No abstract

Biodiversity loss can alter ecosystem functioning; however, it remains unclear how it alters decomposition—a critical component of biogeochemical cycles in the biosphere. Here, we provide a global-scale meta-analysis to quantify how changes in the diversity of organic matter derived from plants (i.e. litter) affect rates of decomposition. We find that the after-life effects of diversity were significant, and of substantial magnitude, in forests, grasslands, and wetlands. Changes in plant diversity could alter decomposition rates by as much as climate change is projected to alter them. Specifically, diversifying plant litter from mono- to mixed-species increases decomposition rate by 34.7% in forests worldwide, which is comparable in magnitude to the 13.6–26.4% increase in decomposition rates that is projected to occur over the next 50 years in response to climate warming. Thus, biodiversity changes cannot be solely viewed as a response to human influence, such as climate change, but could also be a non-negligible driver of future changes in biogeochemical cycles and climate feedbacks on Earth.

Abstract-In this paper, we describe a planner for a humanoid robot that is capable of finding a path in an environment with movable objects, whereas previous motion planner only deal with an environment with fixed objects. We address an environment manipulation problem for a humanoid robot that finds a walking path from the given start location to the goal location while displacing obstructing objects on the walking path. This problem requires more complex configuration space than previous researches using a mobile robot especially in a manipulation phase, since a humanoid robot has many degree of freedoms in its arm than a forklift type robot. Our approach is to build environment manipulation task graph that decompose the given task into subtasks which are solved using navigation path planner or whole body motion planner. We also propose a standing location search and a displacing obstacle location search for connecting subtasks. Efficient method to solve manipulation planning that rely on whole body inverse kinematics and motion planning technology is also shown. Finally, we show experimental results in an environment with movable objects such as chairs and trash boxes. The planner finds an action sequence consists of walking paths and manipulating obstructing objects to walk from the start position to the goal position.