n the first part of this two-part series, we introduced the hardware used in the Santa Cruz Low-cost UAV GNC System (SLUGS), an open-source unmanned aerial vehicle (UAV) autopilot primarily focused on supporting guidance, navigation, and control (GNC) research. In this article, we’ll focus on the software architecture and algorithms. We’ll also present results from temperature compensation, sen...

the douzlakh salt mine at chehr abad, zanjan province, iran has provided a rare organic preservation of human remains, and associated cloth and clothing. this textile evidence offers a window into a poorly known but pivotal era of textile history. moreover, the context is of accidental burial of miners at work, rather than deliberate burial of elites. at least six bodies have been recovered, on...

Phanerozoic levels of atmospheric oxygen relate to the burial histories of organic carbon and pyrite sulfur. The sulfur cycle remains poorly constrained, however, leading to concomitant uncertainties in O2 budgets. Here we present experiments linking the magnitude of fractionations of the multiple sulfur isotopes to the rate of microbial sulfate reduction. The data demonstrate that such fractio...

Feasting is one of humanity's most universal and unique social behaviors. Although evidence for feasting is common in the early agricultural societies of the Neolithic, evidence in pre-Neolithic contexts is more elusive. We found clear evidence for feasting on wild cattle and tortoises at Hilazon Tachtit cave, a Late Epipaleolithic (12,000 calibrated years B.P.) burial site in Israel. This incl...

Biopedturbation, or animal-caused soil disturbance, may be important for development and maintenance of small-scale heterogeneity in ecosystems with the potential to alter seed mortality and recruitment. However, its role in tropical forests has been largely ignored. This study explored effects of vertebrate biopedturbation on seed (1) microsite heterogeneity, (2) predation and (3) germination ...

[1] Changes in the distribution of the preservation and burial of calcium carbonate (CaCO3) in deep ocean sediments and associated atmospheric pCO2 response to the shutdown of the Atlantic meridional overturning circulation (MOC) are examined using an Earth system model. We find that shutdown of the Atlantic MOC forced by the freshwater inflow significantly decreases the CaCO3 content in North ...

The open, independent, and international standards organization Internet Engineering Task Force (IETF) has chartered a working group. It is named "Codec Encoding for LossLess Archiving and Realtime transmission" (CELLAR) and aims to develop specifications for a lossless audiovisual file format for use in archival environments and transmission. It consists of the combination of the audiovisual c...

The report presents a rare case of suicide committed by the subject by dropping a tree trunk on his head using a suspended pulley system. The corpse of a 60-year old man was found in the cellar, his head encircled by a blood puddle. A razor was placed on the floor near his right hand. A large fragment of a tree trunk and a system of hooks and pulleys fastened to the ceiling and the floor were f...