Characterising North Atlantic weather patterns for climate-optimal aircraft routing

Daily weather patterns over the North Atlantic are classified into relevant types: typical weather patterns that may characterize the range of climate impacts from aviation in this region, for both summer and winter. The motivation is to provide a set of weather types to facilitate an investigation of climate-optimal aircraft routing of trans-Atlantic flights (minimizing the climate impact on a flight-by-flight basis). Using the New York to London route as an example, the time-optimal route times are shown to vary by over 60 min, to take advantage of strong tailwinds or avoid headwinds, and for eastbound routes latitude correlates well with the latitude of the jet stream. The weather patterns are classified by their similarity to the North Atlantic Oscillation and East Atlantic teleconnection patterns. For winter, five types are defined; in summer, when there is less variation in jet latitude, only three types are defined. The types can be characterized by the jet strength and position, and therefore the location of the time-optimal routes varies by type. Simple proxies for the climate impact of carbon dioxide, ozone, water vapour and contrails are defined, which depend on parameters such as the route time, latitude and season, the time spent flying in the stratosphere, and the distance over which the air is supersaturated with respect to ice. These proxies are then shown to vary between weather types and between eastbound and westbound routes.

The last glacial cycle: transient simulations with an AOGCM

A number of transient climate runs simulating the last 120kyr have been carried out using FAMOUS, a fast atmosphere-ocean general circulation model (AOGCM). This is the first time such experiments have been done with a full AOGCM, providing a three-dimensional simulation of both atmosphere and ocean over this period. Our simulation thus includes internally generated temporal variability over periods from days to millennia, and physical, detailed representations of important processes such as clouds and precipitation. Although the model is fast, computational restrictions mean that the rate of change of the forcings has been increased by a factor of 10, making each experiment 12kyr long. Atmospheric greenhouse gases (GHGs), northern hemisphere ice sheets and variations in solar radiation arising from changes in the Earth's orbit are treated as forcing factors, and are applied either separately or combined in different experiments. The long-term temperature changes on Antarctica match well with reconstructions derived from ice-core data, as does variability on timescales longer than 10 kyr. Last Glacial Maximum (LGM) cooling on Greenland is reasonably well simulated, although our simulations, which lack ice-sheet meltwater forcing, do not reproduce the abrupt, millennial scale climate shifts seen in northern hemisphere climate proxies or their slower southern hemisphere counterparts. The spatial pattern of sea surface cooling at the LGM matches proxy reconstructions reasonably well. There is significant anti-correlated variability in the strengths of the Atlantic Meridional Overturning Circulation (AMOC) and the Antarctic Circumpolar Current (ACC) on timescales greater than 10kyr in our experiments. We find that GHG forcing weakens the AMOC and strengthens the ACC, whilst the presence of northern hemisphere ice-sheets strengthens the AMOC and weakens the ACC. The structure of the AMOC at the LGM is found to be sensitive to the details of the ice-sheet reconstruction used. The precessional component of the orbital forcing induces ~20kyr oscillations in the AMOC and ACC, whose amplitude is mediated by changes in the eccentricity of the Earth's orbit. These forcing influences combine, to first order, in a linear fashion to produce the mean climate and ocean variability seen in the run with all forcings.

Mountain ranges favour vigorous Atlantic Meridional Overturning

We use a global Ocean-Atmosphere General Circulation Model (OAGCM) to show that the major mountain ranges of the world have a significant role in maintenance of the Atlantic Meridional Overturning Circulation (AMOC). A simulation with mountains has a maximum AMOC of 18 Sv (1 Sv=106 m3 s-1) compared with ~0 Sv for a simulation without mountains. Atlantic heat transport at 25N is 1.1 PW with mountains compared to 0.2 PW without. The difference in AMOC is due to major changes in surface heat and freshwater (FW) fluxes over the Atlantic. In the Pacific changed surface fluxes lead to a meridional overturning circulation of 10 Sv. Our results suggest that the effects of mountains on the large-scale atmospheric circulation is to force the ocean towards a state with a vigorous AMOC and with no overturning in the Pacific.

Inhibitory control in memory: evidence for negative priming in free recall

Cognitive control mechanisms—such as inhibition—decrease the likelihood that goal-directed activity is ceded to irrelevant events. Here, we use the action of auditory distraction to show how retrieval from episodic long-term memory is affected by competitor inhibition. Typically, a sequence of to-be-ignored spoken distracters drawn from the same semantic category as a list of visually-presented to-be-recalled items impairs free recall performance. In line with competitor inhibition theory (Anderson, 2003), free recall was worse for items on a probe trial if they were a repeat of distracter items presented during the previous, prime, trial (Experiment 1). This effect was only produced when the distracters were dominant members of the same category as the to-be-recalled items on the prime. For prime trials in which distracters were low-dominant members of the to-be-remembered item category or were unrelated to that category—and hence not strong competitors for retrieval—positive priming was found (Experiments 2 & 3). These results are discussed in terms of inhibitory approaches to negative priming and memory retrieval.

Transputer control of a Puma 560 robot via the virtual bus

The robot control problem is discussed with regard to controller implementation on a multitransputer array. Some high-performance aspects required of such controllers are described, with particular reference to robot force control. The implications for the architecture required for controllers based on computed torque are discussed and an example is described. The idea of treating a transputer array as a virtual bus is put forward for the implementation of fast real-time controllers. An example is given of controlling a Puma 560 industrial robot. Some of the practical considerations for using transputers for such control are described.

Extended Kalman filtering for robotic proximity sensing

The authors address the problems in using a fiber-optic proximity sensor to detect robot end-effector positioning errors in performing a contact task when uncertainties about target position exist. An extended Kalman filter approach is employed to solve the nonlinear filtering problem. Some experimental results are given.

Chaos in high performance digital robot controllers

Active robot force control requires some form of dynamic inner loop control for stability. The author considers the implementation of position-based inner loop control on an industrial robot fitted with encoders only. It is shown that high gain velocity feedback for such a robot, which is effectively stationary when in contact with a stiff environment, involves problems beyond the usual caveats on the effects of unknown environment stiffness. It is shown that it is possible for the controlled joint to become chaotic at very low velocities if encoder edge timing data are used for velocity measurement. The results obtained indicate that there is a lower limit on controlled velocity when encoders are the only means of joint measurement. This lower limit to speed is determined by the desired amount of loop gain, which is itself determined by the severity of the nonlinearities present in the drive system.

Joint servoing for robust manipulator force control

An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique.

Transputer based real time robot control

A parallel processor architecture based on a communicating sequential processor chip, the transputer, is described. The architecture is easily linearly extensible to enable separate functions to be included in the controller. To demonstrate the power of the resulting controller some experimental results are presented comparing PID and full inverse dynamics on the first three joints of a Puma 560 robot. Also examined are some of the sample rate issues raised by the asynchronous updating of inertial parameters, and the need for full inverse dynamics at every sample interval is questioned.

Calciferols and bait shyness in the laboratory rat

Rodenticides with delayed action are generally more effective than fast-acting compounds because of the phenomenon of bait shyness. Calciferols have a stop-feed effect quite soon after dosing, and physiological effects are measurable within one day of dosing. We investigated whether bait shyness might result from these fairly rapid effects in the laboratory rat. We found evidence of bait shyness following recovery from sub-lethal dosing with two forms of calciferol. Use of intubation as well as feeding showed that the response was to the bait carrier rather than to detection of calciferols per se.

A comparison between classical techniques and eigenstructure assignment in the design of a longitudinal instrument landing system

Although modern control techniques such as eigenstructure assignment have been given extensive coverage in control literature there is a reluctance to use them in practice as they are often not believed to be as `visible' or as simple as classical methods. A simple aircraft example is used, and it is shown that eigenstructure assignment can be used easily to produce a more viable controller than with simple classical techniques.