On the biomimetic design of agile-robot legs

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

Computer simulation of the interplay between fractal structures and surrounding heterogeneous multifractal distributions. Applications

In a large number of physical, biological and environmental processes interfaces with high irregular geometry appear separating media (phases) in which the heterogeneity of constituents is present. In this work the quantification of the interplay between irregular structures and surrounding heterogeneous distributions in the plane is made For a geometric set image and a mass distribution (measure) image supported in image, being image, the mass image gives account of the interplay between the geometric structure and the surrounding distribution. A computation method is developed for the estimation and corresponding scaling analysis of image, being image a fractal plane set of Minkowski dimension image and image a multifractal measure produced by random multiplicative cascades. The method is applied to natural and mathematical fractal structures in order to study the influence of both, the irregularity of the geometric structure and the heterogeneity of the distribution, in the scaling of image. Applications to the analysis and modeling of interplay of phases in environmental scenarios are given.

Sedimentology of core PS2564-3 and GeoB2110-4

In the South Atlantic and adjoining Southern Ocean the kaolinite/chlorite-ratio in Late Quaternary sediments are an alternative deep water proxy to benthic foraminiferal proxies and carbonate preservation indices that is even suitable in regions with poor carbonate preservation. This paper shows the relationship between modern abyssal circulation and the kaolinite/chloriteratio and presents reconstructions of deep and bottom water advection based on the kaolinite/ chlorite proxy. We also discuss the limitations and future perspectives of the kaolinite/chlorite proxy. Latitudinal and water depth-related patterns of the kaolinite/chlorite-ratio in surface sediments correspond to the modern deep and bottom water mass distribution. Kaolinite originates from lowlatitudes and traces North Atlantic Deep Water (northern-source deep water) advection to the south. Chlorite from the southern high-latitudes is exported via northward advecting Antarctic Bottom Water and Circumpolar Deep Water (southern-source deep and bottom water). Deep-sea sedimentation in regions underlying the Antarctic Circumpolar Current was current-dominated throughout the Late Quaternary. Temporal variations of the kaolinite/chlorite-ratio in response to glacial-interglacial cycles reflect changing deep water mass configurations, suggesting a shallowing and northward retreat of northern-source deep water and accordingly wider expansion of southernsource deep and bottom water masses during glacial times relative to interglacial times. Submarine topography influenced the spatial and temporal patterns of deep water mass distribution.

Grain size analysis of ODP Site 162-984

Past changes in the freshwater balance of the surface North Atlantic Ocean are thought to have influenced the rate of deep-water formation, and consequently climate (Broecker and Denton, 1989, doi:10.1016/0016-7037(89)90123-3; Manabe and Stouffer, 1996; doi:10.1038/378165a0). Although water-mass proxies are generally consistent with an impact of freshwater input on meridional overturning circulation (Boyle and Keigwin, 1987, doi:10.1038/330035a0), there has been little dynamic evidence to support this linkage. Here we present a 25,000 year record of variations in sediment grain size from south of Iceland, which indicates vigorous bottom-water currents during both the last glacial maximum and the Holocene period. Together with reconstructions of North Atlantic water-mass distribution, vigorous bottom currents suggest a shorter residence time of northern-source waters during the last glacial maximum, relative to the Holocene period. The most significant reductions in flow strength occur during periods that have been associated with freshening of the surface North Atlantic. The short-term deglacial oscillations in bottom current strength are closely coupled to changes in Greenland air temperature, with a minimum during the Younger Dryas cold reversal and a maximum at the time of rapid warming at the onset of the Holocene. Our results support a strong connection between ocean circulation and rapid climate change.

Humic acids in bottom sediments of the Western Pacific

Elemental composition, functional groups, and molecular mass distribution were determined in humic acids from the Western Pacific abyssal and coastal bottom sediments. Humic acid structure was studied by oxidative degradation with alkaline nitrobenzene and potassium permanganate, p-coumaric, guaiacilic, and syringilic structural units typical for lignin of terrestrial plants were identified in humic acids by chromatographic analysis of oxidation products. Polysubstituted and polycondensed aromatic systems with minor proportion of aliphatic structures were basic structural units of humic acids in abyssal sediments.

Shell preservation of Limacina inflata in surface sediments of the Central and South Atlantic

Over 300 surface sediment samples from the Central and South Atlantic Ocean and the Caribbean Sea were investigated for the preservation state of the aragonitic test of Limacina inflata. Results are displayed in spatial distribution maps and are plotted against cross-sections of vertical water mass configurations, illustrating the relationship between preservation state, saturation state of the overlying waters, and overall water mass distribution. The microscopic investigation of L. inflata (adults) yielded the Limacina dissolution index (LDX), and revealed three regional dissolution patterns. In the western Atlantic Ocean, sedimentary preservation states correspond to saturation states in the overlying waters. Poor preservation is found within intermediate water masses of southern origin (i.e. Antarctic intermediate water (AAIW), upper circumpolar water (UCDW)), which are distinctly aragonite-corrosive, whereas good preservation is observed within the surface waters above and within the upper North Atlantic deep water (UNADW) beneath the AAIW. In the eastern Atlantic Ocean, in particular along the African continental margin, the LDX fails in most cases (i.e. less than 10 tests of L. inflata per sample were found). This is most probably due to extensive "metabolic" aragonite dissolution at the sediment-water interface combined with a reduced abundance of L. inflata in the surface waters. In the Caribbean Sea, a more complex preservation pattern is observed because of the interaction between different water masses, which invade the Caribbean basins through several channels, and varying input of bank-derived fine aragonite and magnesian calcite material. The solubility of aragonite increases with increasing pressure, but aragonite dissolution in the sediments does not simply increase with water depth. Worse preservation is found in intermediate water depths following an S-shaped curve. As a result, two aragonite lysoclines are observed, one above the other. In four depth transects, we show that the western Atlantic and Caribbean LDX records resemble surficial calcium carbonate data and delta13C and carbonate ion concentration profiles in the water column. Moreover, preservation of L. inflata within AAIW and UCDW improves significantly to the north, whereas carbonate corrosiveness diminishes due to increased mixing of AAIW and UNADW. The close relationship between LDX values and aragonite contents in the sediments shows much promise for the quantification of the aragonite loss under the influence of different water masses. LDX failure and uncertainties may be attributed to (1) aragonite dissolution due to bottom water corrosiveness, (2) aragonite dissolution due to additional CO2 release into the bottom water by the degradation of organic matter based on an enhanced supply of organic matter into the sediment, (3) variations in the distribution of L. inflata and hence a lack of supply into the sediment, (4) dilution of the sediments and hence a lack of tests of L. inflata, or (5) redeposition of sediment particles.

Sedimentation rates calculated on surface sediment samples from different site of the Atlantic and Pacific Oceans (Table 1)

Radiocarbon ages on CaCO3 from deep-sea cores offer constraints on the nature of the CaCO3 dissolution process. The idea is that the toll taken by dissolution on grains within the core top bioturbation zone should be in proportion to their time of residence in this zone. If so, dissolution would shift the mass distribution in favor of younger grains, thereby reducing the mean radiocarbon age for the grain ensemble. We have searched in vain for evidence supporting the existence of such an age reduction. Instead, we find that for water depths of more than 4 km in the tropical Pacific the radiocarbon age increases with the extent of dissolution. We can find no satisfactory steady state explanation and are forced to conclude that this increase must be the result of chemical erosion. The idea is that during the Holocene the rate of dissolution of CaCO3 has exceeded the rain rate of CaCO3. In this circumstance, bioturbation exhumes CaCO3 from the underlying glacial sediment and mixes it with CaCO3 raining from the sea surface.

Sea surface temperature estimation for the Iberian Margin

Centennial climate variability over the last ice age exhibits clear bipolar behavior. High-resolution analyses of marine sediment cores from the Iberian margin trace a number of associated changes simultaneously. Proxies of sea surface temperature and water mass distribution, as well as relative biomarker content, demonstrate that this typical north-south coupling was pervasive for the cold phases of climate during the past 420,000 years. Cold episodes after relatively warm and largely ice-free periods occurred when the predominance of deep water formation changed from northern to southern sources. These results reinforce the connection between rapid climate changes at Mediterranean latitudes and century-to-millennial variability in northern and southern polar regions.

Age determination and stable isotope composition of sediment cores from the Arctic Ocean

On the basis of 52 sediment cores, analyzed and dated at high resolution, the paleoceanography and climate of the Last Glacial Maximum (LGM) were reconstructed in detail for the Fram Strait and the eastern and central Arctic Ocean. Sediment composition and stable isotope data suggest three distinct paleoenvironments: (1) a productive region in the eastern to central Fram Strait and along the northern Barents Sea continental margin characterized by Atlantic Water advection, frequent open water conditions, and occasional local meltwater supply and iceberg calving from the Barents Sea Ice Sheet; (2) an intermediate region in the southwestern Eurasian Basin (up to 84-85°N) and the western Fram Strait characterized by subsurface Atlantic Water advection and recirculation, a moderately high planktic productivity, and a perennial ice cover that breaks up only occasionally; and (3) a central Arctic region (north of 85°N in the Eurasian Basin) characterized by a low-salinity surface water layer and a thick ice cover that strongly reduces bioproduction and bulk sedimentation rates. Although the total inflow of Atlantic Water into the Arctic Ocean may have been reduced during the LGM, its impact on ice coverage and halocline structure in the Fram Strait and southwestern Eurasian Basin was strong.