A high-altitude snow chemistry record from Amundsenisen, Dronning Maud Land, Antarctica

In this paper a detailed record of major ions from a 20 m deep firn core from Amundsenisen, western Dronning Maud Land, Antarctica, is presented. The core was drilled at 75° S, 2° E (2900 m a.s.l.) during austral summer 1991/92. The following ions were measured at 3 cm resolution: Na+, Mg2+, Ca2+, Cl−, NO3−, S04 2− and CH3SO3H (MSA). The core was dated back to 1865 using a combination of chemical records and volcanic reference horizons. The volcanic eruptions identified in this core are Mount Ngauruhoe, New Zealand (1974–75), Mount Agung, Indonesia (1963), Azul, Argentina (1932), and a broad peak that corresponds in time toTarawera, New Zealand (1886), Falcon Island, South Shetlands, Southern Ocean (1885), and Krakatau, Indonesia (1883). There are no trends in any of the ion records, but the annual to decadal changes are large. The mean concentrations of the measured ions are in agreement with those from other high-altitude cores from the Antarctic plateau. At this core site there may be a correspondence between peaks in the MSA record and major El Niño–Southern Oscillation events

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

Spatial variability of snow chemistry in western Dronning Maud Land, Antarctica

During the austral summer of 1993-94 a number of 1-2 m deep snow pits were sampled in connection with firn-coring in western Dronning Maud Land, Antarctica. The traverse went from 800 to about 3000 m a.s.l. upon the high-altitude plateau. Profiles of cations (Na+, K+, Mg2+, Ca2+), anions (Cl−, NO3-, SO4 2- , CH3SO3 −) and stable oxygen isotopes (δ18O) from 11 snow pils are presented here. Close to the coast 2 m of snow accumulates in about 2-3 years, whilst at sites on the high-altitude plateau 2 m of snow accumulates in 10—14 years. The spatial variation in ion concentrations shows that the ions can be divided into two groups, one with sea-salt elements and methane sulfonate and the other with nitrate and sulfate. For the sca-salt elements and methane sulfonate the concentrations decrease with increasing altitude and increasing distance from the coast, as well as with decreasing temperature and decreasing accumulation rate. For nitrate and sulfate the concentrations are constant or increase with respect to these parameters. This pattern suggests that the sources for sca-salt elements and methane sulfonate are local, whereas the sources for nitrate and sulfate are a mixture of local and long-range transport

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints

B decay and the Upsilon mass

Theoretical predictions for inclusive semileptonic B decay rates are rewritten in terms of the Upsilon(1S) meson mass instead of the b quark mass, using a modified perturbation expansion. This method gives theoretically consistent and phenomenologically useful results. Perturbation theory is well behaved, and the largest theoretical error in the predictions coming from the uncertainty in the quark mass is eliminated. The results are applied to the determination of $|V_{cb}|$, $|V_{ub}|$, and $\lambda_1$.Comment: 8 pages revte

Modeling organic carbon accumulation rates and residence times in coastal vegetated ecosystems

Coastal vegetated “blue carbon” ecosystems can store large quantities of organic carbon (OC) within their soils; however, the importance of these sinks for climate change mitigation depends on the OC accumulation rate (CAR) and residence time. Here we evaluate how two modeling approaches, a Bayesian age-depth model alone or in combination with a two-pool OC model, aid in our understanding of the time lines of OC within seagrass soils. Fitting these models to data from Posidonia oceanica soil cores, we show that age-depth models provided reasonable CAR estimates but resulted in a 22% higher estimation of OC burial rates when ephemeral rhizosphere OC was not subtracted. This illustrates the need to standardize CAR estimation to match the research target and time frames under consideration. Using a two-pool model in tandem with an age-depth model also yielded reasonable, albeit lower, CAR estimates with lower estimate uncertainty, which increased our ability to detect among-site differences and seascape-level trends. Moreover, the two-pool model provided several other useful soil OC diagnostics, including OC inputs, decay rates, and transit times. At our sites, soil OC decayed quite slowly both within fast cycling (0.028 ± 0.014 yr−1) and slow cycling (0.0007 ± 0.0003 yr−1) soil pools, resulting in OC taking between 146 and 825 yr to transit the soil system. Further, an estimated 85% to 93% of OC inputs enter slow-cycling soil pools, with transit times ranging from 891 to 3,115 yr, substantiating the importance of P. oceanica soils as natural, long-term OC sinks

A meta-analysis of long-term effects of conservation agriculture on maize grain yield under rain-fed conditions

Conservation agriculture involves reduced tillage, permanent soil cover and crop rotations to enhance soil fertility and to supply food from a dwindling land resource. Recently, conservation agriculture has been promoted in Southern Africa, mainly for maize-based farming systems. However, maize yields under rain-fed conditions are often variable. There is therefore a need to identify factors that influence crop yield under conservation agriculture and rain-fed conditions. Here, we studied maize grain yield data from experiments lasting 5 years and more under rain-fed conditions. We assessed the effect of long-term tillage and residue retention on maize grain yield under contrasting soil textures, nitrogen input and climate. Yield variability was measured by stability analysis. Our results show an increase in maize yield over time with conservation agriculture practices that include rotation and high input use in low rainfall areas. But we observed no difference in system stability under those conditions. We observed a strong relationship between maize grain yield and annual rainfall. Our meta-analysis gave the following findings: (1) 92% of the data show that mulch cover in high rainfall areas leads to lower yields due to waterlogging; (2) 85% of data show that soil texture is important in the temporal development of conservation agriculture effects, improved yields are likely on well-drained soils; (3) 73% of the data show that conservation agriculture practices require high inputs especially N for improved yield; (4) 63% of data show that increased yields are obtained with rotation but calculations often do not include the variations in rainfall within and between seasons; (5) 56% of the data show that reduced tillage with no mulch cover leads to lower yields in semi-arid areas; and (6) when adequate fertiliser is available, rainfall is the most important determinant of yield in southern Africa. It is clear from our results that conservation agriculture needs to be targeted and adapted to specific biophysical conditions for improved impact

Scintillator counters with WLS fiber/MPPC readout for the side muon range detector (SMRD)of the T2K experiment

The T2K neutrino experiment at J-PARC uses a set of near detectors to measure the properties of an unoscillated neutrino beam and neutrino interaction cross-sections. One of the sub-detectors of the near-detector complex, the side muon range detector (SMRD), is described in the paper. The detector is designed to help measure the neutrino energy spectrum, to identify background and to calibrate the other detectors. The active elements of the SMRD consist of 0.7 cm thick extruded scintillator slabs inserted into air gaps of the UA1 magnet yokes. The readout of each scintillator slab is provided through a single WLS fiber embedded into a serpentine shaped groove. Two Hamamatsu multi-pixel avalanche photodiodes (MPPC's) are coupled to both ends of the WLS fiber. This design allows us to achieve a high MIP detection efficiency of greater than 99%. A light yield of 25-50 p.e./MIP, a time resolution of about 1 ns and a spatial resolution along the slab better than 10 cm were obtained for the SMRD counters.Comment: 7 pages, 4 figures; talk at TIPP09, March 12-17, Tsukuba, Japan; to be published in the conference proceeding

Impacts of organic and conventional crop management on diversity and activity of free-living nitrogen fixing bacteria and total bacteria are subsidiary to temporal effects

A three year field study (2007-2009) of the diversity and numbers of the total and metabolically active free-living diazotophic bacteria and total bacterial communities in organic and conventionally managed agricultural soil was conducted at the Nafferton Factorial Systems Comparison (NFSC) study, in northeast England. The result demonstrated that there was no consistent effect of either organic or conventional soil management across the three years on the diversity or quantity of either diazotrophic or total bacterial communities. However, ordination analyses carried out on data from each individual year showed that factors associated with the different fertility management measures including availability of nitrogen species, organic carbon and pH, did exert significant effects on the structure of both diazotrophic and total bacterial communities. It appeared that the dominant drivers of qualitative and quantitative changes in both communities were annual and seasonal effects. Moreover, regression analyses showed activity of both communities was significantly affected by soil temperature and climatic conditions. The diazotrophic community showed no significant change in diversity across the three years, however, the total bacterial community significantly increased in diversity year on year. Diversity was always greatest during March for both diazotrophic and total bacterial communities. Quantitative analyses using qPCR of each community indicated that metabolically active diazotrophs were highest in year 1 but the population significantly declined in year 2 before recovering somewhat in the final year. The total bacterial population in contrast increased significantly each year. Seasonal effects were less consistent in this quantitative study

Search for Yukawa Production of a Light Neutral Higgs Boson at LEP

Within a Two-Higgs-Doublet Model (2HDM) a search for a light Higgs boson in the mass range of 4-12 GeV has been performed in the Yukawa process e+e- -> b bbar A/h -> b bbar tau+tau-, using the data collected by the OPAL detector at LEP between 1992 and 1995 in e+e- collisions at about 91 GeV centre-of-mass energy. A likelihood selection is applied to separate background and signal. The number of observed events is in good agreement with the expected background. Within a CP-conserving 2HDM type II model the cross-section for Yukawa production depends on xiAd = |tan beta| and xihd = |sin alpha/cos beta| for the production of the CP-odd A and the CP-even h, respectively, where tan beta is the ratio of the vacuum expectation values of the Higgs doublets and alpha is the mixing angle between the neutral CP-even Higgs bosons. From our data 95% C.L. upper limits are derived for xiAd within the range of 8.5 to 13.6 and for xihd between 8.2 to 13.7, depending on the mass of the Higgs boson, assuming a branching fraction into tau+tau- of 100%. An interpretation of the limits within a 2HDM type II model with Standard Model particle content is given. These results impose constraints on several models that have been proposed to explain the recent BNL measurement of the muon anomalous magnetic moment.Comment: 24 pages, 9 figures, Submitted to Euro. Phys. J.