Soft wet grounds such as mud, sand, or forest soils, are difficult to navigate because it is hard to predict the response of the yielding ground and energy lost in deformation. In this article, we address the control of quadruped robots' static gait in deep mud. We present and compare six controller versions with increasing complexity that use a combination of a creeping gait, a foot-substrate interaction detection, a model-based center of mass positioning, and a leg speed monitoring, along with their experimental validation in a tank filled with mud, and demonstrations in natural environments. We implement and test the controllers on a Go1 quadruped robot and also compare the performance to the commercially available dynamic gait controller of Go1. While the commercially available controller was only sporadically able to traverse in 12 cm deep mud with a 0.35 water/solid matter ratio for a short time, all proposed controllers successfully traversed the test ground while using up to 4.42 times less energy. The results of this article can be used to deploy quadruped robots on soft wet grounds, so far inaccessible to legged robots.

Understanding the origins of Tibetan Plateau (TP) glacier dust is vital for glacier dynamics and regional climate understanding. In May 2016, snow pit samples were collected from glaciers on the TP: Qiyi (QY) in the north, Yuzhufeng (YZF) in the center, and Xiaodongkemadi (XDK) in the south. Rare earth element (REE) concentrations were analyzed using inductively coupled plasma mass spectrometry (ICP-MS), and near-surface PM10 concentrations were extracted from a dataset of Chinese near-surface PM10. Two tracing approaches were used: direct REE tracing and an indirect approach combining potential source contribution function (PSCF) and concentration-weighted trajectory (CWT). Both methods yielded consistent results. Pre-monsoon, TP surface soils, Taklimakan Desert, and Qaidam Basin contributed to glacier dust. Notably, central and southern glaciers showed Thar Desert influence, unlike the northern ones. Taklimakan and Thar Deserts were major contributors due to their substantial contribution and high dust concentration. Taklimakan dust, influenced by terrain and westerly winds, affected central and southern glaciers more than northern ones. Westerlies carried Thar Desert dust to the TP after it was uplifted by updrafts in northwest India, significantly affecting southern glaciers. Furthermore, comparing the two tracer methods, the indirect approach combining PSCF and CWT proved more effective for short-term dust source tracing.

The present investigation outlines the crucial factors that influence the black carbon (BC) concentrations over a polluted metropolis, Kolkata (22.57 & DEG; N, 88.37 & DEG; E), India. Located in the eastern part of the Indo Gangetic Plain (IGP) outflow region and close to the land-ocean boundary, Kolkata is subject to contrasting seasonal maritime airflow from the Bay of Bengal and continental air mass from the IGP and Tibetan plateau region, which modulates the local concentration of BC. The origin of aerosol transport and associated atmospheric dynamics with high and low BC activities over Kolkata are examined during 2012-2015 using data from multi-technique sources which include measurements of ground-based instruments of aethalometer and multi-frequency microwave radiometer, reanalysis data from ERA-5 and MEERA-2, and model outputs from HYPSLIT back trajectory model simulations. The study highlights the control of IGP wind inflow on the occurrence of anomalous enhancements in BC concentration during weekends and holidays when local emissions are low. High BC events are associated with enhanced atmospheric heating below the boundary layer (2000 m) and significant negative surface radiative forcing. The response of the boundary layer to high and low BC episodes, shown in the diurnal variation in comparison with the seasonal mean, is investigated. Dominant suppression of morning and night-time boundary layer height is observed on high BC days. During the daytime in pre-monsoon, post-monsoon, and winter seasons, boundary layer height peaks are found to be strongly controlled by high BC episode occurrences as obtained from the hourly data of ERA-5.

A comprehensive investigation of physical, optical, and chemical characteristics of columnar aerosols over two locations with distinct environmental settings in the Indo-Gangetic Plain (IGP) region, namely, Kanpur (urban and industrial area) and Gandhi College (rural area), is conducted using high-quality aerosol datasets obtained from ground-based Aerosol Robotic Network (AERONET) observations during the recent five year period (2015-2019). This study utilizes all the crucial columnar aerosol parameters necessary for accurately estimating aerosol radiative forcing. Quantification of contribution by different aerosol species originating from natural and anthropogenic sources to the total aerosol optical depth (AOD) and single scattering albedo (SSA) is important to understand the specific mechanisms that influence the aerosol composition, thereby reducing the uncertainty in aerosol radiative forcing. For the first time, two highly spatially resolved models' (Modern-Era Retrospective Analysis for Research and Applications-2 (MERRA-2) and Copernicus Atmosphere Monitoring Service (CAMS)) simulated absorbingspecies-wise (black carbon (BC), dust, and brown carbon (BrC)) AOD, and absorption AOD (AAOD) are compared and contrasted against the AERONET observations over the IGP region in a systematic manner. MERRA-2 AODs are mostly lower, whereas CAMS AODs are consistently higher than the AERONET AODs. A comparison of collocated time and space observations with models clearly suggests that improvements in emission inventories on a seasonal scale are essential. MERRA-2 SSA is noted lower than the AERONET SSA during the winter season due to overestimation in BC AOD. During winter in >70% of MERRA-2 simulated SSA the difference is higher than +/- 0.03 (the uncertainty range of AERONET SSA) whereas during pre-monsoon and monsoon seasons >60% of MERRA-2 SSA lies within the uncertainty range of AERONET SSA. Both models show a gradient in AODDust decreasing from west to east in the IGP. However, observations do not often exhibit the gradient in dust, which is validated by air mass back trajectory analyses as air masses travel through different pathways to IGP and reverse the west to east gradient in AODDust. This quantitative and comparative collocated analysis of observed aerosol characteristics with models on a seasonal scale will enable a better estimation of aerosol radiative forcing, and can help improve aerosol processes and parameterizations in models.

The work is devoted to the study of the climatic effects of black carbon (BC) transferred from forest fires to the Arctic zone. The HYSPLIT (The Hybrid Single-Particle Lagrangian Integrated Trajectory model) trajectory model was used to initially assess the potential for particle transport from fires. The results of the trajectory analysis of the 2019 fires showed that the probability of the transfer of particles to the Arctic ranges from 1% to 10%, and in some cases increases to 20%. Detailed studies of the possible influence of BC ejected as a result of fires became possible by using the climate model of the INMCM5 (Institute of Numerical Mathematics Climate Model). The results of the numerical experiments have shown that the maximum concentration of BC in the Arctic atmosphere is observed in July and August and is associated with emissions from fires. The deposition of BC in the Arctic increases by about 1.5-2 times in the same months, in comparison with simulation without forest fire emissions. This caused an average decrease in solar radiation forcing of 0.3-0.4 Wt/m(2) and an increase in atmospheric radiation heating of up to 5-6 Wt/m(2). To assess the radiation forcing from BC contaminated snow, we used the dependences of the change in the snow albedo on the snow depth, and the albedo of the underlying surface for a given amount of BC fallen on the snow. These dependences were constructed on the basis of the SNICAR (Snow, Ice, and Aerosol Radiative) model. According to our calculations, the direct radiative forcing from BC in the atmosphere with a clear sky is a maximum of 4-5 W/m(2) in July and August.

Recently, forests in the Tianshan Mountains have shown a marked decline in growth and an increased mortality rate because of the more frequent and severe effects of extreme drought, which threatens the ecosystem services they provide. To achieve forest conservation and sustainable development benefits, it is crucial to understand the post-drought recovery trajectory of tree growth and its driving factors. In this study, we quantified the growth recovery performance of dominant tree species in the Tianshan Mountains after extreme drought events and determined the influences of climate factors on forest growth resilience using tree-ring proxy data. The results showed that post-drought moisture conditions may determine the post-drought growth recovery of trees. The post-drought growth for 1997 was higher than that for 1974, which may be attributed to the subsequent period of 1997 experiencing very high precipitation, whereas the year following the 1974 drought was dry (Stan-dardized Precipitation Evapotranspiration Index < 0). Because of the more favorable climate conditions in the post-drought period, the observed relationship between resistance and recovery in 1997 showed a closer fit to the hypothetical line of full resilience which sets resilience to a constant value of 1, allowing trees to recover fully at any given value of resistance. Trees showed lower mean values of the tree growth recovery index (RC) and average recovery rate (ARR) and higher mean values of total growth reduction (TGR) and recovery period (RE) for the drought event in 1974 than that in 1997. We distinguished the relative influence of temperature and precipitation on different drought phases using Boosted Regression Tree (BRT) model. The results showed that the climate conditions during the drought year and subsequent precipitation variation were most influential variables for tree growth recovery. Specifically, post-drought precipitation explained up to 20 % of the variance in RC, TGR, RE, and ARR. These findings deepen our understanding of the impacts of prolonged drought on tree growth, which could aid in developing forest management and conservation strategies to respond to extreme drought.

The dynamic characteristics of biomass burning aerosol originated from South Asia are investigated in this research using nearly 9 years of POLDER/GRASP satellite aerosol dataset. The POLDER/GRASP remote sensing data can provide global, repeatable, various, and sufficient real-world aerosol information even in the remote ocean region, which can't be offered by the ground measurement, laboratory observation or model simulation. The MODIS thermal anomalies/fire dataset and HYSPLIT backward trajectory are applied to search the aerosol originated from South Asia biomass burning. The biomass burning aerosol originated from South Asia could transport to and influence the north part of Indian Ocean (including Bay of Bengal and Arabian Sea), the north part of Indo-China Peninsula, South China, and even far to the Pacific Ocean (including part of East China Sea and South China Sea). The chemical, physical and optical characteristics of biomass burning aerosol over land and over ocean show different features and evolution patterns. Such difference is caused by the different ambient environment and different mixed aerosol during the transport process (urban/industrial aerosol over land and sea salt over ocean). During the 48-hours aging process, the volume fraction of black carbon, AAOD and Angstrom Exponent decrease. Meanwhile, the aerosol sphere fraction and SSA increase. The biomass burning aerosol over land shows a more obvious evolution trend than that over ocean. The biomass burning aerosol over ocean generally have higher SSA and lower volume fraction of black carbon, aerosol sphere fraction, AAOD and Angstrom Exponent. The aerosol radiative forcing efficiency also varies between land and ocean, due to their different features of aerosol and surface properties. In general, a negative clear-sky aerosol radiative forcing efficiency (cooling effect) at the TOA is observed. The aerosol cooling effect at the TOA over ocean (-82 W/m(2) on average) is much stronger than that over land (-36 W/m(2) on average). During the 48-hours aging process, a significant enhancement of the negative radiative forcing efficiency at the TOA is found over land. Over ocean, the enhancement of the negative radiative forcing efficiency at the TOA is weaker.

Black carbon (BC) is a major light absorption material that acts as a climate change driver with high radiative forcing and as an air pollutant that reduces visibility and air quality. Thus, reducing the emission and ambient concentration of BC could help address climate change and improve air quality simultaneously. In this study, the mass concentration of atmospheric BC was continuously measured by an aethalometer in Shanghai in 2017. The annual BC concentration was 2.19 +/- 1.28 mu g/m(3), with the highest loading in winter and the lowest loading in autumn. The BC concentrations varied with year and location when compared with previous studies in different locations in Shanghai. The hourly BC concentration had a bimodal distribution, with two peaks during the morning and evening traffic rush hours. Liquid fuels, biomass, and coal combustion contributed 65.7%, 21.5%, and 12.8%, respectively, of the total BC based on the advanced aethalometer model. The three sources varied in different seasons with a high contribution of liquid source in summer and more coal and biomass emissions in winter. High BC concentrations accumulated in the stable weather conditions in the four seasons and appeared when there were high wind speeds from the northwestern direction in winter. The Yangtze River Delta region was the most likely potential source region of high BC loading in the four seasons, and long-range transport from North China in winter was another likely source region based on the results of cluster analysis and potential source contribution function analysis of backward trajectories.

Eighteen years of sun/sky photometer measurements at seven worldwide AErosol RObotic NETwork (AERONET) sites in typical biomass burning regions were used in this research. The AERONET measurements were analyzed with the help of Moderate-resolution Imaging Spectroradiometer (MODIS) fire products and the HYbrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model. The variation in the physicochemical and optical properties of biomass burning aerosols (BBAs), as well as their shortwave radiative forcing, was revealed for different vegetation types in different aging periods. The result indicated that, with aerosol aging, the BBA characteristics have a non-negligible evolution trend with obvious clustering features for different burning vegetation types. During the aging process, the volume fraction of black carbon (BC) declined (with a maximum drop of 38%) accompanied by particle size growth (with a maximum increment of 0.017 mu m). Driven by the change in physicochemical properties, the Single Scattering Albedo (SSA) and the asymmetry factor increased as the aerosol aged (with maximum increments of 0.026 and 0.018 for the SSA and asymmetry factor respectively). The grass and shrub type had a higher volume fraction of BC (2.5 times higher than that in the forest and peat type) and a smaller fine mode volume median radius (with a difference of 0.037 mu m from that of the forest and peat type). Such a phenomenon results in a lower SSA (with a difference of 0.103) and asymmetry factor (with a difference of 0.035) in the grass and shrub type when compared to the forest and peat type. Negative (-74 to -30 W/m(2)) clear-sky top of atmosphere (TOA) shortwave radiative forcing, strengthened during the aging process, was generally found for BBA. The BBA in the forest and peat region usually had stronger negative radiative forcing efficiency.

Black Carbon (BC) has been widely recognized as the second largest source of territorial and global climate change as well as a threat to human health. There has been serious concern of BC emission and its impact in Indo-Gangetic Plains (IGP) due to the use of biomass and fossil fuels for cooking, transportation and industrial activities. An attempt has been made to study indoor (Liquefied Petroleum Gas-LPG & Traditional cookstoves users households) and outdoor concentrations; seasonal characteristics; radiative forcing and source of apportionment of BC in three districts (Sitapur, Patna and Murshidabad) of IGP during January to December 2016. The seasonal concentrations of BC in LPG (traditional cookstoves) users households were 3.79 +/- 0.77 mu gm(-3) (25.36 +/- 5.01 mu gm(-3)) during the winter; 2.62 +/- 0.60 mu gm(-3) (16.36 +/- 3.68 mu gm(-3)) during the pre-monsoon; 2.02 +/- 0.355 mu gm(-3) (8.92 +/- 1.98 mu gm(-3)) during the monsoon and 2.19 +/- 0.47 mu gm(-3) (15.17 +/- 3.31 mu gm(-3)) during the post-monsoon seasons. However, the outdoor BC concentrations were 24.20 +/- 4.46, 19.80 +/- 4.34, 8.87 +/- 1.83, and 9.14 +/- 1.84 mu gm(-3) during winter, pre-monsoon, monsoon and post-monsoon seasons respectively. The negative radiative forcing (RF) at the surface suggests a cooling effect while a warming effect appears to be occurring at the top of the atmosphere. The atmospheric forcing of BC and aerosols also show a net warming effect in the selected study areas. The analysis of BC concentrations and fire episodes indicated that the emissions from biomass burning increases the pollution concentration. The backward trajectory analysis through the HYSPLIT model also suggests an additional source of pollutants during winter and pre-monsoon seasons from the northwest and northern region in the IGP.