Hydrogenotrophic Methanogenesis by Moderately Acid-Tolerant Methanogens of a Methane-Emitting Acidic Peat

The emission of methane (1.3 mmol of CH4 m-2 day-1), precursors of methanogenesis, and the methanogenic microorganisms of acidic bog peat (pH 4.4) from a moderately reduced forest site were investigated by in situ measurements, microcosm incubations, and cultivation methods, respectively. Bog peat produced CH4 (0.4 to 1.7 μmol g [dry wt] of soil-1 day-1) under anoxic conditions. At in situ pH, supplemental H2-CO2, ethanol, and 1-propanol all increased CH4 production rates while formate, acetate, propionate, and butyrate inhibited the production of CH4 methanol had no effect. H2-dependent acetogenesis occurred in H2-CO2-supplemented bog peat only after extended incubation periods. Nonsupplemented bog peat initially produced small amounts of H2 that were subsequently consumed. The accumulation of H2 was stimulated by ethanol and 1-propanol or by inhibiting methanogenesis with bromoethanesulfonate, and the consumption of ethanol was inhibited by large amounts of H2 these results collectively indicated that ethanol- or 1-propanol-utilizing bacteria were trophically associated with H2-utilizing methanogens. A total of 109 anaerobes and 107 hydrogenotrophic methanogens per g (dry weight) of bog peat were enumerated by cultivation techniques. A stable methanogenic enrichment was obtained with an acidic, H2-CO2-supplemented, fatty acid-enriched defined medium. CH4 production rates by the enrichment were similar at pH 4.5 and 6.5, and acetate inhibited methanogenesis at pH 4.5 but not at pH 6.5. A total of 27 different archaeal 16S rRNA gene sequences indicative of Methanobacteriaceae, Methanomicrobiales, and Methanosarcinaceae were retrieved from the highest CH4-positive serial dilutions of bog peat and methanogenic enrichments. A total of 10 bacterial 16S rRNA gene sequences were also retrieved from the same dilutions and enrichments and were indicative of bacteria that might be responsible for the production of H2 that could be used by hydrogenotrophic methanogens. These results indicated that in this acidic bog peat, (i) H2 is an important substrate for acid-tolerant methanogens, (ii) interspecies hydrogen transfer is involved in the degradation of organic carbon, (iii) the accumulation of protonated volatile fatty acids inhibits methanogenesis, and (iv) methanogenesis might be due to the activities of methanogens that are phylogenetic members of the Methanobacteriaceae, Methanomicrobiales, and Methanosarcinaceae

Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for onboard obstacle avoidance for safe operation. Previous methods deploy either purely reactive approaches, mapping low-level visual features directly to actuator inputs to maneuver the vehicle around the obstacle, or deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image-space representation, which supports very efficient motion planning and collision checking, and allows to implement configuration space expansion as an image processing function directly on the egocylinder. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment

Articulatory Tradeoffs Reduce Acoustic Variability During American English /r/ Production

Acoustic and articulatory recordings reveal that speakers utilize systematic articulatory tradeoffs to maintain acoustic stability when producing the phoneme /r/. Distinct articulator configurations used to produce /r/ in various phonetic contexts show systematic tradeoffs between the cross-sectional areas of different vocal tract sections. Analysis of acoustic and articulatory variabilities reveals that these tradeoffs act to reduce acoustic variability, thus allowing large contextual variations in vocal tract shape; these contextual variations in turn apparently reduce the amount of articulatory movement required. These findings contrast with the widely held view that speaking involves a canonical vocal tract shape target for each phoneme.National Institute on Deafness and Other Communication Disorders (1R29-DC02852-02, 5R01-DC01925-04, 1R03-C2576-0l); National Science Foundation (IRI-9310518

Long-distance optical-conveyor-belt transport of ultracold 133 Cs and 87 Rb atoms

We report on the transport of a thermal cloud of ultracold cesium and rubidium atoms over about 37 cm in under 25 ms using an optical conveyor belt formed by two counterpropagating beams with a controllable frequency difference that generate a movable optical lattice. By carefully selecting the waists and focus positions, we are able to use two static Gaussian beams for the transport, avoiding the need for a Bessel beam or variable-focus lenses. We characterize the transport efficiency for both species, including a comparison of different transport trajectories, gaining insight into the loss mechanisms and finding the minimum jerk trajectory to be optimum. Using the optimized parameters, we are able to transport up to 7×106 cesium or rubidium atoms with an efficiency up to 75%. To demonstrate the viability of our transport scheme for experiments employing quantum gas microscopy, we produce Bose-Einstein condensates of either species after transport and present measurements of the simultaneous transport of both species

Design of an Agile Unmanned Combat Vehicle - A Product of the DARPA UGCV Program

The unmanned ground combat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and incorporates key attributes essential for high performance robotic combat vehicles. This performance includes protection against 7.62 mm threats, C130 and CH47 transportability, and the ability to accept several relevant weapons payloads, as well as advanced sensors and perception algorithms evolving from the PerceptOR program. The UGCV design incorporates a combination of technologies and design features, carefully selected through detailed trade studies, which provide optimum performance against mobility, payload, and endurance goals without sacrificing transportability, survivability, or life cycle cost. The design was optimized to maximize performance against all Category I metrics. In each case, the performance of this design was validated with detailed simulations, indicating that the vehicle exceeded the Category I metrics. Mobility metrics were analyzed using high fidelity VisualNastran vehicle models, which incorporate the suspension control algorithms and controller cycles times. DADS/Easy 5 3-D models and ADAMS simulations were also used to validate vehicle dynamics and control algorithms during obstacle negotiation

Discretization of variational regularization in Banach spaces

Consider a nonlinear ill-posed operator equation $F(u)=y$ where $F$ is defined on a Banach space $X$. In general, for solving this equation numerically, a finite dimensional approximation of $X$ and an approximation of $F$ are required. Moreover, in general the given data \yd of $y$ are noisy. In this paper we analyze finite dimensional variational regularization, which takes into account operator approximations and noisy data: We show (semi-)convergence of the regularized solution of the finite dimensional problems and establish convergence rates in terms of Bregman distances under appropriate sourcewise representation of a solution of the equation. The more involved case of regularization in nonseparable Banach spaces is discussed in detail. In particular we consider the space of finite total variation functions, the space of functions of finite bounded deformation, and the $L^\infty$--space

Billiard Systems in Three Dimensions: The Boundary Integral Equation and the Trace Formula

We derive semiclassical contributions of periodic orbits from a boundary integral equation for three-dimensional billiard systems. We use an iterative method that keeps track of the composition of the stability matrix and the Maslov index as an orbit is traversed. Results are given for isolated periodic orbits and rotationally invariant families of periodic orbits in axially symmetric billiard systems. A practical method for determining the stability matrix and the Maslov index is described.Comment: LaTeX, 19 page

Efficient Analysis of High Dimensional Data in Tensor Formats

In this article we introduce new methods for the analysis of high dimensional data in tensor formats, where the underling data come from the stochastic elliptic boundary value problem. After discretisation of the deterministic operator as well as the presented random fields via KLE and PCE, the obtained high dimensional operator can be approximated via sums of elementary tensors. This tensors representation can be effectively used for computing different values of interest, such as maximum norm, level sets and cumulative distribution function. The basic concept of the data analysis in high dimensions is discussed on tensors represented in the canonical format, however the approach can be easily used in other tensor formats. As an intermediate step we describe efficient iterative algorithms for computing the characteristic and sign functions as well as pointwise inverse in the canonical tensor format. Since during majority of algebraic operations as well as during iteration steps the representation rank grows up, we use lower-rank approximation and inexact recursive iteration schemes