418 research outputs found
Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments
Recent Southern Ocean warming and freshening driven by greenhouse gas emissions and ozone depletion
Anthropogenic influence on recent circulation-driven Antarctic sea-ice changes
Observations reveal an increase of Antarctic sea ice over the past three decades, yet global climate models tend to simulate a sea-ice decrease for that period. Here, we combine observations with model experiments (MPI-ESM) to investigate causes for this discrepancy and for the observed sea-ice increase. Based on observations and atmospheric reanalysis, we show that on multi-decadal time scales Antarctic sea-ice changes are linked to intensified meridional winds that are caused by a zonally asymmetric lowering of the high-latitude surface pressure. In our simulations, this surface-pressure lowering is a response to a combination of anthropogenic stratospheric ozone depletion and greenhouse gas increase. Combining these two lines of argument, we infer a possible anthropogenic influence on the observed sea-ice changes. However, similar to other models, MPI-ESM simulates a surface-pressure response that is rather zonally symmetric, which explains why the simulated sea-ice response differs from observations
Arctic sea-ice evolution as modeled by Max Planck Institute for Meteorology's Earth system model
We describe the evolution of Arctic sea ice as modeled by the Max Planck Institute for Meteorology's Earth System Model (MPI-ESM). The modeled spatial distribution and interannual variability of the sea-ice cover agree well with satellite observations and are improved relative to the model's predecessor ECHAM5/MPIOM. An evaluation of modeled sea-ice coverage based on sea-ice area gives, however, conflicting results compared to an evaluation based on sea-ice extent and is additionally hindered by uncertainties in the observational record. Simulated trends in sea-ice coverage for the satellite period range from more strongly negative than observed to positive. The observed evolution of Arctic sea ice is incompatible with modeled internal variability and probably caused by external forcing. Simulated drift patterns agree well with observations, but simulated drift speed is generally too high. Simulated sea-ice volume agrees well with volume estimates of the PIOMAS reanalysis for the past few years. However, a preceding Arctic wide decrease in sea-ice volume starts much earlier in MPI-ESM than in PIOMAS. Analyzing this behavior in MPI-ESM's ocean model MPIOM, we find that the modeled volume trend depends crucially on the specific choice of atmospheric reanalysis forcing, which casts some doubt on the reliability of estimates of volume trends. In our CMIP5 scenario simulations, we find a substantial delay in sea-ice response to increasing CO2 concentration; a seasonally ice-free Arctic can result for a CO2 concentration of around 500 ppm. Simulated winter sea-ice coverage drops rapidly to near ice-free conditions once the mean Arctic winter temperature exceeds −5°C
Stratigraphische Begriffe für das Quartär des süddeutschen Alpenvorlandes
Schwerpunkt der Darstellung über das Quartär des süddeutschen Alpenvorlandes sind die Begriffe der klassischen Morphostratigraphie sensu PENCK & BRÜCKNER (1901/09), methodisch eingeleitet und im Einzelnen ausgearbeitet durch K.A. HABBE. Diese Definitionen entsprechen dem Gebrauch der Begrifflichkeiten in der süddeutschen Quartärliteratur vor allem der Jahre 1950 bis 2000. Die von K.A. HABBE († 2003) hinterlassenen Manuskripte wurden von D. ELLWANGER redaktionell überarbeitet sowie die Definitionen durch Bemerkungen ergänzt und kommentiert (D. ELLWANGER und R. BECKERHAUMANN). Im Anschluss an die Definitionen werden von D. ELLWANGER die morphostratigraphischen Darstellungen aus einem lithostratigraphischen Blickwinkel ergänzend kommentiert, die Problematik Morpho- versus Lithostratigraphie umrissen und schließlich die wichtigsten lithostratigraphischen Begriffe dargestellt, die sich im quartärgeologischen Alltag in Baden-Württemberg seit einigen Jahren bewährt haben. Das gesamte Manuskript wurde sodann durch die Arbeitsgruppe Süddeutschland der Subkommission für Quartärstratigraphie im Einzelnen geprüft und ergänzt. Eine vollständigere Darstellung der lithostratigraphischen Einheiten wird im – in Arbeit befindlichen – Lithostratigraphischen Lexikon erfolgen.researc
DisCoverage: From Coverage to Distributed Multi-Robot Exploration
DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage
Stand-alone device for the electrolytic fabrication of scanning near-field optical microscopy aperture probes
Haumann C, Pelargus C, Frey HG, et al. Stand-alone device for the electrolytic fabrication of scanning near-field optical microscopy aperture probes. Review of scientific instruments. 2005;76(3): 033704.Near-field optical applications require the fast, stable, and reproducible fabrication of scanning near-field optical microscopy (SNOM) aperture probes in the submicrometer range. We have developed a stand-alone device for the electrolytic etching of nanoapertures with an integrated current and optical transmission monitoring and control. Probes with an aperture ranging from 50 to 100 nm were reproducibly fabricated with great reliability. With these probes, high resolution SNOM images of 100 nm test patterns and single dye molecules (Rhodamine 6G in poly(vinyl alcohol)) are measured and presented. Not requiring a SNOM setup, the stand-alone device is not only inexpensive and compact, but also insensitive to external disturbances
Correction to Mitochondrial Free [Ca\u3csup\u3e2+\u3c/sup\u3e] Increases during ATP/ADP Antiport and ADP Phosphorylation: Exploration of Mechanisms
ADP influx and ADP phosphorylation may alter mitochondrial free [Ca2+] ([Ca2+]m) and consequently mitochondrial bioenergetics by several postulated mechanisms. We tested how [Ca2+]m is affected by H2PO4− (Pi), Mg2+, calcium uniporter activity, matrix volume changes, and the bioenergetic state. We measured [Ca2+]m, membrane potential, redox state, matrix volume, pHm, and O2 consumption in guinea pig heart mitochondria with or without ruthenium red, carboxyatractyloside, or oligomycin, and at several levels of Mg2+ and Pi. Energized mitochondria showed a dose-dependent increase in [Ca2+]m after adding CaCl2 equivalent to 20, 114, and 485 nM extramatrix free [Ca2+] ([Ca2+]e); this uptake was attenuated at higher buffer Mg2+. Adding ADP transiently increased [Ca2+]m up to twofold. The ADP effect on increasing [Ca2+]m could be partially attributed to matrix contraction, but was little affected by ruthenium red or changes in Mg2+ or Pi. Oligomycin largely reduced the increase in [Ca2+]m by ADP compared to control, and [Ca2+]m did not return to baseline. Carboxyatractyloside prevented the ADP-induced [Ca2+]m increase. Adding CaCl2 had no effect on bioenergetics, except for a small increase in state 2 and state 4 respiration at 485 nM [Ca2+]e. These data suggest that matrix ADP influx and subsequent phosphorylation increase [Ca2+]m largely due to the interaction of matrix Ca2+ with ATP, ADP, Pi, and cation buffering proteins in the matrix
Guiding principles for the development and application of solid-phase phosphorus adsorbents for freshwater ecosystems
While a diverse array of phosphorus (P)-adsorbent materials is currently available for application to freshwater aquatic systems, selection of the most appropriate P-adsorbents remains problematic. In particular, there has to be a close correspondence between attributes of the P-adsorbent, its field performance, and the management goals for treatment. These management goals may vary from a rapid reduction in dissolved P to address seasonal enrichments from internal loading, targeting external fluxes due to anthropogenic sources, or long term inactivation of internal P inventories contained within bottom sediments. It also remains a challenge to develop new methods and materials that are ecologically benign and cost-effective. We draw on evidence in the literature and the authors’ personal experiences in the field, to summarise the attributes of a range of P-adsorbent materials. We offer 'guiding principles' to support practical use of existing materials and outline key development needs for new materials
Consumer–brand identification revisited: An integrative framework of brand identification, customer satisfaction, and price image and their role for brand loyalty and word of mouth
Consumer–brand identification has received considerable attraction among scholars and practitioners in recent years. We contribute to previous research by proposing an integrative model that includes consumer–brand identification, customer satisfaction, and price image to investigate the interrelationships among these constructs as well as their effects on brand loyalty and positive word of mouth. To provide general results, we empirically test the model using a sample of 1443 respondents from a representative consumer panel and 10 service/product brands. The results demonstrate that identification, satisfaction, and price image significantly influence both loyalty and word of mouth. Moreover, we find significant interrelationships among the constructs: Identification positively influences both satisfaction and price image, which also increases satisfaction. By disclosing the relative importance of three separate ways of gaining and retaining customers, this study helps managers more appropriately choose the right mix of branding, pricing, and relationship marketing. From an academic point of view, our research is the first to explicitly examine the effects of the concept of identification for price management and to integrate variables from the fields of branding, relationship marketing, and behavioral pricing, which have separately been identified as particularly important determinants of marketing outcomes
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