Adirondack Landslides: History, Exposures, and Climbing

Rock, soil, and vegetation avalanche down the slopes of the Adirondack Mountains, especially the High Peaks, on a regular basis. These landslides occur most often in response to heavy rainfall events and saturated conditions. The first guides and explorers used slides as the path of least resistance en route to various summits. Some slides have received considerable interest because of their recreational potential, location and accessibility, recent activity, or the well exposed geological features they contain. Tropical Storm Irene struck the region on August 28, 2011. It wreaked havoc on local communities, as well as, many areas of the backcountry. The deluge triggered over forty significant slides and countless minor ones, some of which are easily accessible. It thus opened up slide climbing to a wider audience and provided exceptional bedrock exposures for geoscientists interested in the Adirondack Region. The text below incorporates a short history of the slides and a sample of the more interesting Irene-related slides

Igneous Rock Associations 18. Transition Metals in Oceanic Island Basalt: Relationships with the Mantle Components

Incompatible elements and isotopic ratios identify three end-member mantle components in oceanic island basalt (OIB); EM1, EM2, and HIMU. We estimate compatible to mildly incompatible transition metal abundance trends (Ni, Co, Fe, Cu, Cr, V, Mn, Sc, and Zn) in “primitive” basalt suites (Mg# = Mg/(Mg + 0.9*Fe) atomic = 0.72) from 12 end-member oceanic islands by regressing metals against Fe/Mg ratios in sample suites, and solving for concentrations at Mg/Fe = 1 (Mg# = 0.72). Using the transition metal estimates, exploratory statistics reveal that islands ‘group’ based on mantle component type even when La/Yb ratios are used to compensate metal concentrations for percentage melting. Higher chalcophile Zn (and Pb, earlier work) in EM1 and EM2 compared to HIMU, and higher Cr (3+) and Sc in HIMU relative to EM1, support views that HIMU represents subduction-processed ocean floor basalt. Incompatible elements, ratios and isotopes indicate that EM1 is Archean, EM2 is Proterozoic or younger, and both are related to sediment subduction. As found with incompatible elements, EM1 and EM2 show similar ‘compatible’ element concentrations, but lower (multi-valence) Cr, Fe and Mn in EM1 could indirectly reflect increasing oxidation of subducted sediment between the Archean and Proterozoic. Alternatively, changes in subduction processes that yielded peak continental formation in the Neoarchean, and craton-suturing in the Paleoproterozoic may account for EM1–EM2 differences. EM1 shows similar or lower Cr, Ni and Co compared to HIMU and EM2 suggesting that economic viability of layered intrusions, which have extreme EM1-like signatures, is unrelated to high metals in EM1 mantle sources, but that high % melting appears important. Because core-concentrated transition metals correlate with mantle component type, lithospheric recycling apparently controls their concentrations in OIB and core-mantle interaction may be unimportant.RÉSUMÉLes éléments incompatibles et les rapports isotopiques permettent de délimiter trois termes extrêmes de composants mantéliques dans des basaltes insulaires océaniques (OIB), soit EM1, EM2, et HIMU.  Nous estimons les tendances d’abondance de métaux de transition (Ni, Co, Fe, Cu, Cr, V, Mn, Sc, and Zn) compatibles à modérément incompatibles dans des suites de basaltes « primitifs » (Mg# = Mg/(Mg + 0,9*Fe) rayon atomique = 0,72) sur 12 termes extrêmes de matériaux insulaires océaniques, par régression des concentrations des métaux sur les rapports Fe/Mg dans des échantillons des suites, la détermination étant définie au rapport Mg/Fe = 1 (Mg# = 0,72).  L’utilisation d’une approche statistique exploratoire sur les estimations de métaux de transition montre que la composition des îles se « regroupent » en fonction du type de composition du manteau, cela même lorsque les ratios La/Yb sont utilisés pour compenser les concentrations de métaux pour déterminer le pourcentuel de fusion.  Le caractère plus chalcophile du Zn (et Pb, travail antérieur) dans EM1 et EM2 comparé à HIMU, et la plus grande teneur en Cr (3+) et Sc dans HIMU par rapport à EM1, accréditent l’idée que HIMU représente le basalte de subduction des fonds océaniques.  Les éléments incompatibles, les ratios et les isotopes montrent que EM1 est archéen, que EM2 est protérozoïque ou plus jeune, et que les deux sont liés à la subduction sédimentaire.  Comme constaté pour les éléments incompatibles, EMI et EM2 affichent une compatibilité similaire des concentrations en éléments « compatibles », toutefois une concentration inférieure en Cr (multivalent), Fe et Mn dans EM1 pourrait refléter indirectement une oxydation croissante des sédiments subduits entre l’Archéen et le Protérozoïque.  Par ailleurs, les changements dans les mécanismes de subduction qui ont mené à un maximum de formation continentale au Néoarchéen et à des épisodes de sutures cratoniques au Paléoprotérozoïque, peuvent expliquer les différences entre EM1 et EM2.  La teneur similaire ou inférieure en Cr, Ni et Co de EM1 par rapport à HIMU et EM2 permet de croire que la viabilité économique des intrusions stratifiées – lesquelles montrent des signatures extrêmes EM1 – est sans rapport avec les sources mantéliques à fortes teneurs en métaux, mais que le fort pourcentuel de fusion qui importerait.  Parce que la concentration du noyau en métaux de transition correspond avec le type de composant du manteau, c’est le recyclage lithosphérique qui contrôle apparemment leurs concentrations dans l'OIB, et l'interaction noyau-manteau pourrait être sans importance

A Comparison of Inverse Simulation-Based Fault Detection in a Simple Robotic Rover with a Traditional Model-Based Method

Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing \textit{input} residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances

Investigating the role of model-based reasoning while troubleshooting an electric circuit

We explore the overlap of two nationally-recognized learning outcomes for physics lab courses, namely, the ability to model experimental systems and the ability to troubleshoot a malfunctioning apparatus. Modeling and troubleshooting are both nonlinear, recursive processes that involve using models to inform revisions to an apparatus. To probe the overlap of modeling and troubleshooting, we collected audiovisual data from think-aloud activities in which eight pairs of students from two institutions attempted to diagnose and repair a malfunctioning electrical circuit. We characterize the cognitive tasks and model-based reasoning that students employed during this activity. In doing so, we demonstrate that troubleshooting engages students in the core scientific practice of modeling.Comment: 20 pages, 6 figures, 4 tables; Submitted to Physical Review PE

Inverse Simulation as a Tool for Fault Detection and Isolation in Planetary Rovers

With manned expeditions to planetary bodies beyond our own and the Moon currently intractable, the onus falls upon robotic systems to explore and analyse extraterrestrial environments such as Mars. These systems typically take the form of wheeled rovers, designed to navigate the difficult terrain of other worlds. Rovers have been used in this role since Lunokhod 1 landed on the Moon in 1970. While early rovers were remote controlled, communication latency with bodies beyond the Moon and the desire to improve mission effectiveness have resulted in increasing autonomy in planetary rovers. With an increase in autonomy, however, comes an increase in complexity. This can have a negative impact on the reliability of the rover system. With a fault-free system an unlikely prospect and human assistance millions of miles away, the rover must have a robust fault detection, isolation and recovery (FDIR) system. The need for comprehensive FDIR is demonstrated by the recent Chinese lunar rover, Yutu (or “Jade Rabbit”). Yutu was rendered immobile 42 days after landing and remained so for the duration of its operational life: 31 months. While its lifespan far exceeded its expected value, Yutu's inability to move severely impaired its ability to perform its mission. This clearly highlights the need for robust FDIR. A common approach to FDIR is through the generation and analysis of residuals. Output residuals may be obtained by comparing the outputs of the system with predictions of those outputs, obtained from a mathematical model of the system which is supplied with the system inputs. Output residuals allow simple detection and isolation of faults at the output of the system. Faults in earlier stages of the system, however, propagate through the system dynamics and can disperse amongst several of the outputs. This problem is exemplified by faults at the input, which can potentially excite every system state and thus manifest in every output residual. Methods exist for decoupling and analysing output residuals such that input faults may be isolated, however, these methods are complex and require comprehensive development and testing. A conceptually simpler approach is presented in this paper. Inverse simulation (InvSim) is a numerical method by which the inputs of a system are obtained for a desired output. It does so by using a Newton-Raphson algorithm to solve a non-linear model of the system for the input. When supplied with the outputs of a fault-afflicted system, InvSim produces the input required to drive a fault-free system to this output. The fault therefore manifests itself in this generated input signal. The InvSim-generated input may then be compared to the true system input to generate input residuals. Just as a fault at an output manifests itself in the residual for that output alone, a fault at an input similarly manifests itself only in the residual for that input. InvSim may also be used to generate residuals at other locations in the system, by considering distinct subsystems with their own inputs and outputs. This ability is tested comprehensively in this paper. Faults are applied to a simulated rover at a variety of locations within the system structure and residuals generated using both InvSim and conventional forward simulation. Residuals generated using InvSim are shown to facilitate detection and isolation of faults in several locations using simple analyses. By contrast, forward simulation requires the use of complex analytical methods such as structured residuals or adaptive thresholds