambient gas so long as it remains smaller than the critical radius, r_cr. However, dust will grow larger and segregate from the gas when it will be larger than r_cr somewhere at the lower temperature, which we refer to as the critical temperature, T_cr. Then, the large dust grains will precipitate below the photosphere and only the small dust grains in the region of T_cr < T < T_cond can be sustained in the photosphere. Thus a dust cloud is formed. Incorporating the dust cloud, non-grey model photo- spheres in radiative-convective equilibrium are extended to T_eff as low as 800K. Observed colors and spectra of cool dwarfs can consistently be accounted for by a single grid of our cloudy models. This fact in turn can be regarded as supporting evidence for our basic assumption on the cloud formation.Comment: 50 pages with 14 postscript figures, to be published in Astrophys.

Mercury in the Black Sea:New Insights From Measurements and Numerical Modeling

Redox conditions and organic matter control marine methylmercury (MeHg) production. The Black Sea is the world's largest and deepest anoxic basin and is thus ideal to study Hg species along the extended redox gradient. Here we present new dissolved Hg and MeHg data from the 2013 GEOTRACES MEDBlack cruise (GN04_leg2) that we integrated into a numerical 1-D model, to track the fate and dynamics of Hg and MeHg. Contrary to a previous study, our new data show highest MeHg concentrations in the permanently anoxic waters. Observed MeHg/Hg percentage (range 9-57%) in the anoxic waters is comparable to other subsurface maxima in oxic open-ocean waters. With the modeling we tested for various Hg methylation and demethylation scenarios along the redox gradient. The results show that Hg methylation must occur in the anoxic waters. The model was then used to simulate the time evolution (1850-2050) of Hg species in the Black Sea. Our findings quantify (1) inputs and outputs of Hg-T (similar to 31 and similar to 28 kmol yr(-1)) and MeHgT (similar to 5 and similar to 4 kmol yr(-1)) to the basin, (2) the extent of net demethylation occurring in oxic (similar to 1 kmol yr(-1)) and suboxic water (similar to 6 kmol yr(-1)), (3) and the net Hg methylation in the anoxic waters of the Black Sea (similar to 11 kmol yr(-1)). The model was also used to estimate the amount of anthropogenic Hg (85-93%) in the Black Sea

Synthetic Spectra and Color-Temperature Relations of M Giants

As part of a project to model the integrated spectra and colors of elliptical galaxies through evolutionary synthesis, we have refined our synthetic spectrum calculations of M giants. After critically assessing three effective temperature scales for M giants, we adopted the relation of Dyck et al. (1996) for our models. Using empirical spectra of field M giants as a guide, we then calculated MARCS stellar atmosphere models and SSG synthetic spectra of these cool stars, adjusting the band absorption oscillator strengths of the TiO bands to better reproduce the observational data. The resulting synthetic spectra are found to be in very good agreement with the K-band spectra of stars of the appropriate spectral type taken from Kleinmann & Hall (1986) as well. Spectral types estimated from the strengths of the TiO bands and the depth of the bandhead of CO near 2.3 microns quantitatively confirm that the synthetic spectra are good representations of those of field M giants. The broad-band colors of the models match the field relations of K and early-M giants very well; for late-M giants, differences between the field-star and synthetic colors are probably caused by the omission of spectral lines of VO and water in the spectrum synthesis calculations. Here, we present four grids of K-band bolometric corrections and colors -- Johnson U-V and B-V; Cousins V-R and V-I; Johnson-Glass V-K, J-K and H-K; and CIT/CTIO V-K, J-K, H-K and CO -- for models having 3000 K < Teff < 4000 K and -0.5 < log g < 1.5. These grids, which have [Fe/H] = +0.25, 0.0, -0.5 and -1.0, extend and supplement the color-temperature relations of hotter stars presented in a companion paper (astro-ph/9911367).Comment: To appear in the March 2000 issue of the Astronomical Journal. 60 pages including 15 embedded postscript figures (one page each) and 6 embedded postscript tables (10 pages total

Dimensionality and dynamics in the behavior of C. elegans

A major challenge in analyzing animal behavior is to discover some underlying simplicity in complex motor actions. Here we show that the space of shapes adopted by the nematode C. elegans is surprisingly low dimensional, with just four dimensions accounting for 95% of the shape variance, and we partially reconstruct "equations of motion" for the dynamics in this space. These dynamics have multiple attractors, and we find that the worm visits these in a rapid and almost completely deterministic response to weak thermal stimuli. Stimulus-dependent correlations among the different modes suggest that one can generate more reliable behaviors by synchronizing stimuli to the state of the worm in shape space. We confirm this prediction, effectively "steering" the worm in real time.Comment: 9 pages, 6 figures, minor correction

Environmental variables, habitat discontinuity and life history shaping the genetic structure of Pomatoschistus marmoratus

Coastal lagoons are semi-isolated ecosystems exposed to wide fluctuations of environmental conditions and showing habitat fragmentation. These features may play an important role in separating species into different populations, even at small spatial scales. In this study, we evaluate the concordance between mitochondrial (previous published data) and nuclear data analyzing the genetic variability of Pomatoschistus marmoratus in five localities, inside and outside the Mar Menor coastal lagoon (SE Spain) using eight microsatellites. High genetic diversity and similar levels of allele richness were observed across all loci and localities, although significant genic and genotypic differentiation was found between populations inside and outside the lagoon. In contrast to the FST values obtained from previous mitochondrial DNA analyses (control region), the microsatellite data exhibited significant differentiation among samples inside the Mar Menor and between lagoonal and marine samples. This pattern was corroborated using Cavalli-Sforza genetic distances. The habitat fragmentation inside the coastal lagoon and among lagoon and marine localities could be acting as a barrier to gene flow and contributing to the observed genetic structure. Our results from generalized additive models point a significant link between extreme lagoonal environmental conditions (mainly maximum salinity) and P. marmoratus genetic composition. Thereby, these environmental features could be also acting on genetic structure of coastal lagoon populations of P. marmoratus favoring their genetic divergence. The mating strategy of P. marmoratus could be also influencing our results obtained from mitochondrial and nuclear DNA. Therefore, a special consideration must be done in the selection of the DNA markers depending on the reproductive strategy of the species

There's No Place Like Home: Crown-of-Thorns Outbreaks in the Central Pacific Are Regionally Derived and Independent Events

One of the most significant biological disturbances on a tropical coral reef is a population outbreak of the fecund, corallivorous crown-of-thorns sea star, Acanthaster planci. Although the factors that trigger an initial outbreak may vary, successive outbreaks within and across regions are assumed to spread via the planktonic larvae released from a primary outbreak. This secondary outbreak hypothesis is predominantly based on the high dispersal potential of A. planci and the assertion that outbreak populations (a rogue subset of the larger population) are genetically more similar to each other than they are to low-density non-outbreak populations. Here we use molecular techniques to evaluate the spatial scale at which A. planci outbreaks can propagate via larval dispersal in the central Pacific Ocean by inferring the location and severity of gene flow restrictions from the analysis of mtDNA control region sequence (656 specimens, 17 non-outbreak and six outbreak locations, six archipelagos, and three regions). Substantial regional, archipelagic, and subarchipelagic-scale genetic structuring of A. planci populations indicate that larvae rarely realize their dispersal potential and outbreaks in the central Pacific do not spread across the expanses of open ocean. On a finer scale, genetic partitioning was detected within two of three islands with multiple sampling sites. The finest spatial structure was detected at Pearl & Hermes Atoll, between the lagoon and forereef habitats (<10 km). Despite using a genetic marker capable of revealing subtle partitioning, we found no evidence that outbreaks were a rogue genetic subset of a greater population. Overall, outbreaks that occur at similar times across population partitions are genetically independent and likely due to nutrient inputs and similar climatic and ecological conditions that conspire to fuel plankton blooms