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In this paper we present a study of global optimality conditions for Point Set Registration (PSR) with missing data. PSR is the problem of aligning multiple point clouds with an unknown target point cloud. Since non-linear rotation constraints are present the problem is inherently non-convex and typically relaxed by computing the Lagrange dual, which is a Semidefinite Program (SDP). In this work w
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Sulfur and nitrogen oxides (SOx and NOx) are harmful pollutants emitted into the atmosphere by industry and transport sectors. In addition to being hazardous gases, SOx and NOx form sulfuric and nitric acids which contribute to the formation of airborne particulate matter through nucleation and condensation, hence magnifying the environmental impact of these species. In this work, we build a model
The Sun provides the principal energy input into the Earth system and solar variability represents a significant external climate forcing. Although observations of solar activity (sunspots) cover only the last about 400 years, radionuclides produced by cosmic rays and stored in tree rings or ice cores serve as proxies for solar activity extending back thousands of years. However, the presence of w
Composite adaptive control schemes, which use both the system tracking error and the prediction error to drive the updating law, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition is required to guarantee the convergence of the parameter estimation errors. This paper proposes a novel composite adaptive control for nonlin
We present minimal, non-iterative solutions to the absolute pose problem for images from rolling shutter cameras. The absolute pose problem is a key problem in computer vision and rolling shutter is present in a vast majority of today's digital cameras. We discuss several camera motion models and propose two feasible rolling shutter camera models for a polynomial solver. In previous work a lineari
During solar storms, the Sun expels large amounts of energetic particles (SEP) that can react with the Earth’s atmospheric constituents and produce cosmogenic radionuclides such as 14C, 10Be and 36Cl. Here we present 10Be and 36Cl data measured in ice cores from Greenland and Antarctica. The data consistently show one of the largest 10Be and 36Cl production peaks detected so far, most likely produ
Dimethyl sulfide (DMS) is produced by plankton in oceans and constitutes the largest natural emission of sulfur to the atmosphere. In this work, we examine new particle formation from the primary pathway of oxidation of gas-phase DMS by OH radicals. We particularly focus on particle growth and mass yield as studied experimentally under dry conditions using the atmospheric simulation chamber AURA.
Dimethyl sulfide (DMS) is the dominant biogenic sulfur compound in the ambient marine atmosphere. Low-volatility acids from DMS oxidation promote the formation and growth of sulfur aerosols and ultimately alter cloud properties and Earth's climate. We studied the OH-initiated oxidation of DMS in the Aarhus University Research on Aerosol (AURA) smog chamber and the marine boundary layer (MBL) with
During the last ice age, the Northern Hemisphere experienced a series of abrupt millennial-scale climatic changes linked to variations in the strength of the Atlantic Meridional Overturning Circulation and sea-ice extent. However, our understanding of their impacts on decadal-scale climate variability in central Europe has been limited by the lack of high-resolution continental archives. Here, we
Ice multiplication by fragmentation during collision-freezing of supercooled rain or drizzle is investigated. A zero-dimensional dynamical system describes the time evolution of number densities of supercooled drops and ice crystals in a mixed-phase cloud. The characteristic time scale for this collision-freezing ice fragmentation is controlled by the collision efficiency, the number of ice fragme
Climate during the Last Interglacial period (LIG, Marine Isotope Stage 5e) was on average warmer than the present, with a higher global sea level but also more unstable conditions. Today, the Baltic Sea interacts strongly with conditions in the North Atlantic region, and this interaction was likely even stronger during the LIG. We here present a reconstruction of seawater conditions during the LIG
Static checker frameworks support software developers by automatically discovering bugs that fit general-purpose bug patterns. These frameworks ship with hundreds of detectors for such patterns and allow developers to add custom detectors for their own projects. However, existing frameworks generally encode detectors in imperative specifications, with extensive details of not only what to detect b
The geomagnetic dipole moment (GDM) modulates the production rates of cosmogenic radionuclides via the shielding of galactic cosmic rays. Therefore, it is possible to use this linkage to reconstruct past changes in the GDM based on cosmogenic radionuclide records from natural archives such as ice cores. Here we present a GDM reconstruction based on 10Be and 36Cl data from two Greenland ice cores f
Aerosol-cloud interactions contribute to a large portion of the spread in estimates of climate forcing, climate sensitivity and future projections. An important part of this uncertainty is how much new particle formation (NPF) contributes to cloud condensation nuclei (CCN) and, furthermore, how this changes with changes in anthropogenic emissions. Incorporating NPF and early growth in Earth system
This study investigated the applicability and performance of a hydrological model (namely FLEXG) for simulating streamflow in boreal catchment, exemplified by the representative Krycklan catchment. The FLEXG simulated daily streamflow for the whole catchment and its sub-catchments. The Kling-Gupta Efficiency (KGE) and Nash-Sutcliffe Efficiency (NSE) demonstrated favorable model performance during
Extreme solar particle events (ESPEs) are infrequent yet highly potent manifestations of solar activity. These events result in the production of significant amounts of cosmogenic isotopes (CIs): 10Be, 36Cl, and 14C, which are subsequently deposited in natural stratified archives. Analyzing CI measurements from these archives allows us to assess the particle fluxes during ESPEs. In this study, we
Secondary ice production (SIP) has been attributed to the generation of most ice particles observed in precipitating clouds with cloud tops warmer than 2368C, from various aircraft- and ground-based field observations across the globe. One of the known SIP mechanisms is fragmentation during collisions among ice particles. It has been studied with our theoretical formulation, which has been applied
In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on Lie groups. Our idea is to view the manifold as a constrained set that is embedded in Euclidean space, and then propose the sufficient conditions for the existence of a CCM and the associated controller design. Nota
