Synopses of research on shrimps: 1. The common shrimp species of Sierra Leone's coastal waters: their distribution, abundance and size composition

The authors present quantitative information on the shrimp resources of Sierra Leone waters. Four of the nine species present have been studied, of which Paenaeus duorarum notialis is dominant in the fishery. Synoptic surveys were undertaken in June 1977, and March 1978, to determine the abundance of the shrimp stock on the inshore shelf. The temperature-salinity-depth curves for the fishing ground show the existence of three water masses. The majority of fish caught were sciaenids, with some sparids also being taken. Detailed discussion of distribution and abundance of individual species of shrimp is given. The surveys have shown that the Banana Islands are the most productive shrimp grounds in the country, and the authors believe that they can support a viable shrimp industry for several years to come at present rates of exploitation

Formal methods for control synthesis in partially observed environments : application to autonomous robotic manipulation

Modern robots are increasingly expected to function in uncertain and dynamically challenging environments, often in proximity with humans. In addition, wide scale adoption of robots requires on-the-fly adaptability of software for diverse application. These requirements strongly suggest the need to adopt formal representations of high level goals and safety specifications, especially as temporal logic formulas. This approach allows for the use of formal verification techniques for controller synthesis that can give guarantees for safety and performance. Robots operating in unstructured environments also face limited sensing capability. Correctly inferring a robot's progress toward high level goal can be challenging.

This thesis develops new algorithms for synthesizing discrete controllers in partially known environments under specifications represented as linear temporal logic (LTL) formulas. It is inspired by recent developments in finite abstraction techniques for hybrid systems and motion planning problems. The robot and its environment is assumed to have a finite abstraction as a Partially Observable Markov Decision Process (POMDP), which is a powerful model class capable of representing a wide variety of problems. However, synthesizing controllers that satisfy LTL goals over POMDPs is a challenging problem which has received only limited attention.

This thesis proposes tractable, approximate algorithms for the control synthesis problem using Finite State Controllers (FSCs). The use of FSCs to control finite POMDPs allows for the closed system to be analyzed as finite global Markov chain. The thesis explicitly shows how transient and steady state behavior of the global Markov chains can be related to two different criteria with respect to satisfaction of LTL formulas. First, the maximization of the probability of LTL satisfaction is related to an optimization problem over a parametrization of the FSC. Analytic computation of gradients are derived which allows the use of first order optimization techniques.

The second criterion encourages rapid and frequent visits to a restricted set of states over infinite executions. It is formulated as a constrained optimization problem with a discounted long term reward objective by the novel utilization of a fundamental equation for Markov chains - the Poisson equation. A new constrained policy iteration technique is proposed to solve the resulting dynamic program, which also provides a way to escape local maxima.

The algorithms proposed in the thesis are applied to the task planning and execution challenges faced during the DARPA Autonomous Robotic Manipulation - Software challenge.

Dinâmica populacional de Halodule wrightii Ascherson e sua fauna e flora associada em Cabo Frio RJ

Fanerógamas marinhas (gramas marinhas) são plantas com flores adaptadas ao ambiente marinho costeiro da maioria dos continentes do mundo. As gramas marinhas formam extensos bancos e proveem valiosos recursos em águas costeiras rasas em todo o mundo, servindo de alimento e berçário para espécies importantes de pescados comerciais e recreacionais. Nesse estudo foi realizada uma revisão sobre o estado de conhecimento das fanerógamas marinhas no Brasil até o presente momento; avaliou-se a importância do monitoramento em longo prazo e a influência de fatores ambientais, como o número de manchas solares; pesquisou-se também a distribuição espacial da grama marinha, bem como a fauna e flora associada; e o crescimento de Halodule wrightii em duas condições ambientais extremas (exposta no ciclo de maré baixa e permanentemente submersa). A revisão bibliográfica sobre as gramas marinhas foi abrangente e verificou a existência de algumas lacunas no conhecimento. Através do monitoramento a longo prazo pôde ser observado que o número de manchas solares tem forte relação negativa sobre a altura do dossel das gramas marinhas de região entre marés. A variação de marés na região de mediolitoral está relacionada diretamente com a distribuição espacial de Halodule wrightii e, consequentemente na distribuição da fauna e flora associada. A diferença de crescimento nos eixos de Halodule wrightii em condições ambientais diferentes é compensada pelas variações nas características de distribuição da planta no ambiente, tais como a altura do dossel, a densidade e biomassa de eixos. O monitoramento a longo prazo pode permitir a tomada de ações que auxiliem no manejo e na recuperação desses importantes habitats costeiros.

From lakes to lungs : assessing microbial activity in diverse environments

All major geochemical cycles on the Earth’s surface are mediated by microorganisms. Our understanding of how these microbes have interacted with their environments (and vice versa) throughout Earth's history, and how they will respond to changes in the future, is primarily based on studying their activity in different environments today. The overarching questions that motivate the research presented in the two parts of this thesis -- how do microorganisms shape their environment (and vice versa)? and how can we best study microbial activity in situ? -- have arisen from the ultimate goal of being able to predict microbial activity in response to changes within their environments both past and future.

Part one focuses on work related to microbial processes in iron-rich Lake Matano and, more broadly, microbial interactions with the biogeochemical cycling of iron. Primarily, we find that the chelation of ferrous iron by organic ligands can affect the role of iron in anoxic environmental systems, enabling photomixotrophic growth of anoxygenic microorganisms with ferrous iron, as well as catalyzing the oxidation of ferrous iron by denitrification intermediates. These results imply that the ability to grow photomixotrophically on ferrous iron might be more widespread than previously assumed, and that the co-occurrence of chemical and biological processes involved in the coupled biogeochemical cycling of iron and nitrogen likely dominate organic-rich environmental systems.

Part two switches focus to in situ measurements of growth activity and comprises work related to microbial processes in the Cystic Fibrosis lung, and more broadly, the physiology of slow growth. We introduce stable isotope labeling of microbial membrane fatty acids and whole cells with heavy water as a new technique to measure microbial activity in a wide range of environments, demonstrate its application in continuous culture in the laboratory at the population and single cell level, and apply the tool to measure the in situ activity of the opportunistic pathogen Staphylococcus aureus within the environment of expectorated mucus from cystic fibrosis patients. We find that the average in situ growth rates of S. aureus fall into a range of generation times between ~12 hours and ~4 days, with substantial heterogeneity at the single-cell level. These data illustrate the use of heavy water as a universal environmental tracer for microbial activity, and highlight the crucial importance of studying the physiology of slow growth in representative laboratory systems in order to understand the role of these microorganisms in their native environments.

Field and Laboratory Studies of Atmospheric Organic Aerosol

This thesis is the culmination of field and laboratory studies aimed at assessing processes that affect the composition and distribution of atmospheric organic aerosol. An emphasis is placed on measurements conducted using compact and high-resolution Aerodyne Aerosol Mass Spectrometers (AMS). The first three chapters summarize results from aircraft campaigns designed to evaluate anthropogenic and biogenic impacts on marine aerosol and clouds off the coast of California. Subsequent chapters describe laboratory studies intended to evaluate gas and particle-phase mechanisms of organic aerosol oxidation.

The 2013 Nucleation in California Experiment (NiCE) was a campaign designed to study environments impacted by nucleated and/or freshly formed aerosol particles. Terrestrial biogenic aerosol with > 85% organic mass was observed to reside in the free troposphere above marine stratocumulus. This biogenic organic aerosol (BOA) originated from the Northwestern United States and was transported to the marine atmosphere during periodic cloud-clearing events. Spectra recorded by a cloud condensation nuclei counter demonstrated that BOA is CCN active. BOA enhancements at latitudes north of San Francisco, CA coincided with enhanced cloud water concentrations of organic species such as acetate and formate.

Airborne measurements conducted during the 2011 Eastern Pacific Emitted Aerosol Cloud Experiment (E-PEACE) were aimed at evaluating the contribution of ship emissions to the properties of marine aerosol and clouds off the coast of central California. In one study, analysis of organic aerosol mass spectra during periods of enhanced shipping activity yielded unique tracers indicative of cloud-processed ship emissions (m/z 42 and 99). The variation of their organic fraction (f₄₂ and f₉₉) was found to coincide with periods of heavy (f₄₂ > 0.15; f₉₉ > 0.04), moderate (0.05 < f₄₂ < 0.15; 0.01 < f₉₉ < 0.04), and negligible (f₄₂ < 0.05; f₉₉ < 0.01) ship influence. Application of these conditions to all measurements conducted during E-PEACE demonstrated that a large fraction of cloud droplet (72%) and dry aerosol mass (12%) sampled in the California coastal study region was heavily or moderately influenced by ship emissions. Another study investigated the chemical and physical evolution of a controlled organic plume emitted from the R/V Point Sur. Under sunny conditions, nucleated particles composed of oxidized organic compounds contributed nearly an order of magnitude more cloud condensation nuclei (CCN) than less oxidized particles formed under cloudy conditions. The processing time necessary for particles to become CCN active was short ( < 1 hr) compared to the time needed for particles to become hygroscopic at sub-saturated humidity ( > 4 hr).

Laboratory chamber experiments were also conducted to evaluate particle-phase processes influencing aerosol phase and composition. In one study, ammonium sulfate seed was coated with a layer of secondary organic aerosol (SOA) from toluene oxidation followed by a layer of SOA from α-pinene oxidation. The system exhibited different evaporative properties than ammonium sulfate seed initially coated with α-pinene SOA followed by a layer of toluene SOA. This behavior is consistent with a shell-and-core model and suggests limited mixing among different SOA types. Another study investigated the reactive uptake of isoprene epoxy diols (IEPOX) onto non-acidified aerosol. It was demonstrated that particle acidity has limited influence on organic aerosol formation onto ammonium sulfate seed, and that the chemical system is limited by the availability of nucleophiles such as sulfate.

Flow tube experiments were conducted to examine the role of iron in the reactive uptake and chemical oxidation of glycolaldehyde. Aerosol particles doped with iron and hydrogen peroxide were mixed with gas-phase glycolaldehyde and photochemically aged in a custom-built flow reactor. Compared to particles free of iron, iron-doped aerosols significantly enhanced the oxygen to carbon (O/C) ratio of accumulated organic mass. The primary oxidation mechanism is suggested to be a combination of Fenton and photo-Fenton reactions which enhance particle-phase OH radical concentrations.

Biological environments of larger UK rivers: progress report 1987

This interim progress report for the 9 months from January 1987 to September 1987 aims to provide insights into the mechanisms by which populations of particles (in this instance, phytoplankton) behave in relation to fluvial flow and, thus, to better model the dispersive properties of rivers and the ecological principles governing the distribution of potamoplankton generally. The author has been able to show with dye-tracers that significant water retention in pool reaches occurs within the range of (low) discharges obtaining, in accord with the Aggregated Dead Zone model and to an extent comparable with streams and small rivers investigated previously.

From the individual to the community and beyond: water quality, stress indicators and key species in coastal waters

This review examines water quality and stress indicators at levels of organisation from the individual to the community and beyond by means of three case studies concentrating on rocky shores within the north-east Atlantic. Responses of dogwhelks (Nucella) to tributyltin pollution from antifouling paints is examined as the main case study. There are effects at the individual level (development of male sexual characteristics in the female leading to effective sterility) and population level (reduction in juveniles, few females and eventual population disappearance of dogwhelks in badly contaminated areas) but information on community level effects of dogwhelk demise is sparse. Such effects were simulated by dogwhelk removal experiments on well studied, moderately exposed ledges on shores on the Isle of Man. The removal of dogwhelks reduced the size and longevity of newly established Fucus clumps that had escaped grazing. Removal of dogwhelks also increased the likelihood of algal escapes. In a factorial experiment dogwhelks were shown to be less important than limpets \{Patella) in structuring communities but still had a significant modifying effect by increasing the probability of algal escapes. Community level responses to stress on rocky shores are then explored by reference to catastrophic impacts such as oil spills, using the Torrey Canyon as a case study. Recovery of the system in response to this major perturbation took between 10-15 years through a series of damped oscillations. The final case study is that of indicators of ecosystem level change in response to climate fluctuations, using ratios of northern \{Semibalanus balanoides) and southern (Chthamalus spp.) barnacles. Indices derived from counts on the shore show good correlations with inshore sea-water temperatures after a 2-year lag phase. The use of barnacles to measure offshore changes is reviewed. The discussion considers the use of bioindicators at various levels of organisation.

Activity patterns of Kemp's ridley turtles, Lepidochelys kempii, in the coastal waters of the Cedar Keys, Florida

Radio and sonic telemetry were used to investigate the tidal orientation, rate of movement (ROM), and surfacing behavior of nine Kemp's ridley turtles, Lepidochelys kempii, tracked east of the Cedar Keys, Florida. The mean of mean turtle bearings on incoming (48 ± 49 0) and falling (232 ± 41 0) tides was significantly oriented to the mean directions of tidal flow (37±9°, P<0.0025, and 234±9 0, P<0.005, respectively). Turtles had a mean ROM of 0.44±0.33 km/h (range: 0.004-1.758 km/h), a mean surface duration of 18± 15 s (range: 1-88 s), and a mean submergence duration of 8.4± 6.4 min (range: 0.2-60.0 min). ROM was negatively correlated with surface and submergence durations and positively correlated with the number of surfacings. Furthermore, ROMs were higher and surface and submergence durations were shorter during the day. Daily activities of turtles were attributed to food acquisition and bioenergetics.

CONTRIBUTION TO THE DEVELOPMENT OF INTELLIGENT CONVERSATIONAL ASSISTANTS IN AUTOMOTIVE ENVIRONMENTS

Esta tesis presenta el diseño y desarrollo del Asistente Conversacional del Automóvil, Voice User Help en inglés, un sistema conversacional basado en el paradigma pregunta-respuesta y diseñado para consultar documentación del vehículo duartne la conducción. Este trabajo recoge investigaciones realizadas en los campos de la documentación técnica, recuperación de información, procesamineto de lenguaje natural, diseñode interfaces de usuario para vehículos, experiencia del usuario y computación afectiva con el fin de crear un asistente adaptativo y dinámico que modifica su comportamiento conversacional dependiendo del estado emocional del usuario.

Caracterização das estratégias ecofisiológicas de samambaias em resposta à inundação na restinga de Maricá, Rio de Janeiro, Brasil

As matas inundáveis e brejos presentes nas restingas desencadeiam uma série de processos que influenciam as características físico-químicas e biológicas do solo, levando as plantas a apresentarem mecanismos de aclimatação ou adaptação ao estresse da inundação, como alterações morfológicas e fisiológicas de forma a minimizar os efeitos da falta de oxigênio. Dentre as espécies vegetais de samambaias ocorrentes em ambientes inundáveis nas restingas, se destacam três espécies: Acrostichum danaeifolium Langsd. & Fisch., Blechnum serrulatum Rich. e Thelypteris interrupta (Willd.) K.Iwats. O objetivo deste trabalho é caracterizar os aspectos ecofisiológicos que os esporófitos dessas samambaias apresentam para sobreviver em ambientes de inundação na restinga de Maricá, estado do Rio de Janeiro. Neste sentido, foi determinada a caracterização física e química dos sítios de ocorrências destas samambaias, as variações foliares entre elas, espessura, densidade, massa por unidade de folha, teor de clorofilas e atributos quantitativos das células epidérmicas, além da quantificação e determinação à distribuição dos carboidratos. Para as variáveis dos vegetais foram feitas coletas na estação chuvosa e seca e para variáveis do solo na estação seca. Os sítios analisados se mostraram extremamente ácidos, de baixa fertilidade e com toxidez por macro e micro nutrientes, indicando que as samambaias apresentam tolerância a estes fatores. Na época chuvosa (inundação), as samambaias apresentaram queda na densidade foliar, acompanhada de um aumento de massa por unidade de folha. Esta habilidade de conseguir ganhar massa seca por área classifica todas as samambaias analisadas como tolerantes à inundação. Os altos valores de carboidratos solúveis nas folhas indicam aumento da degradação do amido foliar e o menor teor de carboidrato solúvel encontrado nos caules explicita a redução na respiração das raízes destas plantas sob anoxia/ hipoxia, para evitar a oxidação e o incremento do estoque de amido de reserva, elucidando estratégia de tolerância à inundação. A menor disponibilidade de água na estação seca afeta diretamente os atributos foliares diminuindo o índice estomático, a suculência e a massa por unidade de folha, no qual reflete na queda das concentrações de clorofilas. Os menores valores nas concentrações de clorofila têm influencia direta na presença de amidos foliar que são estocado e, alterando toda a dinâmica dos carboidratos nestas espécies. A análise do sítio onde cresce Acrostichum danaeifolium indica níveis críticos de Na no solo e provavelmente, a produção de mucilagem no caule e no pecíolo é uma estratégia de tolerância ao ambiente salino e inundado. O elevado índice de cobertura de Blechnum serrulatum em ambientes inundados indica que esta espécie possui adaptações a solos hidromórficos, entre elas, grande capacidade de estocagem de amido no caule. A maior sinuosidade das células epidérmicas em T. interrupta permite uma alta suculência mantendo o status hidrológico da folha em ambas as estações. Os resultados apresentados, além de agregar informações sobre a biologia das samambaias nos neotrópicos, irão contribuir para a compreensão da dinâmica de ocupação de espécies herbáceas em ambientes alagáveis nas restingas brasileiras