Virtual acoustics displays

The real time acoustic display capabilities are described which were developed for the Virtual Environment Workstation (VIEW) Project at NASA-Ames. The acoustic display is capable of generating localized acoustic cues in real time over headphones. An auditory symbology, a related collection of representational auditory 'objects' or 'icons', can be designed using ACE (Auditory Cue Editor), which links both discrete and continuously varying acoustic parameters with information or events in the display. During a given display scenario, the symbology can be dynamically coordinated in real time with 3-D visual objects, speech, and gestural displays. The types of displays feasible with the system range from simple warnings and alarms to the acoustic representation of multidimensional data or events

The COMPLETE Nature of the Warm Dust Ring in Perseus

The Perseus molecular cloud complex is a ~30pc long chain of molecular clouds most well-known for the two star-forming clusters NGC1333 and IC348 and the well-studied outflow source in B5. However, when studied at mid- to far-infrared wavelengths the region is dominated by a ~10pc diameter shell of warm dust, likely generated by an HII region caused by the early B-star HD278942. Using a revised calibration technique the COMPLETE team has produced high-sensitivity temperature and column-density maps of the Perseus region from IRAS Sky Survey Atlas (ISSA) 60 and 100um data. In this paper, we combine the ISSA based dust-emission maps with other observations collected as part of the COMPLETE Survey, along with archival H-alpha and MSX observations. Molecular line observations from FCRAO and extinction maps constructed by applying the NICER method to the 2MASS catalog provide independent estimates of the ``true'' column-density of the shell. H-alpha emission in the region of the shell confirms that it is most likely an HII region located behind the cloud complex, and 8um data from MSX indicates that the shell may be interacting with the cloud. Finally, the two polarisation components previously seen towards background stars in the region can be explained by the association of the stronger component with the shell. If confirmed, this would be the first observation of a parsec-scale swept-up magnetic field.Comment: Accepted by ApJ. Figures have been compressed - full resolution version available at http://cfa-www.harvard.edu/COMPLETE/results.htm

Quantifying the impact of an extreme climate event on species diversity in fragmented temperate forests: the effect of the October 1987 storm on British broadleaved woodlands

We report the impact of an extreme weather event, the October 1987 severe storm, on fragmented woodlands in southern Britain. We analysed ecological changes between 1971 and 2002 in 143 200-m2 plots in 10 woodland sites exposed to the storm with an ecologically equivalent sample of 150 plots in 16 non-exposed sites. Comparing both years, understorey plant species-richness, species composition, soil pH and woody basal area of the tree and shrub canopy were measured. We tested the hypothesis that the storm had deflected sites from the wider national trajectory of an increase in woody basal area and reduced understorey species-richness associated with ageing canopies and declining woodland management. We also expected storm disturbance to amplify the background trend of increasing soil pH, a UK-wide response to reduced atmospheric sulphur deposition. Path analysis was used to quantify indirect effects of storm exposure on understorey species richness via changes in woody basal area and soil pH. By 2002, storm exposure was estimated to have increased mean species richness per 200 m2 by 32%. Woody basal area changes were highly variable and did not significantly differ with storm exposure. Increasing soil pH was associated with a 7% increase in richness. There was no evidence that soil pH increased more as a function of storm exposure. Changes in species richness and basal area were negatively correlated: a 3.4% decrease in richness occurred for every 0.1-m2 increase in woody basal area per plot. Despite all sites substantially exceeding the empirical critical load for nitrogen deposition, there was no evidence that in the 15 years since the storm, disturbance had triggered a eutrophication effect associated with dominance of gaps by nitrophilous species. Synthesis. Although the impacts of the 1987 storm were spatially variable in terms of impacts on woody basal area, the storm had a positive effect on understorey species richness. There was no evidence that disturbance had increased dominance of gaps by invasive species. This could change if recovery from acidification results in a soil pH regime associated with greater macronutrient availability."Organismic and Evolutionary Biolog

United States Patent Application Publication

A multiple robot control architecture including a plurality of robotic agricultural machines including a first and second robotic agricultural machine. Each robotic agricultural machine including at least one controller configured to implement a plurality of finite state machines Within an individual robot control architecture (IRCA) and a global information module (GIM) communicatively coupled to the IRCA. The GIMs of the first and second robotic agricultural machines being configured to cooperate to cause said first robotic agricultural machine and said second agricultural machine to perform at least one agricultural task

Importance of Tree-and Species-Level Interactions with Wildfire, Climate, and Soils in Interior Alaska: Implications for Forest Change Under a Warming Climate

The boreal zone of Alaska is dominated by interactions between disturbances, vegetation, and soils. These interactions are likely to change in the future through increasing permafrost thaw, more frequent and intense wildfires, and vegetation change from drought and competition. We utilize an individual tree-based vegetation model, the University of Virginia Forest Model Enhanced (UVAFME), to estimate current and future forest conditions across sites within interior Alaska. We updated UVAFME for application within interior Alaska, including improved simulation of permafrost dynamics, litter decay, nutrient dynamics, fire mortality, and postfire regrowth. Following these updates, UVAFME output on species-specific biomass and stem density was comparable to inventory measurements at various forest types within interior Alaska. We then simulated forest response to climate change at specific inventory locations and across the Tanana Valley River Basin on a 2 × 2 km2 grid. We derived projected temperature and precipitation from a five-model average taken from the CMIP5 archive under the RCP 4.5 and 8.5 scenarios. Results suggest that climate change and the concomitant impacts on wildfire and permafrost dynamics will result in overall decreases in biomass (particularly for spruce (Picea spp.)) within the interior Tanana Valley, despite increases in quaking aspen (Populus tremuloides) biomass, and a resulting shift towards higher deciduous fraction. Simulation results also predict increases in biomass at cold, wet locations and at high elevations, and decreases in biomass in dry locations, under both moderate (RCP 4.5) and extreme (RCP 8.5) climate change scenarios. These simulations demonstrate that a highly detailed, species interactive model can be used across a large region within Alaska to investigate interactions between vegetation, climate, wildfire, and permafrost. The vegetation changes predicted here have the capacity to feed back to broader scale climate-forest interactions in the North American boreal forest, a region which contributes significantly to the global carbon and energy budgets

Control Architecture For Multi-Robot System

A multiple robot control architecture including a plurality of robotic agricultural machines including a first and second robotic agricultural machine. Each robotic agricultural machine including at least one controller configured to implement a plurality of finite state machines within an individual robot control architecture (IRCA) and a global information module (GIM) communicatively coupled to the IRCA. The GIMs of the first and second robotic agricultural machines being configured to cooperate to cause said first robotic agricultural machine and said second agricultural machine to perform at least one agricultural task

Quantifying the impact of an extreme climate event on species diversity in fragmented temperate forests: the effect of the October 1987 storm on British broadleaved woodlands

1. We report the impact of an extreme weather event, the October 1987 severe storm, on fragmented woodlands in southern Britain. We analysed ecological changes between 1971 and 2002 in 143 200-m2 plots in 10 woodland sites exposed to the storm with an ecologically equivalent sample of 150 plots in 16 non-exposed sites. In both years, understorey species-richness, species composition, soil pH and woody basal area of the tree and shrub canopy were measured. 2. We tested the hypothesis that the storm had deflected sites from the wider national trajectory of an increase in woody basal area and reduced understorey species-richness associated with ageing canopies and declining woodland management. We also expected storm disturbance to amplify the background trend of increasing soil pH, a UK-wide response to reduced atmospheric sulphur deposition. Path analysis was used to quantify indirect effects of storm exposure on understorey species richness via changes in woody basal area and soil pH. 3. By 2002, storm exposure was estimated to have increased mean species richness per 200 m2 by 32%. Woody basal area changes were highly variable and did not significantly differ with storm exposure. 4. Increasing soil pH was associated with a 7% increase in richness. There was no evidence that soil pH increased more as a function of storm exposure. Changes in species richness and basal area were negatively correlated: a 3.4% decrease in richness occurred for every 0.1-m2 increase in woody basal area per plot. 5. Despite all sites substantially exceeding the empirical critical load for nitrogen deposition, there was no evidence that in the 15 years since the storm, disturbance had triggered a eutrophication effect associated with dominance of gaps by nitrophilous species. 6. Synthesis: Although the impacts of the 1987 storm were spatially variable in terms of impacts on woody basal area, the storm had a positive effect on understorey species richness. There was no evidence that disturbance had increased dominance of gaps by invasive species. This could change if recovery from acidification results in a soil pH regime associated with greater macronutrient availability

The COMPLETE Survey of Star-Forming Regions: Phase I Data

We present an overview of data available for the Ophiuchus and Perseus molecular clouds from ``Phase I'' of the COMPLETE Survey of Star-Forming Regions. This survey provides a range of data complementary to the Spitzer Legacy Program ``From Molecular Cores to Planet Forming Disks.'' Phase I includes: Extinction maps derived from 2MASS near-infrared data using the NICER algorithm; extinction and temperature maps derived from IRAS 60 and 100um emission; HI maps of atomic gas; 12CO and 13CO maps of molecular gas; and submillimetre continuum images of emission from dust in dense cores. Not unexpectedly, the morphology of the regions appears quite different depending on the column-density tracer which is used, with IRAS tracing mainly warmer dust and CO being biased by chemical, excitation and optical depth effects. Histograms of column-density distribution are presented, showing that extinction as derived from 2MASS/NICER gives the closest match to a log-normal distribution as is predicted by numerical simulations. All the data presented in this paper, and links to more detailed publications on their implications are publically available at the COMPLETE website.Comment: Accepted by AJ. Full resolution version available from: http://www.cfa.harvard.edu/COMPLETE/papers/complete_phase1.pd

Dating Granites Using CODEX, with Application to In Situ Dating on the Moon

We have measured 87Rb–87Sr isochron ages for two granites, using the breadboard version of our Chemistry, Organics, and Dating EXperiment (CODEX), a laser-ablation resonance-ionization mass spectrometer designed for in situ geochronology on the Moon or Mars. These measurements extend the demonstrated analytical capabilities of CODEX, and indicate the value of incorporating a flight-ready version of CODEX, now under construction, into a future mission payload. We used CODEX to obtain accurate ages for the 1700 Ma Boulder Creek Granite, with 1σ statistical precision of 110 Myr, and for the 1100 Ma Pikes Peak Granite, with 1σ statistical precision of 160 Myr. To provide an end-to-end illustration of how CODEX analysis of granites can address critical lunar science questions regarding rock age and composition in situ, we describe an example mission to the lunar Gruithuisen Domes. Gruithuisen Domes appear to be volcanic edifices of granitic composition. Orbital remote sensing suggests that granitic rocks represent only a small fraction of the lunar surface, and the mere fact of their existence on the Moon is a puzzle. CODEX determination of the timing and process of their formation, both presently ill-understood, would provide important constraints on the thermal and geochemical evolution of the lunar interior