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- Creator:
- Sorensen, Troy R, Espey, Eamon, Kelley, John G. W. , Kessler, James, and Gronewold, Andrew D.
- Description:
- Inland lakes play a critical role in ecosystem stability, and robust validation of lake models is essential for understanding their dynamics. While remote sensing data can assist with lake surface temperature validation, in situ data typically provides more accurate, reliable data not limited to only the lake surface. However, in situ temperature data for many individual lakes, particularly in North America, is difficult for researchers to quickly access in a standardized format. This database offers a well-organized collection of in situ near-surface and subsurface temperatures from 134 sites divided among 29 large North American inland lakes collected from a variety of sources. The database includes multiple subsurface temperatures throughout the depth profile of 84 of these sites, providing comprehensive data for lake model evaluation. All lakes selected for this database are large enough (over approximately 30 km^2 to be represented by large-scale operational weather models, supporting robust lake model validation efforts on the lakes that have the greatest impact on climatology.
- Keyword:
- lake, temperature, in situ, and subsurface
- Citation to related publication:
- Sorensen, T., Espey, E., Kelley, J.G.W. et al. A database of in situ water temperatures for large inland lakes across the coterminous United States. Sci Data 11, 282 (2024). https://doi.org/10.1038/s41597-024-03103-8
- Discipline:
- Science
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- Creator:
- Fu, Xun, Zhang, Bohao, Weber, Ceri J., Cooper, Kimberly L., Vasudevan, Ram, and Moore, Talia Y.
- Description:
- Tails used as inertial appendages induce body rotations of animals and robots---a phenomenon that is governed largely by the ratio of the body and tail moments of inertia. However, vertebrate tails have more degrees of freedom (e.g., number of joints, rotational axes) than most current theoretical models and robotic tails. To understand how morphology affects inertial appendage function, we developed an optimization-based approach that finds the maximally effective tail trajectory and measures error from a target trajectory. For tails of equal total length and mass, increasing the number of equal-length joints increased the complexity of maximally effective tail motions. When we optimized the relative lengths of tail bones while keeping the total tail length, mass, and number of joints the same, this optimization-based approach found that the lengths match the pattern found in the tail bones of mammals specialized for inertial maneuvering. In both experiments, adding joints enhanced the performance of the inertial appendage, but with diminishing returns, largely due to the total control effort constraint. This optimization-based simulation can compare the maximum performance of diverse inertial appendages that dynamically vary in moment of inertia in 3D space, predict inertial capabilities from skeletal data, and inform the design of robotic inertial appendages.
- Keyword:
- simulation, inertial maneuvering, caudal vertebrae, trajectory optimization, and reconfigurable appendages
- Citation to related publication:
- Xun Fu, Bohao Zhang, Ceri J. Weber, Kimberly L. Cooper, Ram Vasudevan, Talia Y. Moore. (in review) Jointed tails enhance control of three-dimensional body rotation.
- Discipline:
- Engineering and Science