Investigation of cloud properties and atmospheric stability with MODIS

The last half year was spent in preparing Version 1 software for delivery, and culminated in transfer of the Level 2 cloud mask production software to the SDST in April. A simulated MODIS test data set with good radiometric integrity was produced using MAS data for a clear ocean scene. ER-2 flight support and MAS data processing were provided by CIMSS personnel during the Apr-May 96 SUCCESS field campaign in Salina, Kansas. Improvements have been made in the absolute calibration of the MAS, including better characterization of the spectral response for all 50 channels. Plans were laid out for validating and testing the MODIS calibration techniques; these plans were further refined during a UW calibration meeting with MCST

Probabilistic movement primitives for coordination of multiple human–robot collaborative tasks

This paper proposes an interaction learning method for collaborative and assistive robots based on movement primitives. The method allows for both action recognition and human–robot movement coordination. It uses imitation learning to construct a mixture model of human–robot interaction primitives. This probabilistic model allows the assistive trajectory of the robot to be inferred from human observations. The method is scalable in relation to the number of tasks and can learn nonlinear correlations between the trajectories that describe the human–robot interaction. We evaluated the method experimentally with a lightweight robot arm in a variety of assistive scenarios, including the coordinated handover of a bottle to a human, and the collaborative assembly of a toolbox. Potential applications of the method are personal caregiver robots, control of intelligent prosthetic devices, and robot coworkers in factories

CLE14/CLE20 peptides may interact with CLAVATA2/CORYNE receptor-like kinases to irreversibly inhibit cell division in the root meristem of Arabidopsis

Towards an understanding of the interacting nature of the CLAVATA (CLV) complex, we predicted the 3D structures of CLV3/ESR-related (CLE) peptides and the ectodomain of their potential receptor proteins/kinases, and docking models of these molecules. The results show that the ectodomain of CLV1 can form homodimers and that the 12-/13-amino-acid CLV3 peptide fits into the binding clefts of the CLV1 dimers. Our results also demonstrate that the receptor domain of CORYNE (CRN), a recently identified receptor-like kinase, binds tightly to the ectodomain of CLV2, and this likely leads to an increased possibility for docking with CLV1. Furthermore, our docking models reveal that two CRN-CLV2 ectodomain heterodimers are able to form a tetramer receptor complex. Peptides of CLV3, CLE14, CLE19, and CLE20 are also able to bind a potential CLV2-CRN heterodimer or heterotetramer complex. Using a cell-division reporter line, we found that synthetic 12-amino-acid CLE14 and CLE20 peptides inhibit, irreversibly, root growth by reducing cell division rates in the root apical meristem, resulting in a short-root phenotype. Intriguingly, we observed that exogenous application of cytokinin can partially rescue the short-root phenotype induced by over-expression of either CLE14 or CLE20 in planta. However, cytokinin treatment does not rescue the short-root phenotype caused by exogenous application of the synthetic CLE14/CLE20 peptides, suggesting a requirement for a condition provided only in living plants. These results therefore imply that the CLE14/CLE20 peptides may act through the CLV2-CRN receptor kinase, and that their availabilities and/or abundances may be affected by cytokinin activity in planta

Manipulation planning under changing external forces

This paper presents a planner that enables robots to manipulate objects under changing external forces. Particularly, we focus on the scenario where a human applies a sequence of forceful operations, e.g. cutting and drilling, on an object that is held by a robot. The planner produces an efficient manipulation plan by choosing stable grasps on the object, by intelligently deciding when the robot should change its grasp on the object as the external forces change, and by choosing subsequent grasps such that they minimize the number of regrasps required in the long-term. Furthermore, as it switches from one grasp to the other, the planner solves the bimanual regrasping in the air by using an alternating sequence of bimanual and unimanual grasps. We also present a conic formulation to address force uncertainties inherent in human-applied external forces, using which the planner can robustly assess the stability of a grasp configuration without sacrificing planning efficiency. We provide a planner implementation on a dual-arm robot and present a variety of simulated and real human-robot experiments to show the performance of our planner

Cloud and Sun-glint Statistics Derived from GOES and MODIS Observations Over the Intra-Americas Sea for GEO-CAPE Mission Planning

Knowledge of cloud cover, frequency, and duration is not only important to study cloud dynamics, but also critical in determining when and where to take ocean measurements from geostationary orbits such as the Geostationary Coastal and Air Pollution Events (GEO-CAPE) mission due to the challenges in achieving complete hemispheric coverage of coastal oceans, estuaries, and inland waters at hourly frequency. Using GOES hourly measurements at 4 km nadir resolution between 2006 and 2011, the number of cloud-free hourly observations per day (Ncf) for solar zenith angle θo \u3c 80° was estimated for each 0.1° location of the Intra-Americas Sea. The number of Sun-glint-affected hourly observations per day (Nsg) was also calculated based on the planned GEO-CAPE observation geometry and realistic wind speed. High-latitude and equatorial oceans showed the lowest Ncf (\u3c2.4) in all climatological months, and highest Ncf was observed in the Gulf of Mexico (GoM) and Caribbean (\u3e4.5). Different regions showed differences in seasonality of cloud-free conditions and also showed differences in the hour of a day at which the satellite observations would have the maximal cloud-free and glint-free probability (Tmax). Cloud cover from Moderate Resolution Imaging Spectroradiometer (MODIS) 1 km measurements are \u3e10% higher than those from the MODIS 250 m measurements, supporting ocean color missions at subkilometer resolutions to enhance both spatial coverage and temporal frequency. These findings provide valuable information for GEO-CAPE mission planning to maximize its science value through minimizing the impacts of clouds and Sun glint

Cloud and Sun-glint Statistics Derived from GOES and MODIS Observations Over the Intra-Americas Sea for GEO-CAPE Mission Planning

Knowledge of cloud cover, frequency, and duration is not only important to study cloud dynamics, but also critical in determining when and where to take ocean measurements from geostationary orbits such as the Geostationary Coastal and Air Pollution Events (GEO-CAPE) mission due to the challenges in achieving complete hemispheric coverage of coastal oceans, estuaries, and inland waters at hourly frequency. Using GOES hourly measurements at 4 km nadir resolution between 2006 and 2011, the number of cloud-free hourly observations per day (Ncf) for solar zenith angle θo \u3c 80° was estimated for each 0.1° location of the Intra-Americas Sea. The number of Sun-glint-affected hourly observations per day (Nsg) was also calculated based on the planned GEO-CAPE observation geometry and realistic wind speed. High-latitude and equatorial oceans showed the lowest Ncf (\u3c2.4) in all climatological months, and highest Ncf was observed in the Gulf of Mexico (GoM) and Caribbean (\u3e4.5). Different regions showed differences in seasonality of cloud-free conditions and also showed differences in the hour of a day at which the satellite observations would have the maximal cloud-free and glint-free probability (Tmax). Cloud cover from Moderate Resolution Imaging Spectroradiometer (MODIS) 1 km measurements are \u3e10% higher than those from the MODIS 250 m measurements, supporting ocean color missions at subkilometer resolutions to enhance both spatial coverage and temporal frequency. These findings provide valuable information for GEO-CAPE mission planning to maximize its science value through minimizing the impacts of clouds and Sun glint