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A navigational primitive: biorobotic implementation of cycloptic helical klinotaxis in planar motion
Long J.H. Jr. Lammert A.C. Pell C.A. Kemp M. Strother J.A. Crenshaw H.C. McHenry M.J. 《Oceanic Engineering, IEEE Journal of》2004,29(3):795-806
A broad diversity of microorganisms and larval aquatic animals swim along a helical trajectory. Helical movement toward or away from stimuli involves the detection of gradients, alteration of the helical trajectory, and gradient tracking. Using sensory and neural circuitry models from swimming simulations of tadpole-like ascidian larvae (Phylum Chordata, Subphylum Urochordata), we built and tested a single-sensor, surface-swimming, tail-flapping robot that swims up a light gradient and holds station at an orbital around an area of high intensity. We implemented the same neural circuitry in a terrestrial, wheeled robot with a single photoresistor; it exhibited similar navigational behavior. We also mathematically modeled single-sensor robots navigating in plane. The simulated robots showed the importance of sensor placement and excitation field on navigational behavior. When the sensor placement and excitation field of the simulated robot matched that of the embodied robots, navigational behavior was similar. These results 1) tested and supported a proposed neural circuitry model, 2) showed the simplicity and effectiveness of using a single light sensor for navigation, and 3) demonstrated the use of helical motion in two dimensions. 相似文献
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Harm Bartholomeus Lammert Kooistra Antoine Stevens Martin van Leeuwen Bas van Wesemael Eyal Ben-Dor Bernard Tychon 《International Journal of Applied Earth Observation and Geoinformation》2011
Soil Organic Carbon (SOC) is one of the key soil properties, but the large spatial variation makes continuous mapping a complex task. Imaging spectroscopy has proven to be an useful technique for mapping of soil properties, but the applicability decreases rapidly when fields are partially covered with vegetation. In this paper we show that with only a few percent fractional maize cover the accuracy of a Partial Least Square Regression (PLSR) based SOC prediction model drops dramatically. However, this problem can be solved with the use of spectral unmixing techniques. First, the fractional maize cover is determined with linear spectral unmixing, taking the illumination and observation angles into account. In a next step the influence of maize is filtered out from the spectral signal by a new procedure termed Residual Spectral Unmixing (RSU). The residual soil spectra resulting from this procedure are used for mapping of SOC using PLSR, which could be done with accuracies comparable to studies performed on bare soil surfaces (Root Mean Standard Error of Calibration = 1.34 g/kg and Root Mean Standard Error of Prediction = 1.65 g/kg). With the presented RSU approach it is possible to filter out the influence of maize from the mixed spectra, and the residual soil spectra contain enough information for mapping of the SOC distribution within agricultural fields. This can improve the applicability of airborne imaging spectroscopy for soil studies in temperate climates, since the use of the RSU approach can extend the flight-window which is often constrained by the presence of vegetation. 相似文献
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Pennate diatoms are monophyletic. Their principal cell wall elements, called valves, are shaped like a ship's hull. Within the pennates, the araphids are paraphyletic; they possess rimoportulae and pore fields located at the valve apices. The pore fields exude mucilage pads with which cells attach to one another to form chains. Many taxa use the pads also for attachment to substrata. Only a few genera are truly planktonic. The main question addressed in this study is whether the planktonic lifestyle is ancestral or derived. Phylogenies inferred from nuclear SSU rDNA gene sequences of diatoms indicated that the attached lifestyle is ancestral among the araphids, whereas a typically planktonic lifestyle seems to have developed at least three times and possibly four times independently. Acquisition of a planktonic lifestyle from benthic ancestry was accompanied by a reduction in the silicification of cell-wall elements, but changes in morphological characters shared by all four clades were not detected. The reason why only three or four araphid pennate clades have adopted a planktonic lifestyle may be related to constraints associated to their sexual reproduction mode. Partner cells of opposite mating type align with one another and produce isogametes. These gametes lack flagella; they move to one another in an amoeboid fashion, which functions well on surfaces, but seems a liability in a turbulent water column. The planktonic lineages must have overcome this constraint, e.g. by sinking to the bottom, or aggregating, to perform sexual reproduction. Members of the four araphid pennate lineages are now common constituents of the plankton, suggesting that they are ecologically successful. 相似文献
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Possibilities of soil spectroscopy for the classification of contaminated areas in river floodplains
Lammert Kooistra Ron Wehrens Lutgarde MC Buydens Rob S. E. W. Leuven Piet H Nienhuis 《International Journal of Applied Earth Observation and Geoinformation》2001,3(4):337
During the past decades, large amounts of diffuse contaminated soil material have been deposited in the floodplains of the river Rhine in the Netherlands. The dynamic character of this river causes a large spatial variability in the contamination level of its floodplain soils. Characterisation of the spatial variability exclusively based on soil sampling and analysis is often insufficient and expensive. Hyperspectral images can provide additional spatial information for a proper characterisation of the contamination situation of river floodplains. This paper describes the possible application of soil spectroscopy to estimate metal concentration levels in river floodplains. Soil reflectance spectra in the visible-near infrared region (VNIR) were measured in the laboratory for soil samples taken from two river floodplains along the river Waal, the main tributary of the river Rhine in the Netherlands. A multivariate calibration procedure using partial least squares (PLS) regression was applied to establish a relationship between reflectance spectra in the visible-near infrared (VNIR) region and spectrally active soil characteristics (organic matter and clay content) that are intercorrelated with concentration levels of Cd and Zn. Results of the analysis of two river floodplains are summarised and the influence of scale-level and sub soil material on the prediction capability is discussed. 相似文献
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J.G.P.W. Clevers L. Kooistra M.E. Schaepman 《International Journal of Applied Earth Observation and Geoinformation》2010
Hyperspectral remote sensing has demonstrated great potential for accurate retrieval of canopy water content (CWC). This CWC is defined by the product of the leaf equivalent water thickness (EWT) and the leaf area index (LAI). In this paper, in particular the spectral information provided by the canopy water absorption feature at 970 nm for estimating and predicting CWC was studied using a modelling approach and in situ spectroradiometric measurements. The relationship of the first derivative at the right slope of the 970 nm water absorption feature with CWC was investigated with the PROSAIL radiative transfer model and tested for field spectroradiometer measurements on two test sites. The first site was a heterogeneous floodplain with natural vegetation like grasses and various shrubs. The second site was an extensively grazed fen meadow. 相似文献
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Determination of the Atmospheric Boundary Layer Height from Radiosonde and Lidar Backscatter 总被引：4，自引：1，他引：4
The height of the atmospheric boundary layer is derived with the help of two different measuring systems and methods. From radiosoundings the boundary layer height is determined by the parcel method and by temperature and humidity gradients. From lidar backscatter measurements a combination of the averaging variance method and the high-resolution gradient method is used to determine boundary layer heights. In this paper lidar-derived boundary layer heights on a 10 min basis are presented. Datasets from four experiments – two over land and two over the sea – are used to compare boundary layer heights from both methods. Only the daytime boundary layer is investigated because the height of the nighttime stable boundary layer is below the range of the lidar. In many situations the boundary layer heights from both systems coincide within ±200 m. This corresponds to the standard deviation of lidar-derived 10-min values within a 1-h interval and is due to the time and space variability of the boundary layer height. Deviations appear for certain situations and depend on which radiosonde method is applied. The parcel method fails over land surfaces in the afternoon when the boundary layer stabilizes and over the ocean when the boundary layer is slightly stable. An automatic radiosonde gradient method sometimes fails when multiple layers are present, e.g. a residual layer above the growing convective boundary layer. The lidar method has the advantage of continuous tracing and thus avoids confusion with elevated layers. On the other hand, it mostly fails in situations with boundary layer clouds 相似文献
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Different methods to determine the height of the convective boundary layer from lidar measurements are described and compared.
The differences in either aerosol backscatter or in humidity between the boundary layer and the free troposphere are used,
and either the variance or the gradient profile of the parameter under study is evaluated. On average the different methods
are in very good agreement. Temporal resolution of the gradient methods is very high, on the order of seconds, but often there
is an ambiguity in the choice of the “relevant” minimum in the gradient that corresponds to the boundary-layer height. This
is avoided by combining the variance and the gradient methods, using the result of the variance analysis as an indicator for
the region where the minimum of the gradient is sought. The combined method is useful for automated determination of the boundary-layer
height at least under convective conditions. Aerosol backscatter is found to be as good an indicator for boundary-layer air
as humidity, so a relatively simple backscatter lidar is sufficient for determination of the boundary-layer height. 相似文献
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