Slope stability analyses based on sediment cores of the Ligurian Margin, Southern France

Submarine slope failures of various types and sizes are common along the tectonic and seismically active Ligurian margin, northwestern Mediterranean Sea, primarily because of seismicity up to ~M6, rapid sediment deposition in the Var fluvial system, and steepness of the continental slope (average 11°). We present geophysical, sedimentological and geotechnical results of two distinct slides in water depth >1,500 m: one located on the flank of the Upper Var Valley called Western Slide (WS), another located at the base of continental slope called Eastern Slide (ES). WS is a superficial slide characterized by a slope angle of ~4.6° and shallow scar (~30 m) whereas ES is a deep-seated slide with a lower slope angle (~3°) and deep scar (~100 m). Both areas mainly comprise clayey silt with intermediate plasticity, low water content (30-75 %) and underconsolidation to strong overconsolidation. Upslope undeformed sediments have low undrained shear strength (0-20 kPa) increasing gradually with depth, whereas an abrupt increase in strength up to 200 kPa occurs at a depth of ~3.6 m in the headwall of WS and ~1.0 m in the headwall of ES. These boundaries are interpreted as earlier failure planes that have been covered by hemipelagite or talus from upslope after landslide emplacement. Infinite slope stability analyses indicate both sites are stable under static conditions; however, slope failure may occur in undrained earthquake condition. Peak earthquake acceleration from 0.09 g on WS and 0.12 g on ES, i.e. M5-5.3 earthquakes on the spot, would be required to induce slope instability. Different failure styles include rapid sedimentation on steep canyon flanks with undercutting causing superficial slides in the west and an earthquake on the adjacent Marcel fault to trigger a deep-seated slide in the east.

One size fits all: stability of metabolic scaling under warming and ocean acidification in echinoderms

Responses by marine species to ocean acidification (OA) have recently been shown to be modulated by external factors including temperature, food supply and salinity. However the role of a fundamental biological parameter relevant to all organisms, that of body size, in governing responses to multiple stressors has been almost entirely overlooked. Recent consensus suggests allometric scaling of metabolism with body size differs between species, the commonly cited 'universal' mass scaling exponent (b) of ¾ representing an average of exponents that naturally vary. One model, the Metabolic-Level Boundaries hypothesis, provides a testable prediction: that b will decrease within species under increasing temperature. However, no previous studies have examined how metabolic scaling may be directly affected by OA. We acclimated a wide body-mass range of three common NE Atlantic echinoderms (the sea star Asterias rubens, the brittlestars Ophiothrix fragilis and Amphiura filiformis) to two levels of pCO2 and three temperatures, and metabolic rates were determined using closed-chamber respirometry. The results show that contrary to some models these echinoderm species possess a notable degree of stability in metabolic scaling under different abiotic conditions; the mass scaling exponent (b) varied in value between species, but not within species under different conditions. Additionally, we found no effect of OA on metabolic rates in any species. These data suggest responses to abiotic stressors are not modulated by body size in these species, as reflected in the stability of the metabolic scaling relationship. Such equivalence in response across ontogenetic size ranges has important implications for the stability of ecological food webs.

Effects of seawater pCO2 and temperature on shell growth, shell stability, condition and cellular stress of Western Baltic Sea Mytilus edulis (L.) and Arctica islandica (L.)

Acidification of the World's oceans may directly impact reproduction, performance and shell formation of marine calcifying organisms. In addition, since shell production is costly and stress in general draws on an organism's energy budget, shell growth and stability of bivalves should indirectly be affected by environmental stress. The aim of this study was to investigate whether a combination of warming and acidification leads to increased physiological stress (lipofuscin accumulation and mortality) and affects the performance [shell growth, shell breaking force, condition index (Ci)] of young Mytilus edulis and Arctica islandica from the Baltic Sea. We cultured the bivalves in a fully-crossed 2-factorial experimental setup (seawater (sw) pCO2 levels "low", "medium" and "high" for both species, temperature levels 7.5, 10, 16, 20 and 25 °C for M. edulis and 7.5, 10 and 16 °C for A. islandica) for 13 weeks in summer. Mytilus edulis and A. islandica appeared to tolerate wide ranges of sw temperature and pCO2. Lipofuscin accumulation of M. edulis increased with temperature while the Ci decreased, but shell growth of the mussels only sharply decreased while its mortality increased between 20 and 25 °C. In A. islandica, lipofuscin accumulation increased with temperature, whereas the Ci, shell growth and shell breaking force decreased. The pCO2 treatment had only marginal effects on the measured parameters of both bivalve species. Shell growth of both bivalve species was not impaired by under-saturation of the sea water with respect to aragonite and calcite. Furthermore, independently of water temperatures shell breaking force of both species and shell growth of A. islandica remained unaffected by the applied elevated sw pCO2 for several months. Only at the highest temperature (25 °C), growth arrest of M. edulis was recorded at the high sw pCO2 treatment and the Ci of M. edulis was slightly higher at the medium sw pCO2 treatment than at the low and high sw pCO2 treatments. The only effect of elevated sw pCO2 on A. islandica was an increase in lipofuscin accumulation at the high sw pCO2 treatment compared to the medium sw pCO2 treatment. Our results show that, despite this robustness, growth of both M. edulis and A. islandica can be reduced if sw temperatures remain high for several weeks in summer. As large body size constitutes an escape from crab and sea star predation, this can make bivalves presumably more vulnerable to predation with possible negative consequences on population growth. In M. edulis, but not in A. islandica, this effect is amplified by elevated sw pCO2. We follow that combined effects of elevated sw pCO2 and ocean warming might cause shifts in future Western Baltic Sea community structures and ecosystem services; however, only if predators or other interacting species do not suffer as strong from these stressors.

Ecosystem regimes and responses in a coupled ancient lake system from MIS 5b to present: the diatom record of lakes Ohrid and Prespa

We reconstruct the aquatic ecosystem interactions since the last interglacial period in the oldest, most diverse, hydrologically connected European lake system, by using palaeolimnological diatom and selected geochemistry data from Lake Ohrid “DEEP site” core and equivalent data from Lake Prespa core, Co1215. Driven by climate forcing, the lakes experienced two adaptive cycles during the last 92 ka: "interglacial and interstadial" and "glacial" cycle. The short-term ecosystems reorganizations, e.g. regime shifts within these cycles substantially differ between the lakes, as evident from the inferred amplitudes of variation. The deeper Lake Ohrid shifted between ultra oligo- and oligotrophic regimes in contrast to the much shallower Lake Prespa, which shifted from a deeper, (oligo-) mesotrophic to a shallower, eutrophic lake and vice versa. Due to the high level of ecosystem stability (e.g. trophic state, lake level), Lake Ohrid appears relatively resistant to external forcing, such as climate and environmental change. Recovering in a relatively short time from major climate change, Lake Prespa is a resilient ecosystem. At the DEEP site, the decoupling between the lakes' response to climate change is marked in the prolonged and gradual changes during the MIS 5/4 and 2/1 transitions. These response differences and the lakes' different physical and chemical properties may limit the influence of Lake Prespa on Lake Ohrid. Regime shifts of Lake Ohrid due to potential hydrological change in Lake Prespa are not evident in the data presented here. Moreover, a complete collapse of the ecosystems functionality and loss of their diatom communities did not happen in either lake for the period presented in the study.

Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball

This article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. The results are compared with a controller shown in previous woks, where the end effector of the robot keeps a constant distance from the tracked object. In this work, the controller is specially designed in order to allow changes in the tracking reference. Changes in the tracking reference can be used to grip an object that is under movement, or as in this case, hitting a hanging Ping-Pong ball. Lyapunov stability is taken into account in the controller design.

Replacing bare fallow with cover crops in an irrigated cropping system: soil salinity and salt leaching

In irrigated areas where cover crop establishment can be assured, consequent soil or nutrient conservation could increase sustainability of cropping systems. Replacing bare fallow with cover crops may increase sustainability by enhancing soil aggregate stability, water retention capacity or controlling nitrate leaching. Nevertheless, adoption of cover crops increase evapotranspiration and reduce water percolation beyond the root systems; therefore, it could lead to salt accumulation in the upper soil layers. This study was conducted during four years to determine the effect of replacing bare fallow by a cover crop on soil salt accumulation and salt leaching in an irrigated maize production system.

Some methodological issues in the design of CIAO - A generic, parallel concurrent constraint system

We informally discuss several issues related to the parallel execution of logic programming systems and concurrent logic programming systems, and their generalization to constraint programming. We propose a new view of these systems, based on a particular definition of parallelism. We argüe that, under this view, a large number of the actual systems and models can be explained through the application, at different levéis of granularity, of only a few basic principies: determinism, non-failure, independence (also referred to as stability), granularity, etc. Also, and based on the convergence of concepts that this view brings, we sketch a model for the implementation of several parallel constraint logic programming source languages and models based on a common, generic abstract machine and an intermedíate kernel language.

Some methodological issues in the design of CIAO, a generic, parallel concurrent constraint system

We informally discuss several issues related to the parallel execution of logic programming systems and concurrent logic programming systems, and their generalization to constraint programming. We propose a new view of these systems, based on a particular definition of parallelism. We argüe that, under this view, a large number of the actual systems and models can be explained through the application, at different levéis of granularity, of only a few basic principies: determinism, non-failure, independence (also referred to as stability), granularity, etc. Also, and based on the convergence of concepts that this view brings, we sketch a model for the implementation of several parallel constraint logic programming source languages and models based on a common, generic abstract machine and an intermedíate kernel language.

Benchmarking for stability evaluation of computer systems

In this paper we propose a new benchmark to drive making decisions in maintenance of computer systems. This benchmark is made from load average sample data. The main goal is to improve reliability and performance of a set of devices or components. In particular, the stability of the system is measured in terms of variability of the load. A forecast of the behavior of this stability is also proposal as part of the reporting benchmark. At the final stage, a more stable system is obtained and its global reliability and performance can be then evaluated by means of appropriate specifications.

Variable structure control with chattering elimination and guaranteed stability for a generalized T-S model

In this paper, a fuzzy based Variable Structure Control (VSC) with guaranteed stability is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. The main contribution of this work is that, firstly, new functions for chattering reduction and error convergence without sacrificing invariant properties are proposed, which is considered the main drawback of the VSC control. Secondly, the global stability of the controlled system is guaranteed.The well known weighting parameters approach, is used in this paper to optimize local and global approximation and modeling capability of T-S fuzzy model.A one link robot is chosen as a nonlinear unstable system to evaluate the robustness, effectiveness and remarkable performance of optimization approach and the high accuracy obtained in approximating nonlinear systems in comparison with the original T-S model. Simulation results indicate the potential and generality of the algorithm. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved with the proposed FLC-VSC controller. The effectiveness of the proposed controller is proven in front of disturbances and noise effects.

Impedance-based stability and transient-performance assessment applying maximum peak criteria

The impedance-based stability-assessment method has turned out to be a very effective tool and its usage is rapidly growing in different applications ranging from the conventional interconnected dc/dc systems to the grid-connected renewable energy systems. The results are sometime given as a certain forbidden region in the complex plane out of which the impedance ratio--known as minor-loop gain--shall stay for ensuring robust stability. This letter discusses the circle-like forbidden region occupying minimum area in the complex plane, defined by applying maximum peak criteria, which is well-known theory in control engineering. The investigation shows that the circle-like forbidden region will ensure robust stability only if the impedance-based minor-loop gain is determined at the very input or output of each subsystem within the interconnected system. Experimental evidence is provided based on a small-scale dc/dc distributed system.

Asymptotic stability of a mathematical model of cell population

We consider a simplified system of a growing colony of cells described as a free boundary problem. The system consists of two hyperbolic equations of first order coupled to an ODE to describe the behavior of the boundary. The system for cell populations includes non-local terms of integral type in the coefficients. By introducing a comparison with solutions of an ODE's system, we show that there exists a unique homogeneous steady state which is globally asymptotically stable for a range of parameters under the assumption of radially symmetric initial data.

On a parabolic-elliptic chemotactic system with non-constant chemotactic sensitivity

We study a parabolic–elliptic chemotactic system describing the evolution of a population’s density “u” and a chemoattractant’s concentration “v”. The system considers a non-constant chemotactic sensitivity given by “χ(N−u)”, for N≥0, and a source term of logistic type “λu(1−u)”. The existence of global bounded classical solutions is proved for any χ>0, N≥0 and λ≥0. By using a comparison argument we analyze the stability of the constant steady state u=1, v=1, for a range of parameters. – For N>1 and Nλ>2χ, any positive and bounded solution converges to the steady state. – For N≤1 the steady state is locally asymptotically stable and for χN<λ, the steady state is globally asymptotically stable.

State Convergence Theory Applied to a Delayed Teleoperation System

State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentantally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable.

Real-time bilateral control of a nonlinear teleoperation system

In this work, we study the bilateral control of a nonlinear teleoperator system with constant delay, proposes a control strategy by state convergence, which directly connect the local and remote manipulator through feedback signals of position and speed. The control signal allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using functional of Lyapunov-Krasovskii, it showed that using a control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved.