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Robust communication is vital for multi-agent robotic systems involving heterogeneous agents like Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) operating in dynamic and contested environments. These agents often communicate to collaboratively execute critical tasks for perception awareness and are faced with different communication challenges: (a) The disparity in velocity between these agents results in rapidly changing distances, in turn affecting the physical channel parameters such as Received Signal Strength Indicator (RSSI), data rate (applicable for certain networks) and most importantly "reliable data transfer", (b) As these devices work in outdoor and network-deprived environments, they tend to use proprietary network technologies with low frequencies to communicate long range, which tremendously reduces the available bandwidth. This poses a challenge when sending large amounts of data for time-critical applications. To mitigate the above challenges, we propose DACC-Comm, an adaptive flow control and compression sensing framework to dynamically adjust the receiver window size and selectively sample the image pixels based on various network parameters such as latency, data rate, RSSI, and physiological factors such as the variation in movement speed between devices. DACC-Comm employs state-of-the-art DNN (TABNET) to optimize the payload and reduce the retransmissions in the network, in turn maintaining low latency. The multi-head transformer-based prediction model takes the network parameters and physiological factors as input and outputs (a) an optimal receiver window size for TCP, determining how many bytes can be sent without the sender waiting for an acknowledgment (ACK) from the receiver, (b) a compression ratio to sample a subset of pixels from an image. We propose a novel sampling strategy to select the image pixels, which are then encoded using a feature extractor. To optimize the amount of data sent across the network, the extracted feature is further quantized to INT8 with the help of post-training quantization. We evaluate DACC-Comm on an experimental testbed comprising Jackal and ROSMaster2 UGV devices that communicate image features using a proprietary radio (Doodle) in 915-MHz frequency. We demonstrate that DACC-Comm improves the retransmission rate by ≈17% and reduces the overall latency by ≈12%. The novel compression sensing strategy reduces the overall payload by ≈56%. 

The present study investigates dynamical coupling between the equatorial stratospheric Quasi31 biennial oscillation (QBO) and the boreal winter surface climate of the Northern Hemisphere mid and high latitudes using 42 years data (1979–2020). For neutral El Niño Southern Oscillation (ENSO) periods, QBO westerlies (W) at 70 hPa favor high sea level pressure in the polar region, colder conditions and deeper snow over Eurasia and North America, and the opposite effects for QBO easterlies (E). When QBO anomalies arrive in the upper troposphere and lower stratosphere (UTLS), it is observed that planetary wave activity is enhanced in the extratropical UTLS during QBO W and diminished during QBO E. This QBO teleconnection pathway along the UTLS to the high latitude surface is independent of the “stratospheric pathway” (Holton-Tan mechanism). Diagnosis of this pathway can help to improve understanding of internal sub-seasonal to seasonal variations, and long-range forecasting over Eurasia and North America. 

Abstract The influence of solar forcing and Galactic Cosmic Rays (GCR) ionization on the global distribution of clouds is investigated using 42 years ERA-5 data (1979–2020). In the mid-latitudes over Eurasia, GCR and cloudiness are negatively correlated, which argues against the ionization theory of enhanced cloud droplet nucleation due to increased GCR during minima in the solar cycle. In the tropics, the solar cycle and cloudiness are positively correlated in regional Walker circulations below 2 km altitude. The phase relationship between amplification of regional tropical circulations and the solar cycle is consistent with total solar forcing, rather than modulation of GCR. However, in the intertropical convergence zone, changes in the cloud distribution are consistent with a positive coupling with GCR in the free atmosphere (2–6 km). This study opens some future challenges and research directions, and clarifies how atmospheric circulation at the regional scale can help in understanding solar-induced climate variability. 

Monthly-mean data of ERA-Interim reanalysis, precipitation, outgoing longwave radiation (OLR) and sea surface temperature(SST) are investigated for 40 years (1979-2018) to reveal the modulation of the global monsoon systems by the equatorial quasi-biennial oscillation (QBO), focusing only on the neutral El Niño-Southern Oscillation (ENSO) periods (in total 374 months). First, the climatology of the global monsoon systems is viewed with longitude-latitude plots of the precipitation, its proxies and lower tropospheric circulations for the annual mean and two solstice seasons, together with the composite differences between the two seasons. In addition to seasonal variations of Intertropical Convergence Zones (ITCZs), several regional monsoon systems are well identified with an anti-phase of the annual cycle between the two hemispheres. Precipitation-related quantities (OLR and specific humidity), surface conditions [i.e., mean sea level pressure (MSLP) and SST] and circulation fields related to moist convection systems show fundamental features of the global monsoon systems. After introducing eight QBO phases based on the leading two principal components of the zonal-mean zonal wind variations in the equatorial lower-stratosphere, the statistical significance of the composite difference in the precipitation and tropospheric circulation is evaluated for the opposite QBO phases. The composite differences show significant modulations in some regional monsoon systems, dominated by zonally asymmetric components, with the largest magnitudes for specific QBO-phases corresponding to traditional indices of the equatorial zonal-mean zonal wind at 20 and 50 hPa. Along the equator, significant QBO influence is characterized by the modulation of the Walker circulation over the western Pacific. In middle latitudes during boreal summer, for a specific QBO-phase, statistically significant modulation of low-pressure cyclonic perturbation is obtained over the Northern-Hemisphere western Pacific Ocean associated with statistically significant features of heavier precipitation over the eastern side of the cyclonic perturbation and the opposite lighter precipitation over the western side. During boreal winter, similar significant low-pressure cyclonic perturbations were found over the Northern-Hemisphere eastern Pacific and Atlantic Oceans for specific phases. 

Nanocluster aerosol (NCA: particles in the size range of 1–3 nm) are a critically important, yet understudied, class of atmospheric aerosol particles. NCA efficiently deposit in the human respiratory system and can translocate to vital organs. Due to their high surface area-to-mass ratios, NCA are associated with a heightened propensity for bioactivity and toxicity. Despite the human health relevance of NCA, little is known regarding the prevalence of NCA in indoor environments where people spend the majority of their time. In this study, we quantify the formation and transformation of indoor atmospheric NCA down to 1 nm via high-resolution online nanoparticle measurements during propane gas cooking in a residential building. We observed a substantial pool of sub-1.5 nm NCA in the indoor atmosphere during cooking periods, with aerosol number concentrations often dominated by the newly formed NCA. Indoor atmospheric NCA emission factors can reach up to ~10^16 NCA/kg-fuel during propane gas cooking and can exceed those for vehicles with gasoline and diesel engines. Such high emissions of combustion-derived indoor NCA can result in substantial NCA respiratory exposures and dose rates for children and adults, significantly exceeding that for outdoor traffic-associated NCA. Combustion-derived indoor NCA undergo unique size-dependent physical transformations, strongly influenced by particle coagulation and condensation of low-volatility cooking vapors. We show that indoor atmospheric NCA need to be measured directly and cannot be predicted using conventional indoor air pollution markers such as PM2.5 mass concentrations and NOx (NO + NO2) mixing ratios. 

Scented wax products, such as candles and wax warmers/melts, are popular fragranced consumer products that are commonly used in residential buildings. As scented wax products are intentionally fragranced to produce pleasant smellscapes for occupants, they may represent an important source of volatile organic compounds (VOCs) to indoor atmospheres. The aim of this study is to evaluate terpene emission factors (EFs) and inhalation intake fractions (iFs) for scented wax products to better understand their impact on indoor chemistry and chemical exposures. Full-scale emission experiments were conducted in the Purdue zEDGE Test House using a variety of scented candles (n = 5) and wax warmers/melts (n = 14) under different outdoor air exchange rates (AERs). Terpene concentrations were measured in real-time using a proton transfer reaction time-of-flight mass spectrometer (PTR-TOF-MS). PTR-TOF-MS measurements revealed that scented candle and wax warmer/melt products emit a variety of monoterpenes (C10H16) and oxygen-containing monoterpenoids (C10H14O, C10H16O, C10H18O, C10H20O), with peak concentrations in the range of 10^−1 to 10^2 ppb. Monoterpene EFs were much greater for scented wax warmers/melts (C10H16 EFs ~ 10^2 mg per g wax consumed) compared to scented candles (C10H16 EFs ~ 10^−1 to 100 mg per g wax consumed). Significant emissions of reactive terpenes from both products, along with nitrogen oxides (NO, NO2) from candles, depleted indoor ozone (O3) concentrations. Terpene iFs were similar between the two products (iFs ~ 10^3 ppm) and increased with decreasing outdoor AER. Terpene iFs during concentration decay periods were similar to, or greater than, iFs during active emission periods for outdoor AERs ≤ 3.0 h^−1. Overall, scented wax warmers/melts were found to release greater quantities of monoterpenes compared to other fragranced consumer products used in the home, including botanical disinfectants, hair care products, air fresheners, and scented sprays. 

Cyclic volatile methyl siloxanes (cVMS) are ubiquitous in hair care products (HCPs). cVMS emissions from HCPs are of concern, given the potential adverse impact of siloxanes on the environment and human health. To characterize cVMS emissions and exposures during the use of HCPs, realistic hair care experiments were conducted in a residential building. Siloxane-based HCPs were tested using common hair styling techniques, including straightening, curling, waving, and oiling. VOC concentrations were measured via proton-transfer-reaction time-of-flight mass spectrometry. HCP use drove rapid changes in the chemical composition of the indoor atmosphere. cVMS dominated VOC emissions from HCP use, and decamethylcyclopentasiloxane (D5) contributed the most to cVMS emissions. cVMS emission factors (EFs) during hair care routines ranged from 110–1500 mg/person and were influenced by HCP type, styling tools, operation temperatures, and hair length. The high temperature of styling tools and the high surface area of hair enhanced VOC emissions. Increasing the hair straightener temperature from room temperature to 210 °C increased cVMS EFs by 50–310%. Elevated indoor cVMS concentrations can result in substantial indoor-to-outdoor transport of cVMS via ventilation (0.4–6 tons D5/year in the U.S.); thus, hair care routines may augment the abundance of cVMS in the outdoor atmosphere.