250 resultados para cog humanoid robot embodied learning phd thesis metaphor pancake reaching vision


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The Agulhas Bank region, south of Africa, is an oceanographically important and complex area. The leakage of warm saline Indian Ocean water into the South Atlantic around the southern tip of Africa is a crucial factor in the global thermohaline circulation. Foraminiferal assemblage, stable isotope and sedimentological data from the top 10 m of core MD962080, recovered from the western Agulhas Bank Slope, are used to indicate changes in water mass circulation in the southeastern South Atlantic for the last 450 kyr. Sedimentological and planktonic foraminiferal data give clear signals of cold water intrusions. The benthic stable isotope record provides the stratigraphic framework and indicates that the last four climatic cycles are represented (i.e. down to marine isotope stage (MIS) 12). The planktonic foraminiferal assemblages bear a clear transitional to subantarctic character with Globorotalia inflata and Neogloboquadrina pachyderma (dextral) being the dominant taxa. Input of cold, subantarctic waters into the region by means of leakage through the Subtropical Convergence, as part of Agulhas ring shedding, and a general cooling of surface waters is suggested by increased occurrence of the subantarctic assemblage during glacial periods. Variable input of Indian Ocean waters via the Agulhas Current is indicated by the presence of tropical/subtropical planktonic foraminiferal species Globoquadrina dutertrei, Globigerinoides ruber (alba) and Globorotalia menardii with maximum leakage occurring at glacial terminations. The continuous presence of G. menardii throughout the core suggests that the exchange of water from the South Indian Ocean to the South Atlantic Ocean was never entirely obstructed in the last 450 kyr. The benthic carbon isotope record and sediment textural data reflect a change in bottom water masses over the core location from North Atlantic Deep Water to Upper Southern Component Water. Planktonic foraminiferal assemblages and sediment composition indicate a profound change in surface water conditions over the core site approximately 200-250 kyr BP, during MIS 7, from mixed subantarctic and transitional water masses to overall warmer surface water conditions.

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In-situ geotechnical measurements of surface sediments were carried out along large subaqueous dunes in the Knudedyb tidal inlet channel in the Danish Wadden Sea using a small free-falling penetrometer. Vertical profiles showed a typical stratification pattern with a resolution of ~1 cm depicting a thin surface layer of low sediment strength and a stiffer substratum below (quasi-static bearing capacity equivalent: 1-3 kPa in the top layer, 20-140 kPa in the underlying sediment; thickness of the top layer ca. 5-8 cm). Observed variations in the thickness and strength of the surface layer during a tidal cycle were compared to mean current velocities (measured using an acoustic Doppler current profiler, ADCP), high-resolution bathymetry (based on multibeam echo sounding, MBES) and qualitative estimates of suspended sediment distributions in the water column (estimated from ADCP backscatter intensity). The results revealed an ebb dominance in sediment remobilization, and a general accretion of the bed towards low water. A loose top layer occurred throughout the tidal cycle, likely influenced by bedload transport and small events of suspended sediment resettlement (thickness: 6 +-2 cm). Furthermore, this layer showed a significant increase in thickness (e.g. from 8 cm to 16 cm) related to periods of overall deposition. These findings imply that dynamic penetrometers can conveniently serve to (1) quantify potentially mobile sediments by determining the thickness of a loose sediment surface layer, (2) unravel sediment strength development in potentially mobile sediments and (3) identify sediment accumulation. Such data are an important complement and add a new geotechnical perspective during investigations of sediment remobilization processes in highly dynamic coastal environments.

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