Shared control of robotic friction stir welding in the presence of imperfect joint fit-up

In this paper a shared control strategy is presented that allows a skilled operator to identify irregularities that occur during robotic friction stir welding (FSW) and assist the robotic system in producing an appropriate response. Human operators are adept at identifying disturbances; however, the complexity of the friction stir welding process makes it difficult for the operator to respond. While examining the capabilities of shared control in friction stir welding, this paper focuses on responding to defects that are caused by a lack of workpiece material during butt welding, such as gaps. A compensation strategy is presented that combines the human operator's perceptual strengths with an automated procedure for adjustment of the process parameters (i.e. travel angle and plunge depth). Experiments comparing four control strategies are performed while welding 5083-H116 aluminum. Through our experiments we demonstrate that if the FSW control task is appropriately shared between the human operator and the computer control system, the weld quality (strength) can be improved (from 9 ksi to 31 ksi for a gap size of 2.5 mm) as compared with the nominal case in which no corrections are made.     

Substrate supply, fine roots, and temperature control proteolytic enzyme activity in temperate forest soils

Temperature and substrate availability constrain the activity of the extracellular enzymes that decompose and release nutrients from soil organic matter (SOM). Proteolytic enzymes are the primary class of enzymes involved in the depolymerization of nitrogen (N) from proteinaceous components of SOM, and their activity affects the rate of N cycling in forest soils. The objectives of this study were to determine whether and how temperature and substrate availability affect the activity of proteolytic enzymes in temperate forest soils, and whether the activity of proteolytic enzymes and other enzymes involved in the acquisition of N (i.e., chitinolytic and ligninolytic enzymes) differs between trees species that form associations with either ectomycorrhizal or arbuscular mycorrhizal fungi. Temperature limitation of proteolytic enzyme activity was observed only early in the growing season when soil temperatures in the field were near 4 degrees C. Substrate limitation to proteolytic activity persisted well into the growing season. Ligninolytic enzyme activity was higher in soils dominated by ectomycorrhizal associated tree species. In contrast, the activity of proteolytic and chitinolytic enzymes did not differ, but there were differences between mycorrhizal association in the control of roots on enzyme activity. Roots of ectomycorrhizal species but not those of arbuscular mycorrhizal species exerted significant control over proteolytic, chitinolytic, and ligninolytic enzyme activity; the absence of ectomycorrhizal fine roots reduced the activity of all three enzymes. These results suggest that climate warming in the absence of increases in substrate availability may have a modest effect on soil-N cycling, and that global changes that alter belowground carbon allocation by trees are likely to have a larger effect on nitrogen cycling in stands dominated by ectomycorrhizal fungi.     

Representing mediating effects and species reintroductions in Ecopath with Ecosim

Ecosystem models play an important role in supporting ecosystem approaches to management. To improve the representation of how ecosystems work, ecosystem models should be able to represent mediating effects (e.g., habitat provision) that species provide to each other as well as species (re)introductions, both common situations that can strongly influence ecosystem dynamics. We examine how such processes can be incorporated into Ecopath with Ecosim (EwE), a widely used tool for represent aquatic ecosystems with the potential to support ecosystem-based management. We used the reintroduction of sea otters (Enhydralutris) to the west coast of Vancouver Island, British Columbia, Canada as a case study. The model demonstrates how to account for benefits provided by kelp forests by contributing to primary production, increased feeding areas and food availability through prey retention. It also demonstrates how the reintroduction and range expansion of sea otters can be represented in Ecospace, and the implications of these options.     

Adjusting the timing of hatching to changing environmental conditions has fitness costs in blue tits

After laying the first egg, a bird can, to a certain extent, adjust the hatching date of the brood to environmental conditions. However, costs of this adjustment have remained largely unexplored. We studied potential costs of hatching delay in a population of blue tits in southern Finland. We explored the factors underlying hatching delay and investigated the association between hatching delay, clutch hatchability and female body condition. Finally, we reciprocally cross-fostered a large number of broods irrespective of their experienced hatching delay to address possible downstream effects of hatching delay on developmental parameters in offspring. We found that hatching delay was associated with early laying dates and low mean temperatures during the egg-laying phase. Furthermore, we found evidence that delayed hatching negatively affected the breeding performance. Hatchability of the clutch was lowered and the breeding female was energetically impaired, resulting in smaller clutch sizes, lower female body mass at hatching and lowered survival of nestlings reared in nests that had experienced a long hatching delay. In addition, delayed hatching had a significant negative effect on the body mass of nestlings prior to fledging. However, ultimately we did not find evidence that delayed hatching affected survival of the breeding female nor recruitment of fledglings in the local breeding population. Our study demonstrates that environmental conditions during egg laying can have lasting effects throughout the breeding and nestling phase. Furthermore, our results emphasize the importance of energetic tradeoffs by breeding females during the early breeding phase to manage reproductive costs.     

Potentials and limitations of Coastal Web Atlases

A Coastal Web Atlas (CWA) is a valuable resource for a range of users including coastal managers as it provides easy access to maps, spatial data, coastal information and tools. A trans-Atlantic workshop on “Potentials and Limitations of Coastal Web Atlases”, held in Ireland in July 2006, brought together atlas developers and coastal data experts from Europe and the United States to examine state-of-the-art developments in CWAs and future needs. This paper focuses on workshop outcomes, including what defines a CWA and an overview of international, national, state and regional atlas case studies from both sides of the Atlantic. Results of discussions are presented concerning issues related to design, data, technology and institutional capacity for existing CWAs based on the collective experience of workshop participants. Directions in CWA development and applications since the workshop are also discussed. A major outcome of the workshop was the initiation of an International Coastal Atlas Network. The insights provided give a framework for CWA developers and a useful point of reference for coastal managers and policy makers on atlas potentials and limitations.     

Monitoring seasonal bat activity on a coastal barrier island in Maryland, USA

Research on effects of wind turbines on bats has increased dramatically in recent years because of significant numbers of bats killed by rotating wind turbine blades. Whereas most research has focused on the Midwest and inland portions of eastern North America, bat activity and migration on the Atlantic Coast has largely been unexamined. We used three long-term acoustic monitoring stations to determine seasonal bat activity patterns on the Assateague Island National Seashore, a barrier island off the coast of Maryland, from 2005 to 2006. We recorded five species, including eastern red bats (Lasiurus borealis), big brown bats (Eptesicus fuscus), hoary bats (Lasiurus cinereus), tri-colored bats (Perimyotis subflavus), and silver-haired bats (Lasionycteris noctivagans). Seasonal bat activity (number of bat passes recorded) followed a cosine function and gradually increased beginning in April, peaked in August, and declined gradually until cessation in December. Based on autoregressive models, inter-night bat activity was autocorrelated for lags of seven nights or fewer but varied among acoustic monitoring stations. Higher nightly temperatures and lower wind speeds positively affected bat activity. When autoregressive model predictions were fitted to the observed nightly bat pass totals, model residuals >2 standard deviations from the mean existed only during migration periods, indicating that periodic increases in bat activity could not be accounted for by seasonal trends and weather variables alone. Rather, the additional bat passes were attributable to migrating bats. We conclude that bats, specifically eastern red, hoary, and silver-haired bats, use this barrier island during migration and that this phenomenon may have implications for the development of near and offshore wind energy.     

Solvent extraction and soil washing treatment of contaminated soils from wood preserving sites: Bench‐scale studies

Bench‐scale solvent extraction and soil washing studies were performed on soil samples obtained from three abandoned wood preserving sites included in the National Priority List. The soil samples from these sites were contaminated with high levels of polyaromatic hydrocarbons (PAHs), pentachlorophenol (PCP), dioxins, and heavy metals. The effectiveness of the solvent extraction process was assessed using liquefied propane or dimethyl ether as solvents over a range of operating conditions. These studies have demonstrated that a two‐stage solvent extraction process using dimethyl ether as a solvent at a ratio of 1.61 per kg of soil could decrease dioxin levels in the soil by 93.0 to 98.9 percent, and PCP levels by 95.1 percent. Reduction percentages for benzo(a)pyrene (BaP) potency estimate and total detected PAHs were 82.4 and 98.6 percent, respectively. Metals concentrations were not reduced by the solvent extraction treatment. These removal levels could be significantly improved using a multistage extraction system. Commercial scale solvent extraction using liquefied gases costs about $220 per ton of contaminated soil. However, field application of this technology at the United Creosote site, Conroe, Texas, failed to perform to the level observed at bench scale due to the excessive foaming and air emission problem. Soil washing using surfactant solution and wet screening treatability studies were also performed on the soil samples in order to assess remediation strategies for sites. Although aqueous phase solubility of contaminants seemed to be the most important factor affecting removal of contaminants from soil, surfactant solutions (3 percent by weight) having nonionic surfactants with hydrophile‐lipophile balance (HLB) of about 14 (Makon‐12 and Igepal CA 720) reduced the PAH levels by an average of 71 percent, compared to no measurable change when pure deionized water was used. Large fractioza of clay and silt (<0.06mm), high le!ezielsof orgaizic contami‐ nants and hzimic acid can makesoil washing less applicable.     

The Health of the Oceans - A 1994 Update

Three collectives of substances - plastics, plant nutrients, biotoxins - are candidates for monitoring programmes that could keep track of the quality of ocean waters for vital life processes. All three are not subject to systematic surveillance at present. They are each characterized by long residence times in the marine environment, by increasing influx, and by growing evidence of their deleterious impacts on living systems.