Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations     

A giant three-stage submarine slide off Norway

One of the largest submarine slides known, The Storegga Slide, is located on the Norwegian continental margin. The slide is up to 450 m thick and has a total volume of about 5,600 km3. The headwall of the slide scar is 290 km long and the total run-out distance is about 800 km. The slide involved sediments of Quaternary to Early Tertiary age and occurred in three stages. Earthquakes combined with decomposition of gas hydrates are believed to be the main triggering agents for the slides. The first slide event is tentatively dated to be about 30,000 to 50,000 years B.P. and the two last major events are dated to be at 6,000 to 8,000 years B.P.     

What is good for the fishermen, is good for the nation: co-management in the Norwegian fishing industry in the 1990s

This paper analyses the concept of ‘co-management’ and tries to explain why co-management has recently become important to different types of fisheries administration. A preliminary analytical framework is sketched, before going on to describe the Norwegian co-management system, known as ‘centrally directed consultation’, where fishermen's representatives are established on a wide range of organisations that exert a direct influence on fisheries policy, including not only quota management but grant aid, sales, research and education. The final section is devoted to the lessons that may be learned from the Norwegian experience, bearing in mind the particular background of Norway and its historical setting.     

On the astrometric detection of neighboring planetary systems,II

Extensive testing suggests that astrometric techniques can be employed to detect and study virtually any planetary system that may exist within 40 light years (12.5 parsec) of the Sun. Following the conclusion of Paper I [G. Gatewood, Icarus27 (1976), 1–12], the astrometric group at the Allegheny Observatory began an intensive survey of 20 nearby stars to detect the nonlinear variations in their motion that planetary systems would induce. Several tests conducted to further our understanding of the limitations of this survey indicated that the photographic detector itself is responsible for the majority of the random error. A new photoelectric detector has been designed and a simplified prototype of it successfully tested. The new detector is expected to be able to utilize virtually all of the astrometric information transmitted through the Earth's atmosphere. This is sufficient to determine relative positions to within an accuracy of approximately 1 milliarcsec/hr. Such precisions exceed the design capabilities of the best existing astrometric telescopes, thus a feasibility study has been conducted for the design of an improved instrument. The study concludes that a new ground-based telescope and the new detector combined should be able to study stars as faint as the 17th magnitude with an annual accuracy of a few tenths of a milliarcsecond. However, to obtain the ultimate accuracy possible from current technology, we must place an astrometric system above the Earth's atmosphere. A space-borne instrument utilizing the new detector would in theory have sufficient accuracy to detect any Earth-like planet orbiting any of the several hundred stars nearest the Sun.     

Variscan ore formation and metamorphism at the Felbertal scheelite deposit (Austria): constraining tungsten mineralisation from Re–Os dating of molybdenite

The Felbertal scheelite deposit in the Eastern Alps has been regarded as the type locality for stratabound scheelite deposits. It is hosted by a Cambro-Ordovician metavolcanic arc sequence with minor Variscan granitoids (∼ 340 Ma) in the central Tauern Window. Re–Os model ages for molybdenite from the Felbertal tungsten deposit range between ∼ 358 and ∼ 336 Ma and record several pulses of magmatic-hydrothermal-metamorphic molybdenite formation. Molybdenite ages from the K2 orebody, a scheelite-rich quartz mylonite in the Western ore field, indicate that both mineralisation and mylonite are Variscan in age and suggest that the shear zone was active for ∼ 20 million years. Early stage tungsten mineralisation (Scheelite 1) in quartzitic ores in the Eastern ore field, which is free of molybdenite, yielded very low to near blank levels of Re and Os and thus could not be dated. However, molybdenite from scheelite–quartz stringers, previously interpreted as a feeder stockwork to quartzitic scheelite ore of presumed Cambrian age, yielded Variscan Re–Os ages of ∼ 342 and ∼ 337 Ma. Dating of molybdenite contained in scheelite ores thus far provides no indication of a Cambrian component to the tungsten mineralisation. Our data are consistent with a model of either granite intrusion-related ore formation and coeval metamorphic overprint during the Early Carboniferous or, alternatively, molybdenite formation may be exclusively attributed to Variscan metamorphism (see Stein 2006).     

New Mexico structural zone—an analogue of the Colorado mineral belt

Updated aeromagnetic maps of New Mexico together with current knowledge of the basement geology in the northern part of the state (Sangre de Cristo and Sandia–Manzano Mountains)—where basement rocks were exposed in Precambrian-cored uplifts—indicate that the northeast-trending Proterozoic shear zones that controlled localization of ore deposits in the Colorado mineral belt extend laterally into New Mexico. The shear zones in New Mexico coincide spatially with known epigenetic precious- and base-metal ore deposits; thus, the mineralized belts in the two states share a common inherited basement tectonic setting. Reactivation of the basement structures in Late Cretaceous–Eocene and Mid-Tertiary times provided zones of weakness for emplacement of magmas and conduits for ore-forming solutions. Ore deposits in the Colorado mineral belt are of both Late Cretaceous–Eocene and Mid-Tertiary age; those in New Mexico are predominantly Mid-Tertiary in age, but include Late Cretaceous porphyry-copper deposits in southwestern New Mexico.The mineralized belt in New Mexico, named the New Mexico structural zone, is 250-km wide. The northwest boundary is the Jemez subzone (or the approximately equivalent Globe belt), and the southeastern boundary was approximately marked by the Santa Rita belt. Three groups (subzones) of mineral deposits characterize the structural zone: (1) Mid-Tertiary porphyry molybdenite and alkaline-precious-metal deposits, in the northeast segment of the Jemez zone; (2) Mid-Tertiary epithermal precious-metal deposits in the Tijeras (intermediate) zone; and (3) Late Cretaceous porphyry-copper deposits in the Santa Rita zone. The structural zone was inferred to extend from New Mexico into adjacent Arizona. The structural zone provides favorable sites for exploration, particularly those parts of the Jemez subzone covered by Neogene volcanic and sedimentary rocks.     

Siberian river run-off and Late Quaternary glaciation in the southern Kara Sea, Arctic Ocean: preliminary results

The extent of the Barents-Kara Ice Sheet during the eastern Last Glacial Maximum (LGM) is not yet fully known. A detailed echo-sounding survey performed during the Boris Petrov Expedition 2001 permitted the detailed mapping of part of it. Based on the profiling results, a southern connection between the LGM Barents-Kara Ice Sheet and a local ice sheet on Taymyr Peninsula appears to be unlikely. Based on sediment core data and profiling results, most of the terrigenous river-derived material accumulated in the estuaries during late Holocene times, whereas during early Holocene times of lowered sea level major amounts were transported further offshore and accumulated on the shelf. During the post-glacial sea level rise, the main depocentre migrated southward, reaching its present position no earlier than about 6 cal. Ky BP (or 5.2 Kya). Future studies of accelerator mass spectrometry (AMS) ¹⁴C-dated sediment cores will allow a detailed reconstruction of the variability of fluvial sediment discharge and the history of glaciation in the Kara Sea during late Quaternary times.     

Mantle plumes: heat-flow near Iceland

In the first of four pieces arising from Gill Foulger's challenge to the mantle plume hypothesis (last issue), Carol Stein and Seth Stein join the debate with some data and comment on heat-flow around Iceland.