Hardware development of the Yorick series of active vision systems

This paper presents a review of the design and development of the Yorick series of active stereo camera platforms and their integration into real-time closed loop active vision systems, whose applications span surveillance, navigation of autonomously guided vehicles (AGVs), and inspection tasks for teleoperation, including immersive visual telepresence. The mechatronic approach adopted for the design of the first system, including head/eye platform, local controller, vision engine, gaze controller and system integration, proved to be very successful. The design team comprised researchers with experience in parallel computing, robot control, mechanical design and machine vision. The success of the project has generated sufficient interest to sanction a number of revisions of the original head design, including the design of a lightweight compact head for use on a robot arm, and the further development of a robot head to look specifically at increasing visual resolution for visual telepresence. The controller and vision processing engines have also been upgraded, to include the control of robot heads on mobile platforms and control of vergence through tracking of an operator's eye movement. This paper details the hardware development of the different active vision/telepresence systems.

Model inter-comparison between statistical and dynamic model assessments of the long-term stability of blanket peat in Great Britain (1940-2099)

We compared output from 3 dynamic process-based models (DMs: ECOSSE, MILLENNIA and the Durham Carbon Model) and 9 bioclimatic envelope models (BCEMs; including BBOG ensemble and PEATSTASH) ranging from simple threshold to semi-process-based models. Model simulations were run at 4 British peatland sites using historical climate data and climate projections under a medium (A1B) emissions scenario from the 11-RCM (regional climate model) ensemble underpinning UKCP09. The models showed that blanket peatlands are vulnerable to projected climate change; however, predictions varied between models as well as between sites. All BCEMs predicted a shift from presence to absence of a climate associated with blanket peat, where the sites with the lowest total annual precipitation were closest to the presence/absence threshold. DMs showed a more variable response. ECOSSE predicted a decline in net C sink and shift to net C source by the end of this century. The Durham Carbon Model predicted a smaller decline in the net C sink strength, but no shift to net C source. MILLENNIA predicted a slight overall increase in the net C sink. In contrast to the BCEM projections, the DMs predicted that the sites with coolest temperatures and greatest total annual precipitation showed the largest change in carbon sinks. In this model inter-comparison, the greatest variation in model output in response to climate change projections was not between the BCEMs and DMs but between the DMs themselves, because of different approaches to modelling soil organic matter pools and decomposition amongst other processes. The difference in the sign of the response has major implications for future climate feedbacks, climate policy and peatland management. Enhanced data collection, in particular monitoring peatland response to current change, would significantly improve model development and projections of future change.

Maternal adipose tissue response to nicotine administration in the pregnant rat: effects on fetal body fat and cellularity

1. Nicotine has been implicated as a causative factor in the intrauterine growth retardation associated with smoking in pregnancy. A study was set up to ascertain the effect of nicotine on fetal growth and whether this could be related to the actions of this drug on maternal adipose tissue metabolism. 2. Sprague-Dawley rats were mated and assigned to control and nicotine groups, the latter receiving nicotine in the drinking-water throughout pregnancy. Animals were weighed at regular intervals and killed on day 20 of pregnancy. Rates of maternal adipose tissue lipolysis and lipogenesis were measured. Fetal and placental weights were recorded and analysis of fetal body water, fat, protein and DNA carried out. 3. Weight gains of mothers in the nicotine group were less in the 1st and 2nd weeks of pregnancy, but similar to controls in the 3rd week. Fetal body-weights, DNA, protein and percentage water contents were similar in both groups. Mean fetal body fat (g/kg) was significantly higher in the nicotine group (96.2 (SE 5.1)) compared with controls (72.0 (SE 2.9)). Rates of maternal lipolysis were also higher in the nicotine group. 4. The cause of these differences and their effects on maternal and fetal well-being is discussed.

Animal disease and the limits of local knowledge: dealing with ticks and tick-borne diseases in South Africa

Some proponents of local knowledge, such as Sillitoe (2010), have expressed second thoughts about its capacity to effect development on the ‘revolutionary’ scale once predicted. Our argument in this article follows a similar route. Recent research into the management of livestock in South Africa makes clear that rural African livestock farmers experience uncertainty in relation to the control of stock diseases. State provision of veterinary services has been significantly reduced over the past decade. Both white and African livestock owners are to a greater extent left to their own devices. In some areas of animal disease management, African livestock owners have recourse to tried-and-tested local remedies, which are largely plant-based. But especially in the critical sphere of tick control, efficacious treatments are less evident, and livestock owners struggle to find adequate solutions to high tickloads. This is particularly important in South Africa in the early twenty-first century because land reform and the freedom to purchase land in the post-apartheid context affords African stockowners opportunities to expand livestock holdings. Our research suggests that the limits of local knowledge in dealing with ticks is one of the central problems faced by African livestock owners. We judge this not only in relation to efficacy but also the perceptions of livestock owners themselves. While confidence and practice varies, and there is increasing resort of chemical acaricides we were struck by the uncertainty of livestock owners over the best strategies.

Final warming of the Southern Hemisphere polar vortex in high- and low-top CMIP5 models

The final warming date of the polar vortex is a key component of Southern Hemisphere stratospheric and tropospheric variability in spring and summer. We examine the effect of external forcings on Southern Hemisphere final warming date, and the sensitivity of any projected changes to model representation of the stratosphere. Final warming date is calculated using a temperature-based diagnostic for ensembles of high- and low-top CMIP5 models, under the CMIP5 historical, RCP4.5, and RCP8.5 forcing scenarios. The final warming date in the models is generally too late in comparison with those from reanalyses: around two weeks too late in the low-top ensemble, and around one week too late in the high-top ensemble. Ensemble Empirical Mode Decomposition (EEMD) is used to analyse past and future change in final warming date. Both the low- and high-top ensemble show characteristic behaviour expected in response to changes in greenhouse gas and stratospheric ozone concentrations. In both ensembles, under both scenarios, an increase in final warming date is seen between 1850 and 2100, with the latest dates occurring in the early twenty-first century, associated with the minimum in stratospheric ozone concentrations in this period. However, this response is more pronounced in the high-top ensemble. The high-top models show a delay in final warming date in RCP8.5 that is not produced by the low-top models, which are shown to be less responsive to greenhouse gas forcing. This suggests that it may be necessary to use stratosphere resolving models to accurately predict Southern Hemisphere surface climate change.

Paul the Silentiary’s description of Hagia Sophia in the light of new archaeological evidence

A discussion of the implications of of recent archaeological work at Hagia Sophia in Istanbul for understanding Paul the Silentiary's sixth-century Ekphrasis of the Byzantine church.

Harringtonian virtue: Harrington, Machiavelli, and the method of the 'Moment'

This article presents a reinterpretation of James Harrington's writings. It takes issue with J. G. A. Pocock's reading, which treats him as importing into England a Machiavellian ‘language of political thought’. This reading is the basis of Pocock's stress on the republicanism of eighteenth-century opposition values. Harrington's writings were in fact a most implausible channel for such ideas. His outlook owed much to Stoicism. Unlike the Florentine, he admired the contemplative life; was sympathetic to commerce; and was relaxed about the threat of ‘corruption’ (a concept that he did not understand). These views can be associated with his apparent aims: the preservation of a national church with a salaried but politically impotent clergy; and the restoration of the royalist gentry to a leading role in English politics. Pocock's hypothesis is shown to be conditioned by his method; its weaknesses reflect some difficulties inherent in the notion of ‘languages of thought’.

Impact of climate change on stratospheric sudden warmings as simulated by the Canadian middle atmosphere model

The dynamics of Northern Hemisphere major midwinter stratospheric sudden warmings (SSWs) are examined using transient climate change simulations from the Canadian Middle Atmosphere Model (CMAM). The simulated SSWs show good overall agreement with reanalysis data in terms of composite structure, statistics, and frequency. Using observed or model sea surface temperatures (SSTs) is found to make no significant difference to the SSWs, indicating that the use of model SSTs in the simulations extending into the future is not an issue. When SSWs are defined by the standard (wind based) definition, an absolute criterion, their frequency is found to increase by;60% by the end of this century, in conjunction with a;25% decrease in their temperature amplitude. However, when a relative criterion based on the northern annular mode index is used to define the SSWs, no future increase in frequency is found. The latter is consistent with the fact that the variance of 100-hPa daily heat flux anomalies is unaffected by climate change. The future increase in frequency of SSWs using the standard method is a result of the weakened climatological mean winds resulting from climate change, which make it easier for the SSW criterion to be met. A comparison of winters with and without SSWs reveals that the weakening of the climatological westerlies is not a result of SSWs. The Brewer–Dobson circulation is found to be stronger by ;10% during winters with SSWs, which is a value that does not change significantly in the future.

First look at changes in flood hazard in the inter-sectoral impact model intercomparison project ensemble

Climate change due to anthropogenic greenhouse gas emissions is expected to increase the frequency and intensity of precipitation events, which is likely to affect the probability of flooding into the future. In this paper we use river flow simulations from nine global hydrology and land surface models to explore uncertainties in the potential impacts of climate change on flood hazard at global scale. As an indicator of flood hazard we looked at changes in the 30-y return level of 5-d average peak flows under representative concentration pathway RCP8.5 at the end of this century. Not everywhere does climate change result in an increase in flood hazard: decreases in the magnitude and frequency of the 30-y return level of river flow occur at roughly one-third (20-45%) of the global land grid points, particularly in areas where the hydro-graph is dominated by the snowmelt flood peak in spring. In most model experiments, however, an increase in flooding frequency was found in more than half of the grid points. The current 30-y flood peak is projected to occur in more than 1 in 5 y across 5-30% of land grid points. The large-scale patterns of change are remarkably consistent among impact models and even the driving climate models, but at local scale and in individual river basins there can be disagreement even on the sign of change, indicating large modeling uncertainty which needs to be taken into account in local adaptation studies.

Feedbacks and mechanisms affecting the global sensitivity of glaciers to climate change

Mass loss by glaciers has been an important contributor to sea level rise in the past, and is projected to contribute a substantial fraction of total sea level rise during the 21st century. Here, we use a model of the world's glaciers to quantify equilibrium sensitivities of global glacier mass to climate change, and to investigate the role of changes in glacier hypsometry for long-term mass changes. We find that 21st century glacier-mass loss is largely governed by the glacier's response to 20th century climate change. This limits the influence of 21st century climate change on glacier-mass loss, and explains why there are relatively small differences in glacier-mass loss under greatly different scenarios of climate change. The projected future changes in both temperature and precipitation experienced by glaciers are amplified relative to the global average. The projected increase in precipitation partly compensates for the mass loss caused by warming, but this compensation is negligible at higher temperature anomalies since an increasing fraction of precipitation at the glacier sites is liquid. Loss of low-lying glacier area, and more importantly, eventual complete disappearance of glaciers, strongly limit the projected sea level contribution from glaciers in coming centuries. The adjustment of glacier hypsometry to changes in the forcing strongly reduces the rates of global glacier-mass loss caused by changes in global mean temperature compared to rates of mass loss when hypsometric changes are neglected. This result is a second reason for the relatively weak dependence of glacier-mass loss on future climate scenario, and helps explain why glacier-mass loss in the first half of the 20th century was of the same order of magnitude as in the second half of the 20th century, even though the rate of warming was considerably smaller.

Centennial changes in solar activity and the response of galactic cosmic rays

There is a growing consensus that the eleven year modulation of galactic cosmic rays (GCRs) resulting from solar activity is related to interplanetary propagating diffusive barriers (PDBs). The source of these PDBs is not well understood and numerical models describing GCR modulation simulate their effect by scaling the diffusion tensor to the interplanetary magnetic field strength (IMF). The implications of a century-scale change in solar wind speed and open solar flux, for numerical modelling of GCR modulation and the reconstruction of GCR variations over the last hundred years are discussed. The dominant role of the solar non-axisymmetric magnetic field in both forcing longitudinal solar wind speed fluctuations at solar maximum and in increasing the IMF is discussed in the context of a long-term rise in the open solar magnetic flux.

'The house of books': libraries and archives in Ancient Egypt

In 1957, John Sperry Jr. published an article in Libri entitled “Egyptian libraries: a survey of the evidence.” Some 55 years on, this article revisits the subject, taking into account research undertaken in the field of Egyptology over the last half a century. Based on an extended essay written for the online Certificate in Egyptology course at the University of Manchester, this article considers the evidence for the existence of “institutional” (that is, created for the use and functioning of the state) libraries and archives in Ancient Egypt throughout the dynastic period (c.3500−30 B.C.); their history, purpose and, to some extent, their administration. It also considers an aspect not explored in Sperry’s article, that of “private” libraries in Ancient Egypt (texts collected by an individual for their own personal use). Whilst estimated literacy levels within the general population precluded the widespread collection of texts for personal edification, there is evidence to suggest that private libraries were present in Ancient Egypt. The article concludes with a brief assessment of the legacy of these ancient libraries and their influence on the creation of the Library of Alexandria, in both its ancient and modern manifestations.

On the speed of the eddy-driven jet and the width of the Hadley cell in the Southern Hemisphere

A strong correlation between the speed of the eddy-driven jet and the width of the Hadley cell is found to exist in the Southern Hemisphere, both in reanalysis data and in twenty-first-century integrations from the Intergovernmental Panel on Climate Change (IPCC) Fifth Assessment Report multimodel archive. Analysis of the space–time spectra of eddy momentum flux reveals that variations in eddy-driven jet speed are related to changes in the mean phase speed of midlatitude eddies. An increase in eddy phase speeds induces a poleward shift of the critical latitudes and a poleward expansion of the region of subtropical wave breaking. The associated changes in eddy momentum flux convergence are balanced by anomalous meridional winds consistent with a wider Hadley cell. At the same time, faster eddies are also associated with a strengthened poleward eddy momentum flux, sustaining a stronger westerly jet in midlatitudes. The proposed mechanism is consistent with the seasonal dependence of the interannual variability of the Hadley cell width and appears to explain at least part of the projected twenty-first-century trends.