Reply to comment by L. Fenoglio-Marc et al. on “On the steric and mass-induced contributions to the annual sea level variations in the Mediterranean Sea”

Reply to comment by L. Fenoglio-Marc et al. on “On the steric and mass-induced contributions to the annual sea level variations in the Mediterranean Sea”.

Steric sea-level variations inferred from combined Topex/Poseidon altimetry and GRACE gravimetry

In this study, we propose to estimate the steric sea-level variations over a < 2-year period (April 2002 through December 2003) by combining global mean sea level (GMSL) based on Topex/ Poseidon (T/P) altimetry with time-variable geoid averaged over the oceans, as observed by the GRACE (Gravity Recovery and Climate Experiment) satellite. In effect, altimetry-derived GMSL changes results from two contributions: Steric (thermal plus salinity) effects due to sea water density change and ocean mass change due to water exchange with atmosphere and continents. On the other hand, GRACE data over the oceans provide the ocean mass change component only. The paper first discusses the corrections to apply to the GRACE data. Then the steric contribution to the GMSL is estimated using GRACE and T/P data. Comparison with available thermal expansion based on in situ hydrographic data is performed.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Variations in coastal fish species composition captured by traps in Romsdalsfjord, Western Norway

Fish traps are widely used in Norwegian fjords, especially those designed for monitoring salmonid populations in the marine environment, although many other marine fish species are also captured. The composition and spatio-temporal variations of fish species captured by fish traps were monitored in five different coastal locations throughout the Romsdalsfjord region, Western Norway, from May to August during the three consecutive years (2011–2013). Twenty-three fish species were captured by traps in coastal waters, both resident and migratory fishes. The most common fish and with greater catchability were saithe (Pollachis virens) and sea trout (Salmo trutta), followed by cod (Gadus morhua), pollack (P. pollachius), herring (Clupea harengus) and mackerels (Trachurus trachurus and Scomber scombrus). However, the captured assemblage presented great spatial and seasonal variations, in terms of mean daily catch, probably associated with hydrographical conditions and migrational patterns. Information obtained in this study will help us to better understand the compositions and dynamic of coastal fish populations inhabiting Norwegian coastal waters. In addition, traps are highly recommended as a management tool for fish research (e.g. fish-tagging experiments, mark and recapture) and conservation purposes (coastal use and fisheries studies).