Towards robotic visual and acoustic stealth for outdoor dynamic target tracking

Covertly tracking mobile targets, either animal or human, in previously unmapped outdoor natural environments using off-road robotic platforms requires both visual and acoustic stealth. Whilst the use of robots for stealthy surveillance is not new, the majority only consider navigation for visual covertness. However, most fielded robotic systems have a non-negligible acoustic footprint arising from the onboard sensors, motors, computers and cooling systems, and also from the wheels interacting with the terrain during motion. This time-varying acoustic signature can jeopardise any visual covertness and needs to be addressed in any stealthy navigation strategy. In previous work, we addressed the initial concepts for acoustically masking a tracking robot’s movements as it travels between observation locations selected to minimise its detectability by a dynamic natural target and ensuring con- tinuous visual tracking of the target. This work extends the overall concept by examining the utility of real-time acoustic signature self-assessment and exploiting shadows as hiding locations for use in a combined visual and acoustic stealth framework.

Acoustic Masking of a Stealthy Outdoor Robot Tracking a Dynamic Target

This work is motivated by the desire to covertly track mobile targets, either animal or human, in previously unmapped outdoor natural environments using off-road robotic platforms with a non-negligible acoustic signature. The use of robots for stealthy surveillance is not new. Many studies exist but only consider the navigation problem to maintain visual covertness. However, robotic systems also have a significant acoustic footprint from the onboard sensors, motors, computers and cooling systems, and also from the wheels interacting with the terrain during motion. All these can jepordise any visual covertness. In this work, we experimentally explore the concepts of opportunistically utilizing naturally occurring sounds within outdoor environments to mask the motion of a robot, and being visually covert whilst maintaining constant observation of the target. Our experiments in a constrained outdoor built environment demonstrate the effectiveness of the concept by showing a reduced acoustic signature as perceived by a mobile target allowing the robot to covertly navigate to opportunistic vantage points for observation.

IODP Expedition 339 in the Gulf of Cadiz and off West Iberia : decoding the environmental significance of the Mediterranean outflow water and its global influence

IODP Expedition 339 drilled five sites in the Gulf of Cadiz and two off the west Iberian margin (November 2011 to January 2012), and recovered 5.5 km of sediment cores with an average recovery of 86.4%. The Gulf of Cadiz was targeted for drilling as a key location for the investigation of Mediterranean outflow water (MOW) through the Gibraltar Gateway and its influence on global circulation and climate. It is also a prime area for understanding the effects of tectonic activity on evolution of the Gibraltar Gateway and on margin sedimentation. We penetrated into the Miocene at two different sites and established a strong signal of MOW in the sedimentary record of the Gulf of Cadiz, following the opening of the Gibraltar Gateway. Preliminary results show the initiation of contourite deposition at 4.2–4.5 Ma, although subsequent research will establish whether this dates the onset of MOW. The Pliocene succession, penetrated at four sites, shows low bottom current activity linked with a weak MOW. Significant widespread unconformities, present in all sites but with hiatuses of variable duration, are interpreted as a signal of intensified MOW, coupled with flow confinement. The Quaternary succession shows a much more pronounced phase of contourite drift development, with two periods of MOW intensification separated by a widespread unconformity. Following this, the final phase of drift evolution established the contourite depositional system (CDS) architecture we see today. There is a significant climate control on this evolution of MOW and bottom-current activity. However, from the closure of the Atlantic–Mediterranean gateways in Spain and Morocco just over 6 Ma and the opening of the Gibraltar Gateway at 5.3 Ma, there has been an even stronger tectonic control on margin development, downslope sediment transport and contourite drift evolution. The Gulf of Cadiz is the world's premier contourite laboratory and thus presents an ideal testing ground for the contourite paradigm. Further study of these contourites will allow us to resolve outstanding issues related to depositional processes, drift budgets, and recognition of fossil contourites in the ancient record on shore. The expedition also verified an enormous quantity and extensive distribution of contourite sands that are clean and well sorted. These represent a relatively untapped and important exploration target for potential oil and gas reservoirs.

Co-branding strategies for luxury fashion brands : Missoni for Target

Missoni is a luxury Italian knitwear brand that partnered with Target in September 2011 releasing a large, one off, mass-market collection that ranged from apparel to home wares. The collaboration received extensive media coverage and was consequently extremely sought after. The online sales site crashed within hours of opening while shelves were cleared in stores minutes after trading began. Within hours more than 40000 items from the collection were posted for sale online at greatly inflated prices. Evaluation of the case study revealed that sales of the Missoni collection increased following the collaboration and the value of the publicity generated at estimated US$100 million. The lack of available stock, despite the enormous hype created, reinforced Missoni’s luxury image. Missoni was able to gain massive awareness of the brand despite not employing any of its own communication channels in the promotion of the collaboration. However the co-branded collaboration was distinctively Missoni, potentially inciting comparison and confusion with the signature line. Nevertheless, this study shows that co-branding strategies can offer a viable opportunity for luxury brands to increase their market share, while they maintain their market position.

Cruise Report: Spring 2007 Survey of ecological conditions along the continental shelf off Florida from Anclote Key to West Palm Beach NOAA Ship NANCY FOSTER NF-07-08-NCCOS (May 15 - May 28, 2007)

This cruise report is a summary of a field survey conducted in coastal-ocean waters off Florida from Anclote Key to West Palm Beach and from approximately 1 nautical mile (nm) offshore seaward to the shelf break (100 m). The survey was conducted May 15 - May 28, 2007 on NOAA Ship NANCY FOSTER Cruise NF-07-08-NCCOS. Multiple indicators of ecological condition were sampled synoptically at each of 50 stations throughout the region including 10 stations within the Florida Keys National Marine Sanctuary (FKNMS) using a random probabilistic sampling design. Samples were collected for the analysis of benthic community structure and composition; concentrations of chemical contaminants (metals, pesticides, PAHs, PCBs, PBDEs) in sediments and target demersal biota; nutrient and chlorophyll levels in the water column; and other basic habitat characteristics such as depth, salinity, temperature, dissolved oxygen, pH, sediment grain size, and organic carbon content. The overall purpose of the survey was to collect data to assess the status of ecological condition in coastal-ocean waters of the region, based on these various indicators, and to provide this information as a baseline for determining how environmental conditions may be changing with time. The results will be of value in helping to broaden our understanding of the status of ecological resources and their controlling factors, including impacts of potential ecosystem stressors, in such strategic coastal areas. (PDF contains 34 pages

Early-life-history profiles, seasonal abundance, and distribution of four species of Carangid larvae off Louisiana, 1982 and 1983

We present data on ichthyoplankton distribution, abundance, and seasonality and supporting environmental information for four species of coastal pelagics from the family Carangidae: blue runner Caranx crysos, Atlantic bumper Chloroscombrus chrysurus, round scad Decapterus punctatus, and rough scad Trachurus lathami. Data are from 1982 and 1983 cruises off Louisiana sponsored by the Southeastern Area Monitoring and Assessment Program (SEAMAP). Bioprofiles on reproductive biology, early life history, meristics, adult distribution, and fisheries characteristics are also presented for these species. Maximum abundances of larval blue runner, Atlantic bumper, and round scad were found in July inside the 4O-m isobath, although during the rest of the cruises these species were rarely found together. Larval Atlantic bumper were captured in June and July only; blue runner in May, June, and July; and round scad in all seasons. Atlantic bumper larvae, concentrated mostly off western Louisiana, were by far the most abundant carangid in 1982 and 1983. Larval blue runner were the second most abundant summer-spawned carangid in 1982 and 1983, but their abundance and depth distribution varied considerably between years. Relative abundance of larval round scad off Louisiana was low, and they were captured only west of the Mississippi River delta, although they are reported to dominate carangid populations in the eastern Gulf of Mexico. Rough scad were primarily winter/spring and outer-shelf (40-182 m) spawners. They ranked third in overall abundance, but were the most abundant target carangid on the outer shelf. Ecological parameters such as surface salinity, temperature, and station depth are presented from capture sites for recently hatched larvae <2.5 mm notochord length, except round scad) as well as for all sizes of fish below 14 mm standard length. (PDF file contains 44 pages.)

Comparison of life history parameters for landed and discarded fish captured off the southeastern United States

Commercial fisheries that are managed with minimum size limits protect small fish of all ages and may affect size-selective mortality by the differential removal of fast growing fish. This differential removal may decrease the average size at age, maturation, or sexual transition of the exploited population. When fishery-independent data are not available, a comparison of life history parameters of landed with those of discarded fish (by regulation) will indicate if differential mortality is occurring with the capture of young but large fish (fast growing phenotypes). Indications of this differential size-selective mortality would include the following: the discarded portion of the target fish would have similar age ranges but smaller sizes at age, maturation, and sexual transition as that of landed fish. We examined three species with minimum size limits but different exploitation histories. The known heavily exploited species (Rhomboplites aurorubens [vermilion snapper] and Pagrus pagrus [red porgy]) show signs of this differential mortality. Their landed catch includes many young, large fish, whereas discarded fish had a similar age range and mean ages but smaller sizes at age than the landed fish. The unknown exploited species, Mycteroperca phenax (scamp), showed no signs of differential mortality due to size-selective fishing. Landed catch consisted of old, large fish and discarded scamp had little overlap in age ranges, had significantly different mean ages, and only small differences in size at age when compared to comparable data for landed fish.

Analysis of sex-specific spawning biomass per recruit of the sailfish (Istiophorus platypterus) in the waters off eastern Taiwan

Analyses of sex-specific yield per recruit and spawning stock biomass per recruit were conducted to evaluate the current status of the sailfish (Istiophorus platypterus) fishery in the waters off eastern Taiwan. Natural mortality rates estimated from Pauly’s empirical equation were 0.26/yr for females and 0.27/yr for males. The current fishing mortality rates were estimated as 0.24/yr and 0.43/yr for females and males, respectively, which are much lower than the estimated F0 .1 (0.62/yr and 0.79/yr for females and males, respectively) and FSSB40 (0.46/yr for females) which are commonly used as target reference points in fisheries management. The effects of the fishing mortality, natural mortality, and age at first capture on the estimates of biological reference points were evaluated by using the Monte Carlo simulation. The results indicate that failure to consider the uncertainty in parameters such as natural mortality or age at first capture may lead to the improper estimation of biological reference points. This study indicates the possibility of current fishing mortality exceeding the target biological reference points may be negligible for sailfish in the waters off eastern Taiwan. However, in view of the recent rapid increase in fishing effort, it is evident that the stock status and development of the fishery need to be closely monitore

Preliminary Analysis of the Feasibility of Transferring New Longline Technology to Small Artisanal Vessels off Northeastern Brazil

The catches of three longliners, including two recently converted small artisanal vessels and one large leased foreign longliner, were compared to provide some indication of the feasibility of transferring new longline technology to small vessels in the northeastern Brazilian pelagic longline fishery. Comparisons of catches between the two recently converted vessels operating across the same spatial and temporal scales showed no significant differences for the main target species, providing evidence to suggest that adoption of the technology was rapid and straightforward. A comparison of relative catch rates between one of the recently converted small longliners and the leased longliner across the same temporal scale, but in different areas, showed that while there were significant differences detected for some species, contributing to a significant reduction in total CPUE, the relative abundance of commercially important species within the operational range of the smaller vessels was sufficient for economically viable catches. The results showed that the net financial profit from the artisanal longliner was almost 10 times greater than that derived from existing fishing methods. The inclusion of some artisanal vessels in this fishery may help address the social and economic problems currently faced by fi

Risk sensitivity in a motor task with speed-accuracy trade-off.

When a racing driver steers a car around a sharp bend, there is a trade-off between speed and accuracy, in that high speed can lead to a skid whereas a low speed increases lap time, both of which can adversely affect the driver's payoff function. While speed-accuracy trade-offs have been studied extensively, their susceptibility to risk sensitivity is much less understood, since most theories of motor control are risk neutral with respect to payoff, i.e., they only consider mean payoffs and ignore payoff variability. Here we investigate how individual risk attitudes impact a motor task that involves such a speed-accuracy trade-off. We designed an experiment where a target had to be hit and the reward (given in points) increased as a function of both subjects' endpoint accuracy and endpoint velocity. As faster movements lead to poorer endpoint accuracy, the variance of the reward increased for higher velocities. We tested subjects on two reward conditions that had the same mean reward but differed in the variance of the reward. A risk-neutral account predicts that subjects should only maximize the mean reward and hence perform identically in the two conditions. In contrast, we found that some (risk-averse) subjects chose to move with lower velocities and other (risk-seeking) subjects with higher velocities in the condition with higher reward variance (risk). This behavior is suboptimal with regard to maximizing the mean number of points but is in accordance with a risk-sensitive account of movement selection. Our study suggests that individual risk sensitivity is an important factor in motor tasks with speed-accuracy trade-offs.

The statistical properties of recreational catch rate data for some fish stocks off the northeast U.S. coast

Recreational fisheries in the waters off the northeast U.S. target a variety of pelagic and demersal fish species, and catch and effort data sampled from recreational fisheries are a critical component of the information used in resource evaluation and management. Standardized indices of stock abundance developed from recreational fishery catch rates are routinely used in stock assessments. The statistical properties of both simulated and empirical recreational fishery catch-rate data such as those collected by the National Marine Fisheries Service (NMFS) Marine Recreational Fishery Statistics Survey (MRFSS) are examined, and the potential effects of different assumptions about the error structure of the catch-rate frequency distributions in computing indices of stock abundance are evaluated. Recreational fishery catch distributions sampled by the MRFSS are highly contagious and overdispersed in relation to the normal distribution and are generally best characterized by the Poisson or negative binomial distributions. The modeling of both the simulated and empirical MRFSS catch rates indicates that one may draw erroneous conclusions about stock trends by assuming the wrong error distribution in procedures used to developed standardized indices of stock abundance. The results demonstrate the importance of considering not only the overall model fit and significance of classification effects, but also the possible effects of model misspecification, when determining the most appropriate model construction.

Indication of electron neutrino appearance from an accelerator-produced off-axis muon neutrino beam.

The T2K experiment observes indications of ν(μ) → ν(e) appearance in data accumulated with 1.43×10(20) protons on target. Six events pass all selection criteria at the far detector. In a three-flavor neutrino oscillation scenario with |Δm(23)(2)| = 2.4×10(-3)  eV(2), sin(2)2θ(23) = 1 and sin(2)2θ(13) = 0, the expected number of such events is 1.5±0.3(syst). Under this hypothesis, the probability to observe six or more candidate events is 7×10(-3), equivalent to 2.5σ significance. At 90% C.L., the data are consistent with 0.03(0.04) < sin(2)2θ(13) < 0.28(0.34) for δ(CP) = 0 and a normal (inverted) hierarchy.

Crime in College Park: understanding crime levels, perceptions, and environmental design in an off-campus student-occupied neighborhood

Gemstone Team Crime Prevention and Perception

Trading off dietary choices, physical exercise and cardiovascular disease risks

Despite several decades of decline, cardiovascular diseases are still the most common causes of death in Western societies. Sedentary living and high fat diets contribute to the prevalence of cardiovascular diseases. This paper analyses the trade-offs between lifestyle choices defined in terms of diet, physical activity, cost, and risk of cardiovascular disease that a representative sample of the population of Northern Ireland aged 40-65 are willing to make. Using computer assisted personal interviews, we survey 493 individuals at their homes using a Discrete Choice Experiment (DCE) questionnaire administered between February and July 2011 in Northern Ireland. Unlike most DCE studies for valuing public health programs, this questionnaire uses a tailored exercise, based on the individuals’ baseline choices. A “fat screener” module in the questionnaire links personal cardiovascular disease risk to each specific choice set in terms of dietary constituents. Individuals are informed about their real status quo risk of a fatal cardiovascular event, based on an initial set of health questions. Thus, actual risks, real diet and exercise choices are the elements that constitute the choice task. Our results show that our respondents are willing to pay for reducing mortality risk and, more importantly, are willing to change physical exercise and dietary behaviours. In particular, we find that to improve their lifestyles, overweight and obese people would be more likely to do more physical activity than to change their diets. Therefore, public policies aimed to target obesity and its related illnesses in Northern Ireland should invest public money in promoting physical activity rather than healthier diets.

Power take-off and damping of an oscillating wave surge converter

The European Union has set a target of 20% for the share of renewable energy sources in gross final energy consumption in 2020. These renewable energy targets are priority objectives for the Europe 2020 strategy for inclusive growth. In line with the European Union renewable energy policies, the Northern Ireland Executive has a target to deliver 40% renewable electricity by 2020. Currently, Northern Ireland imports 98% of the energy it uses in the form of fossil fuels. Locally produced energy and electricity is needed to ensure sustainable development. The aim of this research is to develop part of a strategy for the mechanical power take-off system for a flap type wave energy converter. Aquamarine Power Ltd’s Oyster flap was the device used for simulation and testing purposes. In this paper the state-of-the-art of wave energy converters is reviewed and a 40th scale test model was developed and built.