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In Chapter 5 we introduced the evidence that at the end of the Paleozoic Era most of the Earth’s continents were joined together, forming the supercontinent Pangea, which in Latin translates as “whole mother-Earth land.” The formation of the Atlantic and Indian oceans primarily records the subsequent breakup of Pangea and led to the hypothesis of continental drift. Although continental drift seemed like a viable mechanism to create new oceans, until we had a full understanding of the Wadati–Benioff subduction zones, where oceans were being destroyed (see Chapter 5), it was reasonable to consider alternate hypotheses.
It’s hard these days to avoid dinosaurs. Kids’ bedrooms are commonly full of toy dinosaurs, tourist spots like Niagara Falls feature dinosaur mini-golf (Figure 12.1), and the Jurassic Park movie franchise continues to delight many movie goers. Most readers of this book probably had both toys and books about dinosaurs growing up. These depictions, as well as more scientific documentaries such as the BBC series Walking with Dinosaurs, consistently show them as quick, smart, agile, and above all, dangerous, but this view of dinosaurs is actually quite recent. This chapter focuses on the evolution and lifestyles of dinosaurs that dominated the Mesozoic Era.
It was during the time of the Greek philosopher Aristotle (384–322 BC) that someone may have first argued that rocks can be viewed as recorders of ancient environments, although just how ancient was still not clearly understood in his time. By walking along the seashore and observing the types of sediments present and the various organisms living there, philosophers as early as Aristotle were able to deduce that the rocks which made up the landscape shared many characteristics of the modern ocean. From this, Aristotle would argue that “where there is sea, there is at another time land.” This was perhaps the first application of the now-foundational dictum of geology: “the present is the key to the past” – the idea that we can apply our understanding of the natural world today to gain an understanding of the past. This chapter reviews some of the historical milestones and key people in the development of geological reasoning and concludes with a discussion of how modern geological science works as an academic and scientific discipline.
This chapter is specifically focused on the events that occurred at the boundary between the Mesozoic and Cenozoic eras, commonly referred to as the K–Pg extinction because it marks the boundary between the Cretaceous (K) and Paleogene (Pg) geologic periods. It is the most recent of the five mass extinctions introduced in Chapter 9 and has been a topic of considerable public interest because it also marks the end of the “Age of Dinosaurs” (see Chapter 12). The two main hypotheses for the cause of the extinction center on a giant asteroid impact and massive volcanic eruptions in India.
As the nineteenth century turned to the twentieth, the overwhelming majority of geologists thought that Earth’s great geographic variety was primarily the consequence of bodies of rock moving up and down. Put simply, mountains were places that recently moved up and oceans were places that had recently moved down. Sometimes it was suggested that regions had gone from being high to being low in several episodes. The proposed driving mechanism for these changes were cooling of the Earth and gravitational instabilities. Cooling was used to explain contraction, compression, and formation of mountain belts.
Today, glaciers are found at high latitudes, closer to the pole, or at high altitudes, typically about 4,000 meters above sea level. However, the rock record tells us that during the past two billion years, Earth has experienced several episodes in which the distribution of ice across the globe was distinctly different than the modern arrangement. Earth has experienced about eight major glacial periods throughout its history, including the current stage (Figure 8.1).
The unmanned surface vehicle (USV) is deemed with significant potential to deal with the maritime search and rescue (SAR) missions. This paper investigates the path planning of the USV with SAR tasks, and proposes a novel algorithm based on combined convolutional neural network rapid-exploration random tree and improved artificial potential field (CRRT-IAPF). The proposed scheme can be divided into the global and the local path plannings. The rapid-exploration random tree (RRT) method is employed to generate the global path in the sea chart, which is further discriminated to be optimal or non-optimal through a well-trained convolutional neural network (CNN). The artificial potential field (APF) method is adopted to plan the local path in the environment with small obstacles and SAR task points. To facilitate the path convergence and avoid the oscillation, the potential field function is improved in a more efficient way. In addition, the evaluation functions of search success rate and rescue success rate are established to evaluate the completeness of SAR tasks. Through the simulation, it is verified that the proposed CRRT-IAPF scheme has the superiority over the others.
The article is devoted to the mathematical theories and algorithms necessary for the implementation of a software package that fully automates the calculations necessary in Nautical Astronomy. The article describes a method for calculating the equatorial and horizontal coordinates of the celestial bodies at any moment of time. The authors describe the calculation of the time of the apparent rising (setting) of the Sun, solar illumination and events of other celestial bodies. A formula for calculating astronomical refraction is proposed. A matrix method for implementing the method of least squares for determining the coordinates of a place along the lines of position is described. An algorithm for identifying navigational planets is also described and a method for estimating the error for it is proposed. Based on this, the results of the development of the software package ‘Astronomy Package’ for Nautical Astronomy are presented.
NASA defines life as a self-sustaining chemical system capable of Darwinian evolution. Attributes of life typically include an organized internal structure surrounded by a membrane, the ability to regulate the internal environment of the organism (or cell), metabolism that allows growth and reproduction, and the ability to adapt to external change over time. The last point is key to the process of evolution that has driven the development of life on Earth, as introduced in Chapter 6. Even the most primitive prokaryotic bacterial cells are exceedingly complicated and include an external membrane and complex molecules, such as DNA and ribosomes that manufacture proteins.
The need for Global Navigation Satellite System (GNSS) receiver testing increases with the advent of widespread Internet of Things (IoT) technologies and other electronic devices dependent on position determination. In this paper, a low-cost GNSS multiband L1+L5 signal recorder and replayer for equipment testing purposes is proposed. It is implemented using Software-Defined Radio (SDR) modules HackRF One with proper time and phase synchronisation. The recorder–replayer has been tested with GPS, GALILEO, BEIDOU and GLONASS satellites and several commercial GNSS receivers. Reduced GNSS signal bandwidth of approximately 10 MHz is sufficient for efficient reception of recorded signals. Performed tests with a driving car show applicability of this GNSS recorder–replayer in dynamic settings.
Rocks are literally underfoot and can tell marvelous stories. The authors of this book have been spellbound by rocks for most of our lives. We have been astounded at the story of how the dinosaurs were killed by an asteroid crashing into Earth from outer space, and we smile at the idea that the rocks now at the top of Mount Everest were formed beneath the surface of an ocean. We have both spent time enjoying the splendor of Grand Canyon and pondering the incredible stories recorded in the rocks that are exposed in the cliffs and along the bottom (Figure 1.1).
The first globalisation of the world occurred under the motivation of the Avis dynasty of Portugal, aimed at discovering new lands and wealth, exploring ocean routes, especially with the successful epic journey to India. The political decisions of the Avis dynasty kings, along with Christianity’s interest in expanding into Africa and Asia, were key factors in the success of these maritime explorations. However, the Coriolis force was a significant force of nature for the outcome of this journey. Here we investigate Caminha’s letter, the scribe of Pedro Álvares Cabral’s fleet when he found the lands of Brazil. This letter contains detailed scientific data, distances travelled, dates, geographical features, fauna and flora, initial anthropological information on indigenous peoples, and records of coastal depths. Analysis of these elements and facts lead to a new proposal for the location of Mount Pascoal and the so-called safe harbour, where Cabral’s fleet landed.
Terrain-aided navigation with a three-dimensional (3D) map has both high accuracy and high reliability, which is crucial for applications in the global navigation satellite system (GNSS)-denied scenarios. In this paper, a new terrain matching algorithm with 3D Zernike moments (3D ZMs) is proposed. The redundant items in the even-order 3D ZMs are analysed in theory. The 3D ZMs are also correlated with the standard deviations of terrain further to identify the redundant items. The new 3D ZM descriptors are proposed for the feature vector of the matching algorithm by excluding the redundant items from the descriptors. The simulation results demonstrate that the algorithm with the revised descriptors achieves a higher matching success rate than both that with the existing descriptors and that with the odd-order descriptors under the same conditions.
The Himalaya is the highest mountain range on Earth, stretching for more than 2,500 km (1,500 miles) with dozens of peaks having elevations over 6,300 m (20,000 feet). At the summit of Mount Everest, the highest point on Earth, at 8850 m (29,029 feet) above sea level, we find limestone, originally deposited below sea level. The great height of the mountains led to our understanding of isostasy via the controversy of topographic compensation debated by Pratt and Airy (see Chapter 3). The first formal geologic study of the region may have been by Swiss geologists Arnold Heim and Augusto Gansser, in 1936, soon after the concept of continental drift was taking hold in Europe (see Chapter 5).
As introduced in Chapter 9, from the beginning of the Paleozoic, life began to leave a much more tangible fossil record as well as experiencing major diversification during the Great Ordovician Biodiversity Event (Figure 9.24). Extinction events at the end of the Ordovician and the end of the Devonian decreased diversity by about 50%, but in each instance recovery to previous levels occurred within about five million years. The first part of this chapter reviews some of the major evolutionary events in the mid to later Paleozoic, with a particular focus on how the evolution of land plants paved the way for colonization by terrestrial animals and affected global climate, triggering a prolonged ice age. Massive volcanism reversed this trend and caused a hothouse at the end of the Paleozoic Era that initiated the most devastating of the five recorded mass extinctions known as the Great Dying and is the focus of the second part of the chapter.
William “Strata” Smith’s “principle of faunal succession,” introduced in Chapters 1 and 2, codified one of the key observations in geology: strata of different ages contain unique, age-diagnostic fossils. Today anyone can repeat these observations, either in northern England, where Smith worked, or with any other fossiliferous sequence of rocks. The rock record is clear, life on Earth has changed over time. As one species becomes extinct it is often succeeded by a new species. This is evolution, a simple and straightforward observation. The ability of life to diversify was made possible by the immensity of geological time and was largely driven by the changes in local or global environments. The only theoretical framework needed to start this work is Steno’s principle of superposition, which we explained in Chapter 1. Applying this idea with observations of fossils in different strata clearly show that life has evolved. Observations from other fields of science, including anatomy and physiology, molecular biology, and genetics, are consistent with the data from paleontology and stratigraphy and show that all life is related. The idea that best explains the observed evolution of life over time, as well as how species are related, is the theory of natural selection and is the focus of this chapter.
The largest canyon on land today is the Grand Canyon, one of the seven natural wonders of the world, 446 kilometers long, 29 kilometers wide, and 1,857 meters deep, that we reviewed in Chapter 1. Of course, these dimensions pale compared to oceanic basins, but despite their far more extensive dimensions, oceans are always filled with seawater. Or are they? As we have seen in the chapter on plate tectonics, oceans do not last forever.