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     

Effect of native and invasive cordgrass on Macoma petalum density, growth, and isotopic signatures

Ecosystem engineers can influence community and ecosystem dynamics by controlling resources, modifying the flow of energy or biomass, or changing physical characteristics of the habitat. Invasive hybrid cordgrass (Spartina alterniflora × Spartina foliosa) is an ecosystem engineer in salt marshes in San Francisco Bay, California, U.S.A. that raises intertidal elevations and may be either increasing C₄ plant carbon input into food webs or tying up carbon in a form that is not usable by consumers. A manipulative experiment compared abundance, growth, and stable isotope (δ¹³C and δ¹⁵N) composition of the clam Macoma petalum (=M. balthica) among native marsh, hybrid Spartina, and mudflats in central San Francisco Bay. We found higher densities (individuals m⁻²) of M. petalum on mudflats compared to either native or hybrid Spartina (p < 0.001). Macoma petalum shell growth was significantly greater in mudflats than in either vegetation type in 2002 (p = 0.005) but not 2003. Differences in shell growth between native and hybrid Spartina were not significant. Stable isotope results showed differences between habitats in δ¹³C but not δ¹⁵N. Carbon signatures of M. petalum placed in Spartina were much more depleted than the isotopic signature of Spartina. Neither native nor hybrid Spartina appears to be a significant carbon source for M. petalum in San Francisco Bay, and we found no evidence that hybrid Spartina contributes carbon to M. petalum beyond what is provided by S. foliosa, despite the hybrid's much greater biomass. Our results show that loss of mudflat habitat, rather than increased input of C₄ carbon, is the greatest effect of the invasion of hybrid Spartina on M. petalum.     

Observations of Venus water vapor over the disk of Venus: The 1972–1974 data using the H2O lines at 8197 Å and 8176 Å

The Venus water vapor line at 8197.71 Å has been monitored at several positions on the disk of Venus and at phase angles between 21° and 162°. Variations in the abundance have been found with spatial location, phase angle and time. During the 1972–1974 period, the total two-way absorption has varied from less than 1 to 77 μm of water vapor. The dependence on phase angle indicates 20 to 50 μm over the disk between 30° and 110° and small, but detectable amounts present during the rest of the observations. The spatial distribution with respect to the intensity equator is uniform with no location on the disk having systematically a higher or lower abundance. Comparisons made between the water vapor abundandances and the CO₂ abundances determined from near-simultaneous observations of CO₂ bands at the same positions on the disk of Venus show no correlation for the majority of the samples.     

From economic integration to socioeconomic inclusion: day labor worker centers as social intermediaries

Day labor worker centers have emerged as an important mode of regulatory action in the informal economy of major US cities. Research suggests that these organizations are beneficial in improving employment outcomes experienced by migrant workers engaged in this labor market sector. Yet, the extent to which these organizations impact the social integration of this working population remains relatively undeveloped in the literature. Using data from the National Day Labor Survey, we examine the impact of day labor worker centers on the level of social inclusion experienced by migrant day laborers. We find that worker centers have a modest, but statistically significant, impact on the levels of social integration experienced by this working population and that this varies from city to city. Ultimately we argue that the social intermediary role of these organizations may offer a type of counter mobilization necessary to promote the socioeconomic integration of this working population, but that issues of capacity remain.     

Effect of freeze—thaw cycles on resilient properties of fine-grained soils

Stress-deformation data for silt and clay subgrade soils were obtained from in-situ tests and laboratory tests, for use in mechanistic models for design of pavements that will experience freezing and thawing. Plate-bearing tests were run on in-service allbituminous-concrete (ABC) pavements constructed directly on silt subgrade, and on an experimental ABC pavement constructed on clay subgrade, applying repeated loads to the pavement surfaces while the subgrade was frozen, thawing, thawed, and fully recovered. The in-service pavement had experienced several seasons of natural cyclic freezing and thawing, while the experimental pavement was artificially frozen and thawed twice. Repeated-load laboratory triaxial compression tests were performed on the same soils in the frozen and thawed states.

Analysis of deflection data from the in-situ tests showed resilient moduli of the subgrade soils up to more than 10 GPa when frozen, as low as 2 MPa during the thawing period, and up to more than 100 MPa when fully recovered. Analysis of the laboratory tests, which gave moduli comparable to the latter values, showed that resilient modulus and Poisson's ratio in the thawed and recovering conditions can be expressed as a function of the stress state, the moisture content, and the dry density.     

Phase relations of biotite and stilpnomelane in the greenschist facies

Phase relations of biotite and stilpnomelane and associated silicate minerals have been studied in rocks of the greenschist facies, chiefly from Otago, New Zealand and western Vermont, but also from Scotland, Minnesota-Michigan iron range, and northwest Washington. That stilpnomelane in the greenschicht facies crystallizes initially with nearly all iron in the ferrous state is indicated by chemical analyses, high p-T experiments, and phase relationships. Alteration of stilpnomelane after metamorphism not only oxidizes iron but leaches potassium; corrections for both effects must be made in using analyses of brown stilpnomelane in studies of phase relations. Two discontinuous reactions which produce biotite at the biotite isograd have been identified:

1. muscovite+stilpnomelane+actinolite→ biotite+chlorite+epidote
2. chlorite+microcline→ biotite+muscovite. Biotite produced by the first of these reactions has a limited range of variation in Fe/Mg. As grade advances within the biotite zone more magnesian and ferruginous biotites become stable in consequence of the two continuous reactions:
3. muscovite+actinolite+chlorite→ biotite (Mg-rich)+epidote
4. muscovite+stilpnomelane→ biotite (Fe-rich)+chlorite.

Stilpnomelane is stable in muscovite-free rocks throughout the biotite zone, and even up to the grade at which hornblende becomes stable. Phengitic muscovite is stable throughout the biotite zone in New Zealand and thus apparently does not contribute to the formation of biotite until a higher grade is reached.     

Properties of the clouds of Venus,as inferred from airborne observations of its near-infrared reflectivity spectrum

We have measured the shape and absolute value of Venus' reflectivity spectrum in the 1.2-to 4.0-μm spectral region with a circular variable filter wheel spectrometer having a spectral resolution of 1.5%. The instrument package was mounted on the 91-cm telescope of NASA Ames Kuiper Airborne Observatory, and the measurements were obtained at an altitude of about 41,000 feet, when Venus had a phase angle of 86°. Comparing these spectra with synthetic spectra generated with a multiple-scattering computer code, we infer a number of properties of the Venus clouds. We obtain strong confirmatory evidence that the clouds are made of a water solution of sulfuric acid in their top unit optical depth and find that the clouds are made of this material down to an optical depth of at least 25. In addition, we determine that the acid concentration is 84 ± 2% H_2SO4 by weight in the top unit optical depth, that the total optical depth of the clouds is 37.5 ± 12.5, and that the cross-sectional weighted mean particle radius lies between 0.5 and 1.4 μm in the top unit optical depth of the clouds. These results have been combined with a recent determination of the location of the clouds' bottom boundary [Marov et al., Cosmic Res.14, 637–642 (1976)] to infer additional properties about Venus' atmosphere. We find that the average volume mixing ratio of H₂SO₄ and H₂O contained in the cloud material both equal approximately 2× 10^?6. Employing vapor pressure arguments, we show that the acid concentration equals 84 ± 6% at the cloud bottom and that the water vapor mixing ratio beneath the clouds lies between 6 × 10^?4 and 10^?2.