Coordinated motion design on lie groups

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. Applying the proposed general methodology to particular examples allows to retrieve control laws that have been proposed in the literature on intuitive grounds. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). © 2010 IEEE.

Analysis of genetic diversity in Glyptosternum maculatum (Sisoridae, Siluriformes) populations with AFLP markers

We determined the genetic diversity of geographic populations from three spawning grounds (Nyang River, Lhasa River, Shetongmon Reach of Yarlung Zangbo River) of Glyptosternum maculatum with amplified fragment length polymorphism (AFLP) markers. Five primer combinations detected 332 products, 51 of them (15.4%) were polymorphic in at least one population. The Shetongmon population was found to be the richest in genetic diversity as was indicated by the percentage of polymorphic loci and heterozygosity, followed by the Nyang population and the Lhasa population. The pair-wise genetic distance between populations were all very close, ranging from 0.0015 to 0.0042 with an average of 0.0024. The genetic distance was not proportional to the geographic distance. The analysis of molecular variance demonstrated that all variation occurred within populations. The average estimated fixation index (F (st)) of three populations across all polymorphic loci was -0.0184, indicating the absence of genetic differences among the three sampled populations. The differentiation among populations was not significant, and population structure was weak. Our observations will help identify the genetic relationship among populations as the first approach to understand the genetic diversity of Glyptosternum maculatum.

Acoustic Observation of the Spawning Aggregation of Megalobrama hoffmanni in the Pearl River

Using the Simrad EY60 split-beam echosounder, the spawning aggregation of Megalobrama hoffmanni was observed at the Luopang spawning grounds in the Pearl River, China, from April 19 to 22 2006. With the boat anchored, the transducer was stationary and was aimed horizontally to monitor the migration of the fish. Using fishery information, the echoes of M. hoffmanni were identified. The results showed that the spawning aggregation of M. hoffmanni at Luopang was obvious and easy to discriminate. The target strength of M hoffmanni in situ ranged from -33.8 dB to -52.3 dB (average 42.2dB). The aggregation of M. hoffmanni was obviously affected by light. With a speed of -0.31 m/s, 88.9% of the spawning stocks migrated upstream. Most M hoffmanni were recorded moving near the bottom. Their distinctive acoustic signature demonstrated the suitability of the stationary acoustic observation for M. hoffmanni identification and discrimination.

Multiple cohorts of juvenile jack mackerel Trachurus japonicus in waters along the Tsushima Warm Current

The jack mackerel, Trachurus japonicus, has a prolonged spawning season and widely spread spawning grounds. The population in the coastal waters of Japan seems to be composed of several cohorts spawned seasonally from different waters. To understand its population structure along the Tsushima Warm Current, we analysed hatchdates and growth histories of fish from Kunda Bay, the southern, central and northern East China Sea (ECS), the southern Sea of Japan, and Maizuru Bay. Seven cohorts were detected from fish collected between June 2005 and June 2006 in Kunda Bay. Comparing hatchdate distributions and growth trajectories of the seven cohorts with those of the other five regional samples, we did not find that cohorts collected in Kunda Bay originated in the southern ECS. Therefore, these coastal waters of Japan appear to be significant spawning grounds for juvenile jack mackerel. (C) 2008 Elsevier B.V. All rights reserved.

Anisotropy preserving DTI processing

Statistical analysis of diffusion tensor imaging (DTI) data requires a computational framework that is both numerically tractable (to account for the high dimensional nature of the data) and geometric (to account for the nonlinear nature of diffusion tensors). Building upon earlier studies exploiting a Riemannian framework to address these challenges, the present paper proposes a novel metric and an accompanying computational framework for DTI data processing. The proposed approach grounds the signal processing operations in interpolating curves. Well-chosen interpolating curves are shown to provide a computational framework that is at the same time tractable and information relevant for DTI processing. In addition, and in contrast to earlier methods, it provides an interpolation method which preserves anisotropy, a central information carried by diffusion tensor data. © 2013 Springer Science+Business Media New York.

Transport-determined early growth and development of jack mackerel Trachurus japonicus juveniles immigrating into Sagami Bay, Japan

Oceanographic conditions and transport processes are often critical factors that affect the early growth, survival and recruitment of marine fishes. Sagittal otoliths were analysed to determine age and early growth for 381 jack mackerel (Trachurus japonicus) juveniles from Sagami Bay on the Pacific coast of Japan. Two separate hatching periods ( December and February-March) were identified. They originated from the spawning grounds in the East China Sea. Early growth and developmental rates of December-hatching fish were lower than those for February-March-hatching fish. It is likely that these differences were determined in the Kuroshio Current during transport from the spawning grounds to Sagami Bay, and the lower December water temperatures in the bay. Origin and hatch dates of juveniles in Sagami Bay were in contrast to previous research on Fukawa Bay, where April-or-later-hatching fish from spawning grounds in the coastal waters of southern Japan constituted about half of the juvenile population. Management of these two jack mackerel stocks needs to consider these differences in hatch date composition and spawning origins, as these differences could affect early growth and subsequent mortality.

Gonad development of an anadromous fish Coilia ectenes (Engraulidae) in lower reach of Yangtze River, China

Anadromous Coilia ectenes was sampled from the Yangtze estuary at Chongming and two of the primary upstream spawning grounds at Jingjiang and Anqing in April, May, June and August 2006. Gonad development was analyzed for females. In April, fish were collected in the estuary and at Jingjiang, but not at Anqing. No female was mature (gonad at stages IV or V) at either location. In May, 45% of the females were mature in the estuary, 9% at Jingjiang and 5% at Anqing. In June, 86% were mature in the estuary, 83% at Jingjiang and 7% at Anqing. In August, C. ectenes was absent at Jingjiang. No female was mature in the estuary, and all females were mature at Anqing. Absolute fecundity (AF) increased significantly with standard length (SL) by a power function AF = 2.27 x 10(-6) x SL2.67 (r(2) = 0.57, n = 48, P < 0.05). Mature females in the estuary were smaller than those at Jingjiang and Anqing. Conservation of spawners in the upstream spawning grounds is important because they have a size-related fecundity advantage over the smaller spawners in the estuary.

Migration of large-scale subaqueous bedforms measured with seagrasses(Cymudocea nodesa) as tracers

The vertical growth of seagrasses in response to burial by migration of bedforms is combined with dating techniques to provide precise and rapid estimates of the migration speed of subaqueous dunes over seagrass patches. Two methods to estimate the time interval between the passage of successive dunes and the motion of single dunes through seagrass patches are described. The second method is more precise. The application of these methods to vegetated (Cymodocea nodosa) subaqueous dunes in the Alfacs Bay (NW Mediterranean) showed that the dunes traveled at an average speed of $13.0 \pm 0.6 m yr^-1$ and demonstrated that the methods can resolve migration speeds from 0.15 to $980 m yr^-1$ with this particular seagrass species. In areas vegetated with different seagrass species, bedform migration can be estimated over different time scales. The strong coupling between seagrass and sediment dynamics resembles the coupling of vegetation and land dunes.

Coupling of seagrass (Cymodocea nodosa) patch dynamics to subaqueous dune migratio

The coupling between patch dynamics - described by the patch growth (horizontal and vertical), patch mortality, and life-history of Cymodocea nodosa (Ucria) Aschers., and the disturbance caused by the migration of subaqueous dunes over the plants was examined in a shallow NW Mediterranean bay (Alfacs Bay) where this species maintains a patchy cover. C. nodosa shoots survived substantial burial rates (up to 2.4 mm/day) by growing vertically at rates proportional to, albeit four-fold slower than, burial rates. Patch death was caused by erosion as large subaqueous dunes migrated pass the plant patch. Patch growth was fastest over the progressing slope of the dunes ( similar to 2.5 m year super(-1)) and flowering was also stimulated by sand accretion. The time interval between the passage of consecutive dunes, which sets the time window available for patch development, ranged between 2 and 6 years. This time interval allowed C. nodosa to recolonize bare substrata, with patch formation occurring about half a year after the disturbance, and also allowed established shoots to complete their life-cycle and produce seeds and thus enable subsequent recolonization. The time windows available for patch development also set an upper limit to patch size of about 26 m. Significant cross correlations between dune topography and patch dynamics and plant flowering frequency provide evidence that the spatial heterogeneity in the vegetation is closely associated with the disturbance imposed by the migration of sand dunes. The migration of subaqueous dunes maintains C. nodosa in a continuous state of colonization involving spatially asynchronous patch growth and subsequent mortality, which is ultimately responsible for the characteristic patchy landscape of this Bay. 

Coastal metabolism and the oceanic organic carbon balance

Net organic metabolism (that is, the difference between primary production and respiration of organic matter) in the coastal ocean may be a significant term in the oceanic carbon budget. Historical change in the rate of this net metabolism determines the importance of the coastal ocean relative to anthropogenic perturbations of the global carbon cycle. Consideration of long-term rates of river loading of organic carbon, organic burial, chemical reactivity of land-derived organic matter, and rates of community metabolism in the coastal zone leads us to estimate that the coastal zone oxidizes about 7 × 1012 moles C/yr. The open ocean is apparently also a site of net organic oxidation (∼16 × 1012 moles C/yr). Thus organic metabolism in the ocean appears to be a source of CO2 release to the atmosphere rather than being a sink for atmospheric carbon dioxide. The small area of the coastal ocean accounts for about 30% of the net oceanic oxidation. Oxidation in the coastal zone (especially in bays and estuaries) takes on particular importance, because the input rate is likely to have been altered substantially by human activities on land.

vertical growth of thalassia testudinum seasonal and interannual variability

The vertical growth of shoots of the seagrass Thalassia testudinum Banks ex Konig in four meadows, along a range of exposure to waves, in the Mexican Caribbean was examined to elucidate its magnitude and its relationship to sediment dynamics. Average internodal length varied between 0.17 and 12.75 mm, and was greatest in the meadow which experienced the greatest burial by sand waves moved by Hurricane Gilbert (September 1988). Internodal length showed annual cycles, confirmed by the flower scars always preceding or coinciding with the annual minimum internodal length. These annual cycles on the shoot allowed estimation of annual leaf production, which varied, on average, between 14.2 and 19.3 leaves per shoot year-1. High vertical shoot growth was associated with long internodes and high leaf production rate, which increased with increasing vertical shoot growth to a maximum of approximately 25 leaves per shoot year-1, with vertical growth of about 30 mm year-1 or more. Average internodal length showed substantial interannual differences from perturbations derived from the passage of Hurricane Gilbert. The growth response of the plants surviving moderate burial and erosion after the hurricane involved enhanced vertical growth and increased leaf production, and reduced vertical growth, respectively, after 1988. The variability in shoot vertical growth of T testudinum can be separated into seasonal changes in plant growth, and long-term variability associated with episodic perturbations involving sediment redistribution by hurricanes.

SATELLITE REMOTE-SENSING PREDICTION OF JAPANESE PILCHARD FISHING GROUND IN THE HUANGHAI SEA AND THE EAST-CHINA-SEA

The thermophily, fishing season and central fishing ground of Japanese pilchard (Sardinops melanosticta) were studied by using satellite remote sensing (SRS) and other methods in Haizhou Bay and Tsushima waters during 1986-1990. A rapid prediction method of fishing ground is presented. Moreover, the results indicated that the thermophilic values of the fish stock are 11-20 degrees C and both fishing grounds are in increasing temperature process from the beginning to the end of the fishing period. The Japanese pilchards gather vigorously at the sea surface temperature of 15-17 degrees C. The water temperature is a key factor affecting the fishing season and the catch of the fishing ground. The increasing temperature process restricts the fishing season development and central fishing ground formation. The accuracy of 15 predictions made in the Haizhou Bay fishing ground is up to 91.3%, and 37 predictions made in the Tsushima, fishing ground shorten the fish detection time by 13.4% - 22% on the average.

Distribution and their pollution assessment of heavy metals in the sediments of the Yalu River Estuary and its adjacent coastal waters

The present paper deals with the distribution patterns of heavy metals and the associated influencing factors in the Yalu River Estuary and its adjacent coastal waters. Based upon the analysis of the surficial and core sediments measurements, the pollution of heavy metal and potential ecological risk were evaluated. The burial flux and contents of heavy metals (except for copper) have been continuously increasing since the 1920s. Therefore, the gross potential ecological risk for the sediments was high or very high, and the study area was endangered by heavy metals contamination. Heavy metals originated mainly from upstream pollutant input, correlation analysis showed that chromium, nickel, zinc, cadmium, lead, arsenic, and mercury in the sediments of the middle and west channels as well as the sea area of the western Yalu River Estuary concentrations were most probably derived from similar sources. In contrast, the metal of copper most probably originated from sources different from the other metals. Preliminary studies indicate that copper contamination was most likely the result of emission from mining activities situated at the upstream of the river. The contents of heavy metals in the sediments of estuarine turbidity maximum zone of Yalu River were larger than those of any other areas in the middle channel. With large portion of fine sediments, weaker hydrodynamics, and richer sources of heavy metals, the sediments of the west channel, were even more enriched with heavy metals than those of the middle channel.

Extreme weathering/erosion during the Miocene Climatic Optimum: Evidence from sediment record in the South China Sea

Investigating the interplay between continental weathering and erosion, climate, and atmospheric CO2 concentrations is significant in understanding the mechanisms that force the Cenozoic global cooling and predicting the future climatic and environmental response to increasing temperature and CO2 levels. The Miocene represents an ideal test case as it encompasses two distinct extreme climate periods, the Miocene Climatic Optimum (MCO) with the warmest time since 35 Ma in Earth's history and the transition to the Late Cenozoic icehouse mode with the establishment of the east Antarctic ice sheet. However the precise role of continental weathering during this period of major climate change is poorly understood. Here we show changes in the rates of Miocene continental chemical weathering and physical erosion, which we tracked using the chemical index of alteration ( CIA) and mass accumulation rate ( MAR) respectively from Ocean Drilling Program (ODP) Site 1146 and 1148 in the South China Sea. We found significantly increased CIA values and terrigenous MARs during the MCO (ca. 17-15 Ma) compared to earlier and later periods suggests extreme continental weathering and erosion at that time. Similar high rates were revealed in the early-middle Miocene of Asia, the European Alps, and offshore Angola. This suggests that rapid sedimentation during the MCO was a global erosion event triggered by climate rather than regional tectonic activity. The close coherence of our records with high temperature, strong precipitation, increased burial of organic carbon and elevated atmospheric CO2 concentration during the MCO argues for long-term, close coupling between continental silicate weathering, erosion, climate and atmospheric CO2 during the Miocene. Citation: Wan, S., W. M. Kurschner, P. D. Clift, A. Li, and T. Li (2009), Extreme weathering/ erosion during the Miocene Climatic Optimum: Evidence from sediment record in the South China Sea, Geophys. Res. Lett., 36, L19706, doi: 10.1029/2009GL040279.

Preservation of black carbon in the shelf sediments of the East China Sea

Concentrations and carbon isotopic (C-14, C-13) compositions of black carbon (BC) were measured for three sediment cores collected from the Changjiang River estuary and the shelf of the East China Sea. BC concentrations ranged from 0.02 to 0.14 mg/g (dry weight), and accounted for 5% to 26% of the sedimentary total organic carbon (TOC) pool. Among the three sediment cores collected at each site, sediment from the Changjiang River estuary had relatively high BC contents compared with the sediments from the East China Sea shelf, suggesting that the Changjiang River discharge played an important role in the delivery of BC to the coastal region. Radiocarbon measurements indicate that the ages of BC are in the range of 6910 to 12250 years old B. P. (before present), that is in general, 3700 to 9000 years older than the C-14 ages of TOC in the sediments. These variable radiocarbon ages suggest that the BC preserved in the sediments was derived from the products of both biomass fire and fossil fuel combustion, as well as from ancient rock weathering. Based on an isotopic mass balance model, we calculated that fossil fuel combustion contributed most (60%. 80%) of the BC preserved in these sediments and varied with depth and locations. The deposition and burial of this "slow-cycling" BC in the sediments of the East China Sea shelf represent a significant pool of carbon sink and could greatly influence carbon cycling in the region.