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.     

Adjustment of brood care behaviour in the absence of a mate in two species of Nicaraguan crater lake cichlids

In many taxa, parental strategies can vary among individuals. This is especially true in species with biparental care, with males, more often than females, deserting their mates. While there is an abundance of theoretical predictions and empirical data on factors inducing mate abandonment by males, much less is known about what consequences this may have on female behaviour, particularly in the field and in non-avian systems. Here, we compared brood defence rate, behavioural defence types, and brood success of solitary and paired females in two species of Neotropical cichlid fish in their natural habitat. In terms of the rate of territorial aggression towards potential brood predators, solitary females were able to fully compensate in the absence of a male but, in so doing, ended up maintaining smaller territories, which appeared to compromise offspring fitness in at least one of the two species. Hence, our results suggest that even extensive quantitative compensation in parental effort by solitary females may not be enough to ensure adequate qualitative compensation for the lack of male participation, highlighting the importance of distinguishing between these two aspects of compensatory parental care.     

Asymmetric mate choice,hybridization, and hybrid fitness in two sympatric grasshopper species

Hybridization between animal species has long been regarded as unusual, but is meanwhile accepted as a widespread phenomenon. Typically, sexual interactions among species are studied in secondary contact zones of closely related species (hybrid zones) or between invasive and native species, whereas hybridization between sympatric congeners has received little attention. Here, we present a study on the hybridization potential of two grasshopper species, Chorthippus parallelus and Chorthippus montanus, which occur sympatric in large parts of Eurasia. We performed a mate choice experiment with specimens from an area of local parapatry in northwestern Germany. Most copulations were conspecific, but males of both species and females of C. parallelus were indiscriminate in their mate choice, while females of C. montanus clearly preferred conspecific males. Although these results suggest asymmetric introgression, a no-choice hybridization experiment revealed that hybridization is possible in both directions. The hatching success of the hybrids was intermediate between the parental species. Female hybrids showed no clear mate preferences, indicating that back crossing in both directions is possible in principle, but the fertility of the hybrids and the fitness of the F2 generation remain unknown. Our study suggests that hybridization between sympatric species might occur more often than assumed. It might affect the ecology and local distribution of animals in a similar way as competition does.     

Natürliche Oberflächenfilme im Seegebiet vor Sylt

The physical and chemical properties of the sea surface can be altered considerably by the formation of slicks and the accumulation of particles (including plankton). Investigations of natural slicks near the island of Sylt consisted of analyses of the dissolved and particulate surface-active substances, as well as the identification of plankton and bacteria collected by a surface-film sampler. The analyzed surface material consisted primarily of phytoplankton (Prorocentrum micans in particular), bacteria, detritus and dissolved compounds of fatty acids. These fatty acid compounds alone would not account for the slick. The slick appeared to be caused by the calm weather, the active accumulation of P. micans at the surface, and the increase in bacteria associated with this accumulation. Here a decrease was observed in the dissolved surface-active substances compared with the concentration usually found in normal surface waters, of which the total fatty acid content in a sample was taken as indicator. In some cases a correlation was found between fatty acids and particulate matter in naturally occurring slicks. Particularly large variations were found in the fatty acid patterns in the filtrate and filter residue at a time when no slick was present and no particulate matter had accumulated at the surface.

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Diese Arbeit wurde von der Deutschen Forschungsgemeinschaft im Rahmen des SFB 94, Hamburg, unterstützt.     

The species flocks of East African cichlid fishes: recent advances in molecular phylogenetics and population genetics

With more than 3,000 species, the fish family Cichlidae is one of the most species-rich families of vertebrates. Cichlids occur in southern and central America, Africa, Madagascar, and India. The hotspot of their biodiversity is East Africa, where they form adaptive radiations composed of hundreds of endemic species in several lakes of various sizes and ages. The unparalleled species richness of East African cichlids has been something of a conundrum for evolutionary biologists and ecologists, since it has been in doubt whether these hundreds of species arose by allopatric speciation or whether it is necessary to invoke somewhat less traditional models of speciation, such as micro-allopatric, peripatric, or even sympatric speciation or evolution through sexual selection mediated by female choice. Ernst Mayrs analyses of these evolutionary uniquely diverse species assemblages have contributed to a more direct approach to this problem and have led to a deeper understanding of the patterns and processes that caused the formation of these huge groups of species. We review here recent molecular data on population differentiation and phylogenetics, which have helped to unravel, to some extent, the patterns and processes that led to the formation and ecological maintenance of cichlid species flocks. It is becoming apparent that sexually selected traits do play an important role in speciation in micro-allopatric or even sympatric settings. Species richness seems to be roughly correlated with the surface area, but not the age, of the lakes. We observe that the oldest lineages of a species flock of cichlids are often less species-rich and live in the open water or deepwater habitats. While the species flocks of the Lake Malawai and the Lake Victoria areas were shown to be monophyletic, the cichlid assemblage of Lake Tanganyika seems to consist of several independent species flocks. Cichlids emerge as an evolutionary model system in which many fundamental questions in evolution and ecology can be tested successfully, yet for other fish species flocks the relative importance of alternative mechanisms of speciation is likely to differ from that in cichlid fish.Dedicated to Prof. Ernst Mayr     

Synthesis of polychlorinated [14C]alkanes (PCA) of high specific activity

The synthesis of certain ¹⁴C-labelled polychlorinated alkanes is described. The compounds used as starting material were [1-¹⁴C]lauric acid, [1-¹⁴C]hexadecane and [U-¹⁴C]palmitic acid. The carboxylic acids were reduced with lithium aluminium hydride. The alcohol obtained was treated with triphenylphosphine dichloride which gave the corresponding 1-chloroalkane. The chlorination of the alkanes was performed in tetrachloromethane by use of sulphuryl chloride with benzoyl peroxide or UV-light as initiators. Three mixtures of polychlorinated dodecanes (45.9%, 55.9% and 68.5% chlorine) and two polychlorinated hexadecanes (34.1% and 69% chlorine) were synthesized. The products of higher chlorine content prepared were only available via the photoinduced chlorination.     

CDM potential of SPV lighting systems in India

In view of the increasing interest in the development and dissemination of technologies for harnessing new and renewable sources of energy in India, there have also been some efforts towards their use in the domestic lighting sector. However, the cumulative number of Solar Photovoltaic (SPV) lighting systems such as SPV lanterns and solar home lighting systems in India is far below their theoretical potential despite government subsidy programmes. One of the major barriers is the high capital investment in these systems. The Clean Development Mechanism (CDM) provides industrialized countries with an incentive to invest in emission reduction projects in developing countries to achieve a reduction in CO₂ emissions at lowest cost that also promotes sustainable development in the host country. SPV lanterns and solar home lighting systems could be of interest under the CDM because they directly displace greenhouse gas emissions while contributing to sustainable rural development. However, only two SPV projects have been submitted under the CDM so far. This study assesses the maximum theoretical as well as the realistically achievable CDM potential of SPV lanterns and solar home lighting systems in India. The SPV lantern project is financially viable at a certified emissions reductions (CER) price of 34 € whereas the solar home lighting project is financially viable at a CER price of 46 €. While the maximum mitigation volume is about 35 million tonne CO₂ on an annual basis, an estimate of achievable CER levels is done using the past diffusion trends of SPV systems. We find that annual CER volumes could reach 0.8 to 2.4 million by 2012 and 5.6 to 13.6 million by 2020. This would require that the government sets the subsidy level for SPV lighting systems at a level that allows them to become viable with the CER revenue. From a macro-economic point of view this makes sense if the sustainability benefits are deemed sufficiently high to warrant promotion of this type of project.

The development of a natural plankton population in an outdoor tank with nutrient-poor sea water. I. Phytoplankton succession

Due to complex hydrodynamic and biological inhomogeneities, the phytoplankton species succession cannot be satisfactorily observed, apart from the seasonal blooms which occur in temperate waters. Large flexible plastic tanks have proved to be useful for such observations. In 1972, for 28 days, a phytoplankton succession in nutrient-poor water in the outer harbor of Helgoland was observed in a flexible plastic tank (3 m³). During this period, 3 phytoplankton biomass maxima were formed with many significant correlations. In the first 7 days the ammonia concentration decreased from over 6 to 2 mol 1^-1 for 14 days. The nitrate concentration remained in the range of 3–6 mol 1^-1 and then fell abruptly to 0–2 mol 1^-1. The phosphate concentration was about 0.1 mol 1^-1. Lauderia borealis dominated the first period, and its increase was significantly correlated with the decrease in ammonia. The diatom was succeeded by two dinoflagellates, Dinophysis acuminata and Prorocentrum micans. The last period of the experiment was characterized by a stronger development of Rhizosolenia species. The rapid recovery of the crop in the nutrient-poor water points to intensive remineralization processes. The irregular occurrence of ammonia near the surface was correlated with the appearance of Noctiluca miliaris at this depth. It is expected that repetitions of this type of experiment will permit further explanations of statistical correlations which are not yet clear. As a first step, in order to test hypotheses, a correlation analysis was employed to eliminate the statistically non-significant correlations.This work was supported by the Sonderforschungsbereich 94, Hamburg, of the Deutsche Forschungsgemeinschaft.