(Table T1) Fluid inclusions in siltstone and sandstone grains from ODP Hole 210-1276A

Twenty samples of siltstones and sandstones were taken from Ocean Drilling Program Site 1276 during Leg 210 for fluid inclusion studies. With the exception of one sample of vein calcite, all inclusions were in quartz grains. The results of fluid-inclusion petrology and microthermometry indicate the presence of three fluid inclusion types (Types 1, 2, and 3). Type 1 fluid inclusions are two-phase (liquid + vapor) aqueous inclusions, and Type 2 inclusions are monophase fluid inclusions (liquid or vapor). These are common in all samples and are formed either as primary isolated inclusions or as secondary inclusions as trails along annealed fractures in the grain. Type 3 fluid inclusions are three-phase (liquid + vapor + solid) inclusions. Type 3 inclusions are rare and are observed as isolated inclusions or in a cluster with other types (i.e., Types 1 and 2). The predominant population throughout the different units sampled is two-phase (liquid + vapor) aqueous fluid inclusions (i.e., Type 1). The temperature of homogenization (TH) bivariate plots for Type 1 inclusions shows dominance throughout the hole of low- to medium-salinity fluids with minimum trapping temperatures between 150° and 400°C.

Sandstone and siltstone beds overlying conglomerate at DSDP Hole 59-439

Massive sandstone and siltstone beds with many shallow-water megafossils overlie acidic volcanic conglomerates at DSDP Site 439. Smear-slides, thin sections from coarse fractions, and heavy minerals of the sandstone and siltstone beds were analyzed. The sandstones and siltstones are very rich in lithic fragments and are classified as lithic arenite and (or) lithic wacke. Hornblende and clinopyroxene are abundant, and zircon is present in most of the examined samples. The proportions of sandstone, chert, and volcanic rock in the coarse fraction are variable, but fragments of clastic rocks and cherts are predominant. Plagioclase crystals of volcanic-rock origin, such as highly zoned plagioclase and very fine, euhedral, lath-shaped plagioclase, are frequently observed. Metamorphic-rock fragments and metamorphic minerals are also observed. Thus, the provenance of the sandstone and siltstone beds appears to have been a slightly mature island arc, the Oyashio ancient landmass, consisting of clastic sediments and metamorphic and volcanic rocks.

Conglomerate and sandstone petrography at DSDP Hole 58-445

Conglomerates and sandstones in lithologic unit V at DSDP Site 445 comprise lithic clasts, detrital minerals, bioclasts, and authigenic minerals. The lithic clasts are dominantly plagioclase-phyric basalt and microdolerite, followed by plagioclase-clinopyroxene-phyric basalt, aphyric basalt, chert, and limestone. A small amount of hornblende schist occurs. Detrital minerals are dominantly plagioclase, augite, titaniferous augite, olivine, green to pale-brown hornblende, and dark-brown hornblende, with subordinate chromian spinel, epidote, ilmenite, and magnetite, and minor amounts of diopside, enstatite, actinolite, and aegirine-augite. Bioclasts are Nummulites boninensis, Asterocyclina sp. cf. A. penuria, and some other larger foraminifers. Correlation of cored and dredged samples indicates that the Daito Ridge is mainly composed of igneous, metamorphic, ultramafic, and sedimentary rocks. The igneous rocks are mafic (probably tholeiitic) and alkalic. The metamorphic rocks are hornblende schist, tremolite schist, and diopside-chlorite schist. The ultramafic rocks are alpinetype peridotites. Mineralogical data suggest that there were two metamorphic events in the Daito Ridge. The older one was intermediate- to high-pressure metamorphism. The younger one was contact metamorphism caused by a Paleocene volcanic event, possibly related to the beginning of spreading of the west Philippine Basin. The ultramafic rocks suffered from the same contact metamorphism. During the Eocene, exposed volcanic and metamorphic rocks on the uplifted Daito Ridge may have supplied pebble clasts to the surrounding coast and shallow sea bottom. The steep slope offshore may have caused frequent slumping and transportation of the pebble clasts and shallow-water benthic organisms into deeper water, forming the conglomerates and sandstones treated here.

Flying vs. climbing: Factors controlling arboreal seed removal in oak-beech forests

Nuts are heavy and nutritious seeds that need animals to be successfully dispersed. Most studies address nut removal by a single animal species once seeds fall onto the ground. However, nuts are also accessible before the seed drop and usually to a wide guild of seed foragers. This study examines the factorscontrollingarborealseedremoval in oak–beechforests within the whole guild of nut foragers. We found that seed-dispersing rodents (Apodemus sylvaticus) were the main acorn removers in the oaks (up to 3.75 m height), with a rapid seed encounter and a high removal rate. However, rodents did not climb the beech trees, probably due to their smoother bark in comparison to oak bark and/or the lower nutritional value of beechnuts with regard to acorns. Jays (Garrulus glandarius) were more abundant in oak stands (both dense and scattered) and clearly preferred acorns to beechnuts whereas nuthatches (Sitta europaea) were more abundant in beech stands and preferred beechnuts to acorns. Non-storing birds such as great tits (Parus major) also removed acorns and beechnuts, especially in the stands where oaks are dominant. Jays and rodents preferred sound seeds over insect-infested seeds but such a preference was not found for nuthatches. This study highlights that pure beech stands showed a reduced guild of arboreal nut foragers in comparison to oak stands. This different guild could probably affect the spatial patterns of seed dispersal, with a proportionally higher number of long dispersal events for acorns (mostly jay-dispersed) than for beechnuts (mostly nuthatch-dispersed). Long-distance dispersal of beechnuts (by jays) is determined by the presence of other preferred species (oaks) and their frequency of non-mast years. Seed location in different habitats strongly determines the contribution of different arboreal removers (including climbing rodents) and their removal speed, leading to a differential seed fate that will eventually affect tree regeneration. As nuthatches are sedentary birds, it is important to maintain old and dead trees where they can breed (crevices), forage (arthropods) and store seeds in order to favor beechnut dispersal and gene flow. By maintaining or favoring oak trees within beech stands we will ensure a wider guild of arboreal nut dispersers.

Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented.

Force sensor of a climbing robot derived from its own flexible structure

One of the most important design constraints of a climbing robot is its own weight. When links or legs are used as a locomotion system they tend to be composed of special lightweight materials, or four-bars-linkage mechanisms are designed to reduce the weight with small rigidity looses. In these cases, flexibility appears and undesirable effects, such as dynamics vibrations, must be avoided at least when the robot moves at low speeds. The knowledge of the real tip position requires the computation of its compliance or stiffness matrix and the external forces applied to the structure. Gravitational forces can be estimated, but external tip forces need to be measured. This paper proposes a strain gauge system which achieves the following tasks: (i) measurement of the external tip forces, and (ii) estimation of the real tip position (including flexibility effects). The main advantages of the proposed system are: (a) the use of external force sensors is avoided, and (b) a substantial reduction of the robot weight is achieved in comparison with other external force measurement systems. The proposed method is applied to a real symmetric climbing robot and experimental results are presented.

Dynamic control of a reconfigurable stair-climbing mobility system

Electric-powered wheelchairs improve the mobility of people with physical disabilities, but the problem to deal with certain architectural barriers has not been resolved satisfactorily. In order to solve this problem, a stair-climbing mobility system (SCMS) was developed. This paper presents a practical dynamic control system that allows the SCMS to exhibit a successful climbing process when faced with typical architectural barriers such as curbs, ramps, or staircases. The implemented control system depicts high simplicity, computational efficiency, and the possibility of an easy implementation in a microprocessor-/microcontroller-based system. Finally, experiments are included to support theoretical results.

Phospholipase Cβ4 is specifically involved in climbing fiber synapse elimination in the developing cerebellum

Elimination of excess climbing fiber (CF)–Purkinje cell synapses during cerebellar development involves a signaling pathway that includes type 1 metabotropic glutamate receptor, Gαq, and the γ isoform of protein kinase C. To identify phospholipase C (PLC) isoforms involved in this process, we generated mice deficient in PLCβ4, one of two major isoforms expressed in Purkinje cells. PLCβ4 mutant mice are viable but exhibit locomotor ataxia. Their cerebellar histology, parallel fiber synapse formation, and basic electrophysiology appear normal. However, developmental elimination of multiple CF innervation clearly is impaired in the rostral portion of the cerebellar vermis, in which PLCβ4 mRNA is predominantly expressed. By contrast, CF synapse elimination is normal in the caudal cerebellum, in which low levels of PLCβ4 mRNA but reciprocally high levels of PLCβ3 mRNA are found. These results indicate that PLCβ4 transduces signals that are required for CF synapse elimination in the rostral cerebellum.

Impaired motor coordination and persistent multiple climbing fiber innervation of cerebellar Purkinje cells in mice lacking Gαq

Mice lacking the α-subunit of the heterotrimeric guanine nucleotide binding protein Gq (Gαq) are viable but suffer from ataxia with typical signs of motor discoordination. The anatomy of the cerebellum is not overtly disturbed, and excitatory synaptic transmission from parallel fibers to cerebellar Purkinje cells (PCs) and from climbing fibers (CFs) to PCs is functional. However, about 40% of adult Gαq mutant PCs remain multiply innervated by CFs because of a defect in regression of supernumerary CFs in the third postnatal week. Evidence is provided suggesting that Gαq is part of a signaling pathway that is involved in the elimination of multiple CF innervation during this period.