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Segmenting a motion-planning problem into smaller subproblems could be beneficial in terms of computational complexity. This observation is used as a basis for a new sub-maneuver decomposition approach investigated in this paper in the context of optimal evasive maneuvers for autonomous ground vehicles. The recently published alternating augmented Lagrangianmethod is adopted and leveraged on, whic

Background: Acute coronary syndromes most commonly arise from thrombosis of lipid-rich coronary atheromas that have large plaque burden despite angiographically appearing mild. Objectives: This study sought to examine the outcomes of percutaneous coronary intervention (PCI) of non–flow-limiting vulnerable plaques. Methods: Three-vessel imaging was performed with a combination intravascular ultraso

Methane emissions from natural wetlands tend to increase with temperature and therefore may lead to a positive feedback under future climate change. However, their temperature response includes confounding factors and appears to differ on different time scales. Observed methane emissions depend strongly on temperature on a seasonal basis, but if the annual mean emissions are compared between sites

Tropical cloud forests are characterized by abundant and biodiverse mosses which grow epiphytically as well as on the ground. Nitrogen (N)-fixing cyanobacteria live in association with most mosses, and contribute greatly to the N pool via biological nitrogen fixation (BNF). However, the availability of nutrients, especially N and phosphorus (P), can influence BNF rates drastically. To evaluate the

Goal: Structural brain graphs are conventionally limited to defining nodes as gray matter regions from an atlas, with edges reflecting the density of axonal projections between pairs of nodes. Here we explicitly model the entire set of voxels within a brain mask as nodes of high-resolution, subject-specific graphs. Methods: We define the strength of local voxel-to

Remote sensing is an effective means for lake water level monitoring on the Tibetan Plateau (TP). The purpose of this study is to estimate water levels of lakes on the TP using the Global Ecosystem Dynamics Investigation (GEDI) and Cloud and Land Elevation Satellite-2 (ICESat-2), evaluate the performance of ICESat-2 and GEDI in estimating water levels, and analyze the differences of water level ob

Selection of the number and which of multisource precipitation datasets is crucially important for precipitation fusion. Considering the effects of different inputs, this study proposes a new framework based on the Bayesian model averaging (BMA) algorithm to integrate precipitation information from gauge-based analysis CPC, reanalysis-derived dataset ERA5, and satellite-retrieval products IMERG-E

Clouds are essential elements within Earth's atmosphere, posing a challenge for cloud-resolving models in understanding the creation of new cloud ice particles from existing ice and liquid phases. Such ice initiation determines cloud microphysical and radiative properties, influencing cloud phase, precipitation and cloud extent/properties. To address this challenge effectively, it proves beneficia

Glacio-hydrological modeling is a key task for assessing the influence of snow and glaciers on water resources, essential for water resources management. The present study aims to enhance a conceptual hydrological model (namely Glacial Snow Melt (GSM)) by data-driven and swarm computing for enhancing the accuracy of rainfall runoff prediction. The proposed framework combines the conceptual hydrolo

We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation involves modelling the robot as a stochastic linear dynamical system, assuming that a collection of process noise samples is available. We cast the risk averse motion planning problem as a Markov decision process and prop

Despite the fact that the response of tropical hydroclimate to North Atlantic cooling events during the Heinrich Stadial 1 (HS1) has been extensively studied in African, South American and Indonesia, the nature of such responses remains debated. Here we investigate the tropical hydroclimate pattern over the Indo-Asian-Australian monsoon region during the HS1 by integrating hydroclimatic records, a

Modern embedded software includes complex functionalities and routines, often implemented by splitting the code across different tasks. Such tasks communicate their partial computations to their successors, forming a task chain. Traditionally, this architecture relies on the assumption of hard deadlines and timely communication. However, in actual implementations, tasks may miss their deadlines, t

The tropical Pacific Ocean plays a significant role in climate change, and the El Niño-Southern Oscillation (ENSO) is considered to be closely related to extreme climate phenomenon worldwide. However, the evolution of the ENSO-like patterns in the tropical Pacific during the Pleistocene glacial cycles remains controversial. In this study, we present geochemical indices and a transient model simula

Vegetation gross primary production (GPP) is the largest terrestrial carbon flux and plays an important role in regulating the carbon sink. Current terrestrial ecosystem models (TEMs) are indispensable tools for evaluating and predicting GPP. However, to which degree the TEMs can capture the interannual variability (IAV) of GPP remains unclear. With large data sets of remote sensing, in situ obser

Future global temperature change will have significant effects on society and ecosystems. Earth system models (ESM) are the primary tools to explore future climate change. However, ESMs have great uncertainty and often run at a coarse spatial resolution (usually about 2°). Accurate high-spatial-resolution temperature dataset are needed to improve our understanding of temperature variations and for

We extend the generalized information criteria for high-dimensional penalizedmodels to sparse statistical jump models, a new class of statistically robust and computationally efficient alternatives to hidden Markov models. In a simulation study, we demonstrate that the new generalized information criteria selects the correct hyperparameters with high probability. Finally, providing an empirical ap

Two conspicuous wet shifts in the peat stratigraphy of Store Mosse in southern Sweden, associated with bog-wide changes in vegetation and degree of peat decomposition, were analysed at high resolution. The bog-surface wetness (BSW) proxy data (organic matter bulk density, C/N ratio, plant macrofossils and testate amoebae) highlight the importance of interactions between vegetation composition, mic

Building on the base of the existing telescopes of the Event Horizon Telescope (EHT) and ALMA, the next-generation EHT (ngEHT) aspires to deploy ∼10 more stations. The ngEHT targets an angular resolution of ∼15 microarcseconds. This resolution is achieved using Very Long Baseline Interferometry (VLBI) at the shortest radio wavelengths ∼1 mm. The Submillimeter Array (SMA) is both a standalone radio

The atmospheric CO2 growth rate (CGR) variability is largely controlled by tropical temperature fluctuations. The sensitivity of CGR to tropical temperature (γCGRT) has strongly increased since 1960, but here we show that this trend has ceased. Here, we use the long-term CO2 records from Mauna Loa and the South Pole to compute CGR, and show that γCGRT increased by 200% from 1960–1979 to 1979–2000

Despite the importance of high-latitude surface energy budgets (SEBs) for land-climate interactions in the rapidly changing Arctic, uncertainties in their prediction persist. Here, we harmonize SEB observations across a network of vegetated and glaciated sites at circumpolar scale (1994–2021). Our variance-partitioning analysis identifies vegetation type as an important predictor for SEB-component