Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments

Path planning under uncertainty in an unknown environment is an arduous task as the resulting map has inaccuracies and a safe path cannot always be found. A path planning method is proposed in unknown environments towards a known target position and under pose uncertainty. A limited range and limited field of view range sensor is considered and the robot pose can be inferred within certain bounds. Based on the sensor measurements a modified map is created to be used for the exploration and path planning processes, taking into account the uncertainty via the calculation of the guaranteed visibility and guaranteed sensed area, where safe navigation can be ensured regardless of the pose-error. A switching navigation function is used to initially explore the space towards the target position, and afterwards, when the target is discovered to navigate the robot towards it. Simulation results highlighting the efficiency of the proposed scheme are presented.</p

Electron Transfer from Cyt b559 and Tyrosine-D to the S2 and S3 states of the water oxidizing complex in Photosystem II at Cryogenic Temperatures

The Mn4CaO5 cluster of photosystem II (PSII) catalyzes the oxidation of water to molecular oxygen through the light-driven redox S-cycle. The water oxidizing complex (WOC) forms a triad with Tyrosine(Z) and P-680, which mediates electrons from water towards the acceptor side of PSII. Under certain conditions two other redox-active components, Tyrosine(D) (Y-D) and Cytochrome b (559) (Cyt b (559)) can also interact with the S-states. In the present work we investigate the electron transfer from Cyt b (559) and Y-D to the S-2 and S-3 states at 195 K. First, Y-D (aEuro cent) and Cyt b (559) were chemically reduced. The S-2 and S-3 states were then achieved by application of one or two laser flashes, respectively, on samples stabilized in the S-1 state. EPR signals of the WOC (the S-2-state multiline signal, ML-S-2), Y-D (aEuro cent) and oxidized Cyt b (559) were simultaneously detected during a prolonged dark incubation at 195 K. During 163 days of incubation a large fraction of the S-2 population decayed to S-1 in the S-2 samples by following a single exponential decay. Differently, S-3 samples showed an initial increase in the ML-S-2 intensity (due to S-3 to S-2 conversion) and a subsequent slow decay due to S-2 to S-1 conversion. In both cases, only a minor oxidation of Y-D was observed. In contrast, the signal intensity of the oxidized Cyt b (559) showed a two-fold increase in both the S-2 and S-3 samples. The electron donation from Cyt b (559) was much more efficient to the S-2 state than to the S-3 state

Music with concurrent saliences of musical features elicits stronger brain responses

Brain responses are often studied under strictly experimental conditions in which elec-troencephalograms (EEGs) are recorded to reflect reactions to short and repetitive stimuli. However, in real life, aural stimuli are continuously mixed and cannot be found isolated, such as when listening to music. In this audio context, the acoustic features in music related to brightness, loudness, noise, and spectral flux, among others, change continuously; thus, significant values of these features can occur nearly simultaneously. Such situations are expected to give rise to increased brain reaction with respect to a case in which they would appear in isolation. In order to assert this, EEG signals recorded while listening to a tango piece were considered. The focus was on the amplitude and time of the negative deflation (N100) and positive deflation (P200) after the stimuli, which was defined on the basis of the selected music feature saliences, in order to perform a statistical analysis intended to test the initial hypothesis. Differences in brain reactions can be identified depending on the concurrence (or not) of such significant values of different features, proving that coterminous increments in several qualities of music influence and modulate the strength of brain responses

Operando tracking of oxidation-state changes by coupling electrochemistry with time-resolved X-ray absorption spectroscopy demonstrated for water oxidation by a cobalt-based catalyst film

Transition metal oxides are promising electrocatalysts for water oxidation, i.e., the oxygen evolution reaction (OER), which is critical in electrochemical production of non-fossil fuels. The involvement of oxidation state changes of the metal in OER electrocatalysis is increasingly recognized in the literature. Tracing these oxidation states under operation conditions could provide relevant information for performance optimization and development of durable catalysts, but further methodical developments are needed. Here, we propose a strategy to use single-energy X-ray absorption spectroscopy for monitoring metal oxidation-state changes during OER operation with millisecond time resolution. The procedure to obtain time-resolved oxidation state values, using two calibration curves, is explained in detail. We demonstrate the significance of this approach as well as possible sources of data misinterpretation. We conclude that the combination of X-ray absorption spectroscopy with electrochemical techniques allows us to investigate the kinetics of redox transitions and to distinguish the catalytic current from the redox current. Tracking of the oxidation state changes of Co ions in electrodeposited oxide films during cyclic voltammetry in neutral pH electrolyte serves as a proof of principle

The Southern Ocean Freshwater Input from Antarctica (SOFIA) Initiative: scientific objectives and experimental design

As the climate warms, the grounded ice sheet and floating ice shelves surrounding Antarctica are melting and releasing additional freshwater into the Southern Ocean. Nonetheless, almost all existing coupled climate models have fixed ice sheets and lack the physics required to represent the dominant sources of Antarctic melt. These missing ice dynamics represent a key uncertainty that is typically unaccounted for in current global climate change projections. Previous modelling studies that have imposed additional Antarctic meltwater have demonstrated regional impacts on Southern Ocean stratification, circulation, and sea ice, as well as remote changes in atmospheric circulation, tropical precipitation, and global temperature. However, these previous studies have used widely varying rates of freshwater forcing, have been conducted using different climate models and configurations, and have reached differing conclusions on the magnitude of meltwater–climate feedbacks. The Southern Ocean Freshwater Input from Antarctica (SOFIA) initiative brings together a team of scientists to quantify the climate system response to Antarctic meltwater input along with key aspects of the uncertainty. In this paper, we summarize the state of knowledge on meltwater discharge from the Antarctic ice sheet and ice shelves to the Southern Ocean and explain the scientific objectives of our initiative. We propose a series of coupled and ocean–sea ice model experiments, including idealized meltwater experiments, historical experiments with observationally consistent meltwater input, and future scenarios driven by meltwater inputs derived from stand-alone ice sheet models. Through coordinating a multi-model ensemble of simulations using a common experimental design, open data archiving, and facilitating scientific collaboration, SOFIA aims to move the community toward better constraining our understanding of the climate system response to Antarctic melt.</p

X-ray absorption spectroscopy

This review gives a brief description of the theory and application of X-ray absorption spectroscopy, both X-ray absorption near-edge structure (XANES) and extended X-ray absorption fine structure (EXAFS), especially, pertaining to photosynthesis. The advantages and limitations of the methods are discussed. Recent advances in extended EXAFS and polarized EXAFS using oriented membranes and single crystals are explained. Developments in theory in understanding the XANES spectra are described. The application of X-ray absorption spectroscopy to the study of the Mn4Ca cluster in Photosystem II is presented

Hydrogen Induced Disproportionation of Samarium Cobalt Intermetallics Enabling Promoted Hydrogen Evolution Reaction Activity and Durability in Alkaline Media

Transition metal nanoparticles hold great promise as electrocatalysts for alkaline hydrogen evolution reaction HER , however, addressing the simultaneous challenges of ensuring sufficient active sites, promoting favorable water dissociation, and optimizing binding energy toward hydrogen intermediates remains a formidable task. To overcome these hurdles, a novel gaseous hydrogen engineering strategy is proposed by in situ embedding cobalt nanoparticles within a samarium hydride matrix Co SmH2 via hydrogen induced disproportionation of SmCo5 particles for efficient alkaline HER. The as designed Co SmH2 delivered an overpotential as low as 252 mV at 100 mA cm amp; 8722;2, surpassing the performance of pristine Co by 100 mV. Notably, this catalyst lasts remarkably long maintaining a durability at amp; 8776;500 mA cm amp; 8722;2 for 120 h. A combination of in situ Raman spectroscopy, in situ X ray absorption spectroscopy, density functional theory calculation and post HER characterizations unambiguously unveiled that the surface SmH2 transforms into samarium hydr oxide during electrocatalysis. This transformation not only inhibits the aggregation of the ultrafine cobalt nanoparticles but also significantly enhances the water dissociation and optimizes the binding energy of active cobalt species toward hydrogen intermediate, resulting in concurrent improvement of kinetics, thermodynamics, and stability of the HER proces

Exploring the coupled ocean and atmosphere system with a data science approach applied to observations from the Antarctic Circumnavigation Expedition

The Southern Ocean is a critical component of Earth’s climate system, but its remoteness makes it challenging to develop a holistic understanding of its processes from the small scale to the large scale. As a result, our knowledge of this vast region remains largely incomplete. The Antarctic Circumnavigation Expedi�tion (ACE, austral summer 2016/2017) surveyed a large number of variables describing the state of the ocean and the atmosphere, the freshwater cycle, atmospheric chemistry, and ocean biogeochemistry and microbiology. This circumpolar cruise included visits to 12 remote islands, the marginal ice zone, and the Antarctic coast. Here, we use 111 of the observed variables to study the latitudinal gradients, seasonality, shorter-term variations, geographic setting of environmental processes, and interactions between them over the duration of 90 d. To re�duce the dimensionality and complexity of the dataset and make the relations between variables interpretable we applied an unsupervised machine learning method, the sparse principal component analysis (sPCA), which describes environmental processes through 14 latent variables. To derive a robust statistical perspective on these processes and to estimate the uncertainty in the sPCA decomposition, we have developed a bootstrap approach. Our results provide a proof of concept that sPCA with uncertainty analysis is able to identify temporal patterns from diurnal to seasonal cycles, as well as geographical gradients and “hotspots” of interaction between envi�ronmental compartments. While confirming many well known processes, our analysis provides novel insights into the Southern Ocean water cycle (freshwater fluxes), trace gases (interplay between seasonality, sources, and sinks), and microbial communities (nutrient limitation and island mass effects at the largest scale ever reported). More specifically, we identify the important role of the oceanic circulations, frontal zones, and islands in shap�ing the nutrient availability that controls biological community composition and productivity; the fact that sea ice controls sea water salinity, dampens the wave field, and is associated with increased phytoplankton growth and net community productivity possibly due to iron fertilisation and reduced light limitation; and the clear regional patterns of aerosol characteristics that have emerged, stressing the role of the sea state, atmospheric chemical processing, and source processes near hotspots for the availability of cloud condensation nuclei and hence cloud formation. A set of key variables and their combinations, such as the difference between the air and sea surface temperature, atmospheric pressure, sea surface height, geostrophic currents, upper-ocean layer light intensity, surface wind speed and relative humidity played an important role in our analysis, highlighting the necessity for Earth system models to represent them adequately. In conclusion, our study highlights the use of sPCA to identify key ocean–atmosphere interactions across physical, chemical, and biological processes and their associated spatio-temporal scales. It thereby fills an important gap between simple correlation analyses and complex Earth system models. The sPCA processing code is available as open-access from the following link: https://renkulab.io/gitlab/ACE-ASAID/spca-decomposition (last access: 29 March 2021). As we show here, it can be used for an exploration of environmental data that is less prone to cognitive biases (and confirmation biases in particular) compared to traditional regression analysis that might be affected by the underlying research question

Evidence for link between modelled trends in Antarctic sea ice and underestimated westerly wind changes

Despite global warming, total Antarctic sea ice coverage increased over 1979-2013. However, the majority of Coupled Model Intercomparison Project phase 5 models simulate a decline. Mechanisms causing this discrepancy have so far remained elusive. Here we show that weaker trends in the intensification of the Southern Hemisphere westerly wind jet simulated by the models may contribute to this disparity. During austral summer, a strengthened jet leads to increased upwelling of cooler subsurface water and strengthened equatorward transport, conducive to increased sea ice. As the majority of models underestimate summer jet trends, this cooling process is underestimated compared with observations and is insufficient to offset warming in the models. Through the sea ice-albedo feedback, models produce a high-latitude surface ocean warming and sea ice decline, contrasting the observed net cooling and sea ice increase. A realistic simulation of observed wind changes may be crucial for reproducing the recent observed sea ice increase