Effects of low-salinity and high-turbidity waters one mpirical ocean colour algorithms: an example for Southwestern Atlantic waters

The spectral reflectance of the sea surface recorded using ocean colour satellite sensors has been used to estimate chlorophyll-a concentrations for decades. However, in bio-optically complex coastal waters, these estimates are compromised by the presence of several other coloured components besides chlorophyll, especially in regions affected by low-salinity waters. The present work aims to (a) describe the influence of the freshwater plume from the La Plata River on the variability of in situ remote sensing reflectance and (b) evaluate the performance of operational ocean colour chlorophyll algorithms applied to Southwestern Atlantic waters, which receive a remarkable seasonal contribution from La Plata River discharges. Data from three oceanographic cruises are used, in addition to a historical regional bio-optical dataset. Deviations found between measured and estimated concentrations of chlorophyll-a are examined in relation to surface water salinity and turbidity gradients to investigate the source of errors in satellite estimates of pigment concentrations. We observed significant seasonal variability in surface reflectance properties that are strongly driven by La Plata River plume dynamics and arise from the presence of high levels of inorganic suspended solids and coloured dissolved materials. As expected, existing operational algorithms overestimate the concentration of chlorophyll-a, especially in waters of low salinity (S<33.5) and high turbidity (Rrs(670)>0.0012 sr−1). Additionally, an updated version of the regional algorithm is presented, which clearly improves the chlorophyll estimation in those types of coastal environment. In general, the techniques presented here allow us to directly distinguish the bio-optical types of waters to be considered in algorithm studies by the ocean colour community.

A contribution for developing more efficient dynamic modelling algorithms of parallel robots

Parallel kinematic structures are considered very adequate architectures for positioning and orienti ng the tools of robotic mechanisms. However, developing dynamic models for this kind of systems is sometimes a difficult task. In fact, the direct application of traditional methods of robotics, for modelling and analysing such systems, usually does not lead to efficient and systematic algorithms. This work addre sses this issue: to present a modular approach to generate the dynamic model and through some convenient modifications, how we can make these methods more applicable to parallel structures as well. Kane’s formulati on to obtain the dynamic equations is shown to be one of the easiest ways to deal with redundant coordinates and kinematic constraints, so that a suitable c hoice of a set of coordinates allows the remaining of the modelling procedure to be computer aided. The advantages of this approach are discussed in the modelling of a 3-dof parallel asymmetric mechanisms.

Dose-dependent effects of angiotensin-(1-7) on the NHE3 exchanger and [Ca(2+)](i) in in vivo proximal tubules

The acute direct action of angiotensin-(1-7) [ANG-(1-7)] on bicarbonate reabsorption (JHCO(3)(-)) was evaluated by stationary microperfusions on in vivo middle proximal tubules in rats using H ion-sensitive microelectrodes. The control JHCO(3)(-) is 2.82 ± 0.078 nmol·cm(-2)·s(-1) (50). ANG-(1-7) (10(-12) or 10(-9) M) in luminally perfused tubules decreases JHCO(3)(-) (36 or 60%, respectively), but ANG-(1-7) (10(-6) M) increases it (80%). A779 increases JHCO(3)(-) (30%) and prevents both the inhibitory and the stimulatory effects of ANG-(1-7) on it. S3226 decreases JHCO(3)(-) (45%) and changes the stimulatory effect of ANG-(1-7) to an inhibitory effect (30%) but does not affect the inhibitory effect of ANG-(1-7). Our results indicate that in the basal condition endogenous ANG-(1-7) inhibits JHCO(3)(-) and that the biphasic dose-dependent effect of ANG-(1-7) on JHCO(3)(-) is mediated by the Mas receptors via the Na(+)/H(+) exchanger 3 (NHE3). The control value of intracellular Ca(2+) concentration ([Ca(2+)](i)), as monitored using fura-2 AM, is 101 ± 2 nM (6), and ANG-(1-7) (10(-12), 10(-9), or 10(-6)M) transiently (3 min) increases it (by 151, 102, or 52%, respectively). A779 increases the [Ca(2+)](i) (25%) but impairs the stimulatory effect of all doses of ANG-(1-7) on it. The use of BAPTA or thapsigargin suggests a correlation between the ANG-(1-7) dose-dependent effects on [Ca(2+)](i) and JHCO(3)(-). Therefore, the interaction of the opposing dose-dependent effects of ANG II and ANG-(1-7) on [Ca(2+)](i) and JHCO(3)(-) may represent an physiological regulatory mechanism of extracellular volume and/or pH changes. However, whether [Ca(2+)](i) modification is an important direct mechanism for NHE3 activation by these peptides or is a side effect of other signaling pathways will require additional studies.