An analytical multiphase plume model, combined with time-varying flow and hydrographic fields generated by the 3-D South Atlantic Bight and Gulf of Mexico model (SABGOM) hydrodynamic model, were used as input to a Lagrangian transport model (LTRANS), to simulate transport of oil droplets dispersed at depth from the recent Deepwater Horizon MC 252 oil spill. The plume model predicts a stratification-dominated near field, in which small oil droplets detrain from the central plume containing faster rising large oil droplets and gas bubbles and become trapped by density stratification. Simulated intrusion (trap) heights of~310-370 m agree well with the midrange of conductivity-temperature-depth observations, though the simulated variation in trap height was lower than observed, presumably in part due to unresolved variability in source composition (percentage oil versus gas) and location (multiple leaks during first half of spill). Simulated droplet trajectories by the SABGOM-LTRANS modeling system showed that droplets with diameters between 10 and 50 μm formed a distinct subsurface plume, which was transported horizontally and remained in the subsurface for >1 month. In contrast, droplets with diameters ≥90 μm rose rapidly to the surface. Simulated trajectories of droplets ≤50 μm in diameter were found to be consistent with field observations of a southwest-tending subsurface plume in late June 2010 reported by Camilli et al. [2010]. Model results suggest that the subsurface plume looped around to the east, with potential subsurface oil transport to the northeast and southeast. Ongoing work is focusing on adding degradation processes to the model to constrain droplet dispersal.

No abstract

This paper introduces an emotion interaction system for a service robot. The purpose of emotion interaction systems in service robots is to make people feel that the robot is not a mere machine, but reliable living assistant in the home. The emotion interaction system is composed of the emotion recognition, generation, and expression systems. A user's emotion is recognized by multi-modality, such as voice, dialogue, and touch. The robot's emotion is generated according to a psychological theory about emotion: OCC (Ortony, Clore, and Collins) model, which focuses on the user's emotional state and the information about environment and the robot itself. The generated emotion is expressed by facial expression, gesture, and the musical sound of the robot. Because the proposed system is composed of all the three components that are necessary for a full emotional interaction cycle, it can be implemented in the real robot system and be tested. Even though the multimodality in emotion recognition and expression is still in its rudimentary stages, the proposed system is shown to be extremely useful in service robot applications. Furthermore, the proposed framework can be a cornerstone for the design of emotion interaction and generation systems for robots.

No abstract

No abstract