Design and Control of a Flight-Style AUV with Hovering Capability

The small flight-style Delphin AUV is designed to evaluate the performance of a long range survey AUV with the additional capability to hover and manoeuvre at slow speed. Delphin’s hull form is based on a scaled version of Autosub6000, and in addition to the main thruster and control surfaces at the rear of the vehicle, Delphin is equipped with four rim driven tunnel thrusters. In order to reduce the development cycle time, Delphin was designed to use commercial-off-the-shelf (COTS) sensors and thrusters interfaced to a standard PC motherboard running the control software within the MS Windows environment. To further simplify the development, the autonomy system uses the State-Flow Toolbox within the Matlab/Simulink environment. While the autonomy software is running, image processing routines are used for obstacle avoidance and target tracking, within the commercial Scorpion Vision software. This runs as a parallel thread and passes results to Matlab via the TCP/IP communication protocol. The COTS based development approach has proved effective. However, a powerful PC is required to effectively run Matlab and Simulink, and, due to the nature of the Windows environment, it is impossible to run the control in hard real-time. The autonomy system will be recoded to run under the Matlab Windows Real-Time Windows Target in the near future. Experimental results are used to demonstrating the performance and current capabilities of the vehicle are presented

Bayesian evaluation of the southern hemisphere radiocarbon offset during the holocene

While an interhemispheric offset in atmospheric radiocarbon levels from AD 1950–950 is now well established, its existence earlier in the Holocene is less clear, with some studies reporting globally uniform 14C levels while others finding Southern Hemisphere samples older by a few decades. In this paper, we present a method for wiggle-matching Southern Hemisphere data sets against Northern Hemisphere curves, using the Bayesian calibration program OxCal 4.1 with the Reservoir Offset function accommodating a potential interhemispheric offset. The accuracy and robustness of this approach is confirmed by wiggle-matching known-calendar age sequences of the Southern Hemisphere calibration curve SHCal04 against the Northern Hemisphere curve IntCal04. We also show that 5 of 9 Holocene Southern Hemisphere data sets are capable of yielding reliable offset information. Those data sets that are accurate and precise show that interhemispheric offset levels in the Early Holocene are similar to modern levels, confirming SHCal04 as the curve of choice for calibrating Southern Hemisphere samples

Is there any Evidence for Regional Atmospheric 14C Offsets in the Southern Hemisphere?

Center for Accelerator Mass Spectrometry (CAMS) Tasmanian huon pine (Lagarostrobos franklinii) decadal measurements for the interval AD 745–855 suggest a mean interhemispheric radiocarbon offset (20 ± 5 yr), which is considerably lower than the previously reported mean interhemispheric offset for the last 2 millennia (44 ± 17 yr). However, comparable University of Waikato (Wk) New Zealand kauri (Agathis australis) measurements show significantly higher values (56 ± 6 yr), suggesting the possibility of a temporary geographic (intrahemispheric) offset between Tasmania, Australia, and Northland, New Zealand, during at least 1 common time interval. Here, we report 9 new Wk Tasmanian huon pine measurements from the decades showing the largest huon/kauri difference. We show statistically indistinguishable Wk huon and Wk kauri 14C ages, thus dispelling the suggestion of a 14C geographic offset between Tasmania and Northland

Learning a spin glass: determining Hamiltonians from metastable states

We study the problem of determining the Hamiltonian of a fully connected Ising Spin Glass of $N$ units from a set of measurements, whose sizes needs to be ${\cal O}(N^2)$ bits. The student-teacher scenario, used to study learning in feed-forward neural networks, is here extended to spin systems with arbitrary couplings. The set of measurements consists of data about the local minima of the rugged energy landscape. We compare simulations and analytical approximations for the resulting learning curves obtained by using different algorithms.Comment: 5 pages, 1 figure, to appear in Physica

Robust radiocarbon dating of wood samples by high-sensitivity liquid scintillation spectroscopy in the 50–70 kyr age range

Although high-sensitivity liquid scintillation (LS) spectroscopy is theoretically capable of producing finite radiocarbon ages in the 50,000- to 70,000-yr range, there is little evidence in the literature that meaningful dates in this time period have been obtained. The pressing need to undertake calibration beyond 26 kyr has resulted in the regular publication of ¹⁴C results in excess of 50 kyr, yet very little effort has been made to demonstrate their accuracy or precision. There is a paucity of systematic studies of the techniques required to produce reliable dates close to background and the methods needed to assess contamination from either in situ sources or laboratory handling and processing. We have studied the requirements for producing accurate and reliable dates beyond 50 kyr. Laboratory procedures include optimization of LS spectrometers to obtain low and stable non-¹⁴C background count rates, use of low-background counting vials, large benzene volumes, long counting times, and preconditioning of vacuum lines. We also discuss the need for multiple analyses of a suitable material containing no original ¹⁴C (background blank) and the application of an appropriate statistical model to compensate for variability in background contamination beyond counting statistics. Accurate and reproducible finite ages >60 kyr are indeed possible by high-sensitivity LS spectroscopy, but require corroborating background blank data to be defensible

Evidence for suppressed mid-Holocene northeastern Australian monsoon variability from coral luminescence

Summer monsoon rainfall in northeastern (NE) Australia exhibits substantial interannual variability resulting in highly variable river flows. The occurrence and magnitude of these seasonal river flows are reliably recorded in modern inshore corals as luminescent lines. Here we present reconstructed annual river flows for two ~120 year mid-Holocene windows based on luminescence measurements from five cores obtained from three separate coral colonies. We were able to cross-date the luminescence signatures in four cores from two of the colonies, providing confidence in the derived reconstruction. Present-day NE Australian rainfall and river flow are sensitive to El Niño–Southern Oscillation (ENSO) variability, with La Niña (El Niño) events typically associated with wetter (drier) monsoon seasons. Thus, our replicated and annually resolved coral records provide valuable insights into the northern Australian summer monsoon and ENSO variability at a key period (6 ka) when greenhouse gas levels and ice sheet cover were comparable to the preindustrial period but orbital forcing was different. Average modern and mid-Holocene growth characteristics were very similar, suggesting that sea surface temperatures off NE Australia at 6 kyr were also close to present values. The reconstructed river flow record suggests, however, that the mid-Holocene Australian summer monsoon was weaker, less variable from year to year (possibly indicative of reduced ENSO variability), and characterized by more within-season flood pulses than present. In contrast to today, the delivery of moisture appears to have been dominated by eastward propagating convective coupled waves associated with the Madden-Julian Oscillation

Towards a radiocarbon calibration for oxygen isotope stage 3 using New Zealand kauri (Agathis australis)

It is well known that radiocarbon years do not directly equate to calendar time. As a result, considerable effort has been devoted to generating a decadally resolved calibration curve for the Holocene and latter part of the last termination. A calibration curve that can be unambiguously attributed to changes in atmospheric ¹⁴C content has not, however, been generated beyond 26 kyr cal BP, despite the urgent need to rigorously test climatic, environmental, and archaeological models. Here, we discuss the potential of New Zealand kauri (Agathis australis) to define the structure of the ¹⁴C calibration curve using annually resolved tree rings and thereby provide an absolute measure of atmospheric ¹⁴C. We report bidecadally sampled ¹⁴C measurements obtained from a floating 1050-yr chronology, demonstrating repeatable ¹⁴C measurements near the present limits of the dating method. The results indicate that considerable scope exists for a high-resolution ¹⁴C calibration curve back through OIS-3 using subfossil wood from this source

SHCal13 Southern Hemisphere calibration, 0–50,000 years cal BP

The Southern Hemisphere SHCal04 radiocarbon calibration curve has been updated with the addition of new data sets extending measurements to 2145 cal BP and including the ANSTO Younger Dryas Huon pine data set. Outside the range of measured data, the curve is based upon the Northern Hemisphere data sets as presented in IntCal13, with an interhemispheric offset averaging 43 ± 23 yr modeled by an autoregressive process to represent the short-term correlations in the offset

The New Zealand Kauri (Agathis Australis) Research Project: A Radiocarbon Dating Intercomparison of Younger Dryas Wood and Implications for IntCal13

We describe here the New Zealand kauri (Agathis australis) Younger Dryas (YD) research project, which aims to undertake Δ14C analysis of ~140 decadal floating wood samples spanning the time interval ~13.1–11.7 kyr cal BP. We report 14C intercomparison measurements being undertaken by the carbon dating laboratories at University of Waikato (Wk), University of California at Irvine (UCI), and University of Oxford (OxA). The Wk, UCI, and OxA laboratories show very good agreement with an interlaboratory comparison of 12 successive decadal kauri samples (average offsets from consensus values of –7 to +4 14C yr). A University of Waikato/University of Heidelberg (HD) intercomparison involving measurement of the YD-age Swiss larch tree Ollon505, shows a HD/Wk offset of ~10–20 14C yr (HD younger), and strong evidence that the positioning of the Ollon505 series is incorrect, with a recommendation that the 14C analyses be removed from the IntCal calibration database

Formation of delta ferrite in 9 wt.% Cr steel investigated by in-situ X-ray diffraction using synchrotron radiation

In-situ X-ray diffraction (XRD) measurements using high energy synchrotron radiation were performed to monitor in real time the formation of delta ferrite in a martensitic 9 wt pct chromium steel under simulated weld thermal cycles. Volume fractions of martensite, austenite, and delta ferrite were measured as a function of temperature at a 10 K/s heating rate to 1573 K (1300 °C) and subsequent cooling. At the peak temperature, the delta ferrite concentration rose to 19 pct, of which 17 pct transformed back to austenite on subsequent cooling.Max Kade Foundation, Inc.Austrian Academy of SciencesUnited States. Dept. of Energy (Division of Materials Sciences and Engineering, Office of Science, and Office of Basic Energy Sciences