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At least 541 records · Page 30

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

Radiative Feedbacks Associated with the Madden-Julian Oscillation

Radiative kernels derived from CloudSat/CALIPSO measurements are used to diagnose radiative feedbacks induced by the Madden-Julian oscillation (MJO). Over the Indo-Pacific warm pool, positive cloud and water vapor feedbacks are coincident with the convective envelope of the MJO during its active phases, whereas the lapse rate feedback shows less obvious correlation to the propagating disturbance. During phase 2/3, when the convective envelope is over the Indian Ocean, water vapor exhibits a vertically coherent response, with the largest anomalies and strongest feedback in the middle troposphere. Though spatial structures of the feedbacks vary, the most prominent difference lies in the magnitude. Cloud changes induce the largest radiative perturbations associated with the MJO. We also find that for individual MJO events, cloud feedback and precipitation are highly correlated, suggesting that the strength of individual MJO events is largely dictated by the magnitude of cloud radiative heating of the atmosphere. In addition, stronger radiative heating due to water vapor and clouds helps the MJO survive the barrier effect of the Maritime Continent, leading to further eastward propagation. These results offer process-oriented metrics that could help to improve model simulations and predictions of the MJO in the future.

radiative feedbacks↗

Impacts of Wildfire Aerosols on Global Energy Budget and Climate: The Role of Climate Feedbacks

Aerosols emitted from wildfires could significantly affect global climate through perturbing global radiation balance. In this study, the Community Earth System Model with prescribed daily fire aerosol emissions is used to investigate fire aerosols’ impacts on global climate with emphasis on the role of climate feedbacks. The total global fire aerosol radiative effect (RE) is estimated to be -0.78 ± 0.29 W m -2 , which is mostly from shortwave RE due to aerosol–cloud interactions (REaci; -0.70 ± 0.20 W m -2 ). The associated global annual-mean surface air temperature (SAT) change ΔT is -0.64 ± 0.16 K with the largest reduction in the Arctic regions where the shortwave REaci is strong. Associated with the cooling, the Arctic sea ice is increased, which acts to reamplify the Arctic cooling through a positive ice-albedo feedback. The fast response (irrelevant to ΔT) tends to decrease surface latent heat flux into atmosphere in the tropics to balance strong atmospheric fire black carbon absorption, which reduces the precipitation in the tropical land regions (southern Africa and South America). The climate feedback processes (associated with ΔT) lead to a significant surface latent heat flux reduction over global ocean areas, which could explain most (~80%) of the global precipitation reduction. The precipitation significantly decreases in deep tropical regions (5°N) but increases in the Southern Hemisphere tropical ocean, which is associated with the southward shift of the intertropical convergence zone and the weakening of Southern Hemisphere Hadley cell. Such changes could partly compensate the interhemispheric temperature asymmetry induced by boreal forest fire aerosol indirect effects, through intensifying the cross-equator atmospheric heat transport.

54 ENVIRONMENTAL SCIENCES↗

Evaluation of the Large-Scale and Regional Climatic Response Across North Africa to Natural Variability in Oceanic Modes and Terrestrial Vegetation Among the CMIP5 Models

Hydrologic variability is a serious threat to the poverty-stricken regions of North Africa. Meanwhile, the scientific community struggles to attribute these extreme climatic episodes to specific oceanic and land drivers. Prior modeling studies have not assessed simulated feedbacks over North Africa against an established observational benchmark, so their results are considered as untested, model-specific findings. The Coupled Model Intercomparison Project Phase Five (CMIP5) archive represents the state-of-the-art in climate projections, with most CMIP5 models now containing interactive vegetation phenology; however, there have been no studies to date of their simulated vegetation feedbacks. The capability of CMIP5 models at accurately simulating the forcing of both sea-surface temperature (SST) and regional leaf area index (LAI) anomalies on North African climate needs to be a key consideration in assessing the models’ overall credibility and determining appropriate model weighting for developing climate projections. The Generalized Equilibrium Feedback Assessment (GEFA) is a promising statistical method, which can be applied to either model output or observations, for isolating the local and remote impacts of individual oceanic or terrestrial forcings on regional climate. We performed a combined observational and modeling assessment of land-ocean-atmosphere interactions across the distinct ecological and moisture gradients of North Africa. We evaluated and demonstrated the reliability of the GEFA statistical method over North Africa using the Community Earth System Model (CESM), applied GEFA to observational data to quantify the observed forcing of ocean basin SST anomalies and regional LAI anomalies on North African climate, evaluated the CMIP5 models’ performance in terms of representing these key observed feedbacks, and formulated CMIP5 feedback performance metrics for weighting North African climate projections. Our study represented the first attempt to separate the observed roles of oceanic and vegetation feedbacks across North Africa, the first systematic assessment and intercomparison of land-ocean-atmosphere feedbacks in CMIP5, and the first exploration of vegetation feedbacks among CMIP5 models. The following work was accomplished. (1) The team generated 14 scientific publications and 30 presentations based on the DOE-funded research. (2) A stepwise version of the GEFA statistical method was developed in which unimportant forcings were dropped to increase the reliability of the results. (3) SGEFA was successfully validated through experiments with CESM in terms of its ability to isolate the atmospheric responses to individual oceanic or land forcings. (4) Observational evidence was revealed for the Sahel’s positive vegetation-rainfall feedback on the seasonal to interannual time scale, and it was attributed to a moisture recycling mechanism rather than an albedo mechanism. (5) An approach with SGEFA was developed in which the individual contributions of soil moisture versus vegetation forcings could be separated, revealing that the former forcing outweighed the latter for sub-Saharan Africa. (6) Tropical ocean temperatures were found to be key regulators of pan-tropical vegetation variability, especially for arid and semi-arid regions, including sub-Saharan Africa. (7) The CMIP5 models largely underestimated the importance of land feedbacks across the Sahel. (8) The general consensus among CMIP5 models indicates, for the late 21st century, a diminished seasonal predictability of sub-Saharan African regional climate and an elevated role of the land surface compared to oceanic drivers in regulating regional climate variability. (9) Land-ocean-atmosphere interactions were demonstrated to be key contributors to the seasonal predictability of African wildfire activity. (10) The El Djouf was determined to be of greater importance than the Bodélé depression in terms of providing trans-Atlantic dust transport to the Americas.

54 ENVIRONMENTAL SCIENCES↗

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗

Summertime low clouds mediate the impact of the large-scale circulation on Arctic sea ice

The rapid Arctic sea ice retreat in the early 21 st century is believed to be driven by several dynamic and thermodynamic feedbacks, such as ice-albedo feedback and water vapor feedback. However, the role of clouds in these feedbacks remains unclear since the causality between clouds and these processes is complex. Here, we use NASA CERES satellite products and NCAR CESM model simulations to suggest that summertime low clouds have played an important role in driving sea ice melt by amplifying the adiabatic warming induced by a stronger anticyclonic circulation aloft. The upper-level high pressure regulates low clouds through stronger downward motion and increasing lower troposphere relative humidity. The increased low clouds favor more sea ice melt via emitting stronger longwave radiation. Then decreased surface albedo triggers a positive ice-albedo feedback, which further enhances sea ice melt. Considering the importance of summertime low clouds, accurate simulation of this process is a prerequisite for climate models to produce reliable future projections of Arctic sea ice.

54 ENVIRONMENTAL SCIENCES↗

Multistage Electrophoretic Separators

A multistage electrophoresis apparatus has been invented for use in the separation of cells, protein molecules, and other particles and solutes in concentrated aqueous solutions and suspensions. The design exploits free electrophoresis but overcomes the deficiencies of prior free-electrophoretic separators by incorporating a combination of published advances in mathematical modeling of convection, sedimentation, electro-osmotic flow, and the sedimentation and aggregation of droplets. In comparison with other electrophoretic separators, these apparatuses are easier to use and are better suited to separation in relatively large quantities characterized in the art as preparative (in contradistinction to smaller quantities characterized in the art as analytical). In a multistage electrophoretic separator according to the invention, an applied vertical steady electric field draws the electrically charged particles of interest from within a cuvette to within a collection cavity that has been moved into position of the cuvette. There are multiple collection cavities arranged in a circle; each is aligned with the cuvette for a prescribed short time. The multistage, short-migration-path character of the invention solves, possibly for the first time, the fluid-instability problems associated with free electrophoresis. The figure shows a prototype multistage electrophoretic separator that includes four sample stations and five collection stages per sample. At each sample station, an aqueous solution or suspension containing charged species to be separated is loaded into a cuvette, which is machined into a top plate. The apparatus includes a lower plate, into which 20 collection cavities have been milled. Each cavity is filled with an electrophoresis buffer solution. For the collection of an electrophoretic fraction, the lower plate is rotated to move a designated collection cavity into alignment with the opening of the cuvette. An electric field is then applied between a non-gassing electrode in the collection cavity and an electrolyte compartment, which is separated from the cuvette by a semipermeable membrane. The electrolyte is refreshed by circulation by use of a peristaltic pump. In subsequent steps, the lower plate is rotated to collect other electrophoretic fractions. Later, the collected fractions are removed from the collection cavities through ports that have threaded plugs. The base of the apparatus contains power supplies and a computer interface. The design includes provisions for monitoring and feedback control of cavity position, electric field, and temperature. The operation of the apparatus can easily be automated, as demonstrated by use of software that has already been written for this purpose.

Thomas, Nathan↗

Influences of joystick spring resistance on the execution of simple and complex positioning movements

To provide good proprioceptive feedback in a manual control device for a designation task, spring resistance of a joystick was optimized by adjustment of centering force and deflection nonlinearly with each other by using the psychophysical method of cross modality matching. Designation with zero and first order systems showed that the coarse adjustment was insensitive to stick and certain task parameters, although it was influenced by some biomechanical parameters and the anticipated demands of the final control positioning. Only the more difficult fine adjustment is sensitive to parameter alterations and therefore suitable for optimization attempts. The strong centering of the stick by a nonlinear degressive spring resistance facilitates fine adjustment. Through this, total adjustment time with the first order system is reduced by more than thirty percent, compared to a linear resistance. Tracking experiments affirm the usefulness and preference of nonlinear spring resistance.

Rothbauer, G.↗

Greenhouse-gas forced changes in the Atlantic meridional overturning circulation and related worldwide sea-level change

Abstract The effect of anthropogenic climate change in the ocean is challenging to project because atmosphere-ocean general circulation models (AOGCMs) respond differently to forcing. This study focuses on changes in the Atlantic Meridional Overturning Circulation (AMOC), ocean heat content ( $$\Delta$$ Δ OHC), and the spatial pattern of ocean dynamic sea level ( $$\Delta \zeta$$ Δ ζ ). We analyse experiments following the FAFMIP protocol, in which AOGCMs are forced at the ocean surface with standardised heat, freshwater and momentum flux perturbations, typical of those produced by doubling $$\hbox {CO}_{{2}}$$ CO 2 . Using two new heat-flux-forced experiments, we find that the AMOC weakening is mainly caused by and linearly related to the North Atlantic heat flux perturbation, and further weakened by a positive coupled heat flux feedback. The quantitative relationships are model-dependent, but few models show significant AMOC change due to freshwater or momentum forcing, or to heat flux forcing outside the North Atlantic. AMOC decline causes warming at the South Atlantic-Southern Ocean interface. It does not strongly affect the global-mean vertical distribution of $$\Delta$$ Δ OHC, which is dominated by the Southern Ocean. AMOC decline strongly affects $$\Delta \zeta$$ Δ ζ in the North Atlantic, with smaller effects in the Southern Ocean and North Pacific. The ensemble-mean $$\Delta \zeta$$ Δ ζ and $$\Delta$$ Δ OHC patterns are mostly attributable to the heat added by the flux perturbation, with smaller effects from ocean heat and salinity redistribution. The ensemble spread, on the other hand, is largely due to redistribution, with pronounced disagreement among the AOGCMs.

54 ENVIRONMENTAL SCIENCES↗

Root Dynamics Mitigate Warm and Dry Biases over the Central United States

The central United States frequently exhibits warm and dry biases in simulations of summertime conditions, a persistent feature that remains unresolved. While previous studies linked these biases to misrepresented surface energy exchanges, the role of belowground processes remains poorly understood. Here, we demonstrate that inadequate representation of root water uptake in land surface models contributes to this bias. Using both offline Noah-MP and coupled WRF-Noah-MP simulations with static and dynamic root water uptake schemes, we show that the inclusion of dynamic root processes reduces 2-m air temperature biases and enhances precipitation, primarily by increasing the rain rate of convective systems. Offline and coupled simulations further reveal that the cooling effects and precipitation increases are amplified through positive land-atmosphere feedback, active only in the coupled model. These findings highlight an important role of root in modulating land-atmosphere interactions and underscore the need to refine root-zone processes to improve regional atmospheric simulations.

Yang, Zhao (ORCID:0000000288027130)↗

Exploring electron-beam induced modifications of materials with machine-learning assisted high temporal resolution electron microscopy

Directed atomic fabrication using an aberration-corrected scanning transmission electron microscope (STEM) opens new pathways for atomic engineering of functional materials. In this approach, the electron beam is used to actively alter the atomic structure through electron beam induced irradiation processes. One of the impediments that has limited widespread use thus far has been the ability to understand the fundamental mechanisms of atomic transformation pathways at high spatiotemporal resolution. Here, we develop a workflow for obtaining and analyzing high-speed spiral scan STEM data, up to 100 fps, to track the atomic fabrication process during nanopore milling in monolayer MoS 2 . An automated feedback-controlled electron beam positioning system combined with deep convolution neural network (DCNN) was used to decipher fast but low signal-to-noise datasets and classify time-resolved atom positions and nature of their evolving atomic defect configurations. Through this automated decoding, the initial atomic disordering and reordering processes leading to nanopore formation was able to be studied across various timescales. Using these experimental workflows a greater degree of speed and information can be extracted from small datasets without compromising spatial resolution. This approach can be adapted to other 2D materials systems to gain further insights into the defect formation necessary to inform future automated fabrication techniques utilizing the STEM electron beam.

36 MATERIALS SCIENCE↗

An emerging Asian aerosol dipole pattern reshapes the Asian summer monsoon and exacerbates northern hemisphere warming

Since the early 2010s, anthropogenic aerosols have started decreasing in East Asia (EA) while have continued to increase in South Asia (SA). Yet the climate impacts of this Asian aerosol dipole (AAD) pattern remain largely unknown. Using a state-of-the-art climate model, we demonstrate that the climate response is distinctly different between the SA aerosol increases and EA aerosol decreases. The SA aerosol increases lead to ~2.7 times stronger land summer precipitation change within the forced regions than the EA aerosol decreases. Contrastingly, the SA aerosol increases, within the tropical monsoon regime, produce weak and tropically confined responses, while the EA aerosol decreases yield a pronounced northern hemisphere warming aided by extratropical mean westerly and positive air-sea feedbacks over the western North Pacific. By scaling the observed instantaneous shortwave radiative forcing, we reveal that the recent AAD induces a pronounced northern hemisphere extratropical (beyond 30°N) warming (0.024 ± 0.010 °C decade -1 ), particularly over Europe (0.049 ± 0.009 °C decade -1 ). These findings highlight the importance of the pattern effect of forcings in driving global climate and have important implications for decadal prediction.

54 ENVIRONMENTAL SCIENCES↗

Acclimation of leaf respiration consistent with optimal photosynthetic capacity

Abstract Plant respiration is an important contributor to the proposed positive global carbon‐cycle feedback to climate change. However, as a major component, leaf mitochondrial (‘dark’) respiration ( R d ) differs among species adapted to contrasting environments and is known to acclimate to sustained changes in temperature. No accepted theory explains these phenomena or predicts its magnitude. Here we propose that the acclimation of R d follows an optimal behaviour related to the need to maintain long‐term average photosynthetic capacity ( V cmax ) so that available environmental resources can be most efficiently used for photosynthesis. To test this hypothesis, we extend photosynthetic co‐ordination theory to predict the acclimation of R d to growth temperature via a link to V cmax , and compare predictions to a global set of measurements from 112 sites spanning all terrestrial biomes. This extended co‐ordination theory predicts that field‐measured R d and V cmax accessed at growth temperature ( R d,tg and V cmax,tg ) should increase by 3.7% and 5.5% per degree increase in growth temperature. These acclimated responses to growth temperature are less steep than the corresponding instantaneous responses, which increase 8.1% and 9.9% per degree of measurement temperature for R d and V cmax respectively. Data‐fitted responses proof indistinguishable from the values predicted by our theory, and smaller than the instantaneous responses. Theory and data are also shown to agree that the basal rates of both R d and V cmax assessed at 25°C ( R d,25 and V cmax,25 ) decline by ~4.4% per degree increase in growth temperature. These results provide a parsimonious general theory for R d acclimation to temperature that is simpler—and potentially more reliable—than the plant functional type‐based leaf respiration schemes currently employed in most ecosystem and land‐surface models.

Wang, Han↗

Files and scripts to support manuscript Shuman et al 2023 FATES-SPITFIRE ecosystem assembly across tropics

The dataset includes the parameter and domain files, relevant output files, and scripts to generate simulations and perform analysis with Jupyter notebooks that support the manuscript Shuman, JK et al 2023 “Dynamic ecosystem assembly and escaping the “fire-trap” in the tropics: Insights from FATES_15.0.0”. We have adapted the fire-behavior and effects module, SPITFIRE, for use with the Functionally Assembled Terrestrial Ecosystem Simulator (FATES), a size-structured vegetation demographic model. We test how climate, fire regime and fire-tolerance plant traits interact to determine the biogeography of tropical forests and grasslands. We assign different fire-tolerance strategies based on crown, leaf and bark characteristics, which are key observed fire-tolerance traits across woody plants. For these simulations, three types of vegetation compete for resources: a fire-vulnerable tree with thin bark, a vulnerable deep crown and fire-intolerant foliage; a fire-tolerant tree with thick bark, a thin crown and fire-tolerant foliage; and a fire-promoting C4 grass. We explore the model sensitivity to a critical parameter governing fuel moisture, and show that drier fuels promote increased burning, an expansion of area for grass and fire-tolerant trees and a reduction of area for fire-vulnerable trees. This conversion to lower biomass or grass areas with increased fuel drying results in increased fire burned area and its effects, which could fee back to local climate variables. Simulated size-based fire mortality for trees less than 20 cm in diameter and those with fire-vulnerable traits is higher than that for larger and/or fire-tolerant trees, in agreement with observations. Fire-disturbed forests demonstrate reasonable productivity and capture observed patterns of aboveground biomass in areas dominated by natural vegetation for the recent historical period, but have a large bias in less disturbed areas. Though the model predicts a greater extent of burned fraction than observed in areas with grass dominance, the resulting biogeography of fire-tolerant, thick-bark trees and fire-vulnerable, thin-bark trees corresponds to observations across the tropics. In areas with more than 2500 mm of precipitation, simulated fire frequency and burned area are low, with fire intensities below 150 kW m-1, consistent with observed understory fire behavior across the Amazon. Areas drier than this demonstrate fire intensities consistent with those measured in savannas and grasslands, with high values up to 4000 kW m-1. The results support a positive grass-fire feedback across the region, and suggest that forests which have existed without frequent burning may be vulnerable at higher fire intensities, which is of greater concern under intensifying climate and land use pressures. The ability of FATES to capture the connection between fire disturbance and plant fire-tolerance strategies in determining biogeography provides a useful tool for assessing the vulnerability and resilience of these critical carbon storage areas under changing conditions across the tropics.

54 ENVIRONMENTAL SCIENCES↗

An Investigation of the Effects of the Time Lag Due to Long Transmission Distance upon Remote Control. Phase II - Vehicle Experiments. Phase III - Conclusions

An experimental program is undertaken to define the effects upon remote control of long transmission delays. Investigation centers around remote control of a ground vehicle, which is considered to be a representative remote control task. A series of pursuit tracking tests is performed with transport lags ranging from 0 to 6 seconds between the control and the controlled quantity. Various target speeds are tracked with both velocity and acceleration controls. Two types of tracking are performed in an attempt to bracket the actual vehicle situation. In the first the operator attempts to follow the target with his controlled quantity in real time, using the delayed position and rates as feedback. In the second he attempts to follow the target with the delayed controlled quantity. In addition, tests are performed substituting simple electronic models for the human in an attempt to gain an understanding of human response with time delays in the control loop. A series of tests with an actual vehicle are performed with the intent of relating the tracking tests to the actual situation of interest. Time delays of from 0 to 3 seconds are included in the control loop. Performance is scored at various speeds over both continuous and obstacle courses. Both two and four-wheel steering are investigated. In the experiments the effects of all variables except delay magnitude and target complexity are minimized. Curves are obtained showing performance as a function of time delay and target complexity. These curves are discussed. Correlation of the tracking and vehicle experiments is discussed. Comments are made concerning the design of a minimum control system for a remotely controlled lunar roving vehicle.

REMOTE CONTROL↗

An experiment in manipulator control with proximity sensors

Optical proximity sensors were used in a feedback loop to automatically position a manipulator hand for grasping. The experiment was a simplified one, involving two dimensional motion only. Two proximity sensors were mounted on the hand, and control signals derived from their outputs were used to drive the hand vertically and horizontally. The sensors employ a pulsed gallium arsenide light-emitting diode together with a silicon detector. They indicate, without contact, the approximate distance between the manipulator hand and object in the range from 5 to 12 cm. Positioning within approximately + or - 5 mm was observed. Extension of the technique to general three-dimensional control is briefly discussed.

Johnston, A. R.↗

A satellite digital controller or 'play that PID tune again, Sam'

The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.

Seltzer, S. M.↗

A 10 deg K triple-expansion Stirling-cycle cryocooler

The design of a triple expansion closed cycle Stirling cryocooler optimized for a cooling load of 50 mW at 10 K is described. The cooler was designed with the objectives of low power, low weight, compactness, low mechanical motion, low electromagnetic noise, and low output temperature fluctuations. The design employs a direct drive linear motion piston motor and a triple expansion free displacer. Piston motion is controlled by feedback from an optical position transducer. Mechanical vibrations are attenuated with a passive resonant counterbalance. Electromagnetic noise is attenuated with layered high permeability magnetic shielding. The regenerators move with the displacer within a thin titanium cold finger. The piston and displacer oscillate at 8.33 Hz on bearings and seals of reinforced Teflon. The cooler is designed to provide the desired 50 mW of cooling at 10 K with a power input of less than 100 W. The piston can be driven at a greater stroke to produce up to 200 mW of cooling with an input power of 250 W. A lead and copper cold tip heat exchanger will limit temperature fluctuations to within 0.01 K.

Newman, W.↗