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.     

Preliminary attempt to characterize the rotation of seafloor in the Pito Deep area of the Easter Microplate using a submersible magnetometer

Several mechanisms have been proposed to account for the rotation of the nearly north-south abyssal hill fabric formed on the East Pacific Rise north of the Easter Microplate to the nearly east-west trends in the northern microplate interior. Proposed mechanisms include rigid microplate rotation, transform fault – parallel shear, and bookshelf faulting during the transfer of lithosphere from the Nazca Plate to the microplate. We used a submersible magnetometer on a NAUTILE dive program to measure the magnetic vector rotation of a pillow basalt and dike spur near Pito Deep, the present location of the tip of the propagating rift system that created the microplate. Our results, although too limited to draw strong conclusions from, suggest clockwise rotations of the seafloor magnetic vectors inconsistent with the transform-parallel shear model, and larger than can be explained solely by rigid microplate rotation.     

Deep CCD photometry of stars in the globular cluster M3

Preliminary results on new CCD photometry inV andB bands of approximately 5000 stars in four overlapping fields in the globular cluster M3 are presented. The colour-magnitude diagram shows a very well-defined sequence with a small scatter, going fainter than previously published work on this cluster. The turn-off point found atV=19.1±0.2 mag and (B-V)=0.445±0.01, is slightly redder than those obtained in previous studies.Paper presented at the 11th European Regional Astronomical Meetings of the IAU on New Windows to the Universe, held 3–8 July, 1989, Tenerife, Canary Islands, Spain.     

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.