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Abstract. Aerosol interactions with clouds represent a significant uncertainty in our understanding of the Earth system. Deep convective clouds may respond to aerosol perturbations in several ways that have proven difficult to elucidate with observations. Here, we leverage the two busiest maritime shipping lanes in the world, which emit aerosol particles and their precursors into an otherwise relatively clean tropical marine boundary layer, to make headway on the influence of aerosol on deep convective clouds. The recent 7-fold change in allowable fuel sulfur by the International Maritime Organization allows us to test the sensitivity of the lightning to changes in ship plume aerosol number-size distributions. We find that, across a range of atmospheric thermodynamic conditions, the previously documented enhancement of lightning over the shipping lanes has fallen by over 40 %. The enhancement is therefore at least partially aerosol-mediated, a conclusion that is supported by observations of droplet number at cloud base, which show a similar decline over the shipping lane. These results have fundamental implications for our understanding of aerosol–cloud interactions, suggesting that deep convective clouds are impacted by the aerosol number distribution in the remote marine environment. 

Rendezvous with sperm whales for biological observations is made challenging by their prolonged dive patterns. Here, we propose an algorithmic framework that codevelops multiagent reinforcement learning–based routing (autonomy module) and synthetic aperture radar–based very high frequency (VHF) signal–based bearing estimation (sensing module) for maximizing rendezvous opportunities of autonomous robots with sperm whales. The sensing module is compatible with low-energy VHF tags commonly used for tracking wildlife. The autonomy module leverages in situ noisy bearing measurements of whale vocalizations, VHF tags, and whale dive behaviors to enable time-critical rendezvous of a robot team with multiple whales in simulation. We conducted experiments at sea in the native habitat of sperm whales using an “engineered whale”—a speedboat equipped with a VHF-emitting tag, emulating five distinct whale tracks, with different whale motions. The sensing module shows a median bearing error of 10.55° to the tag. Using bearing measurements to the engineered whale from an acoustic sensor and our sensing module, our autonomy module gives an aggregate rendezvous success rate of 81.31% for a 500-meter rendezvous distance using three robots in postprocessing. A second class of fielded experiments that used acoustic-only bearing measurements to three untagged sperm whales showed an aggregate rendezvous success rate of 68.68% for a 1000-meter rendezvous distance using two robots in postprocessing. We further validated these algorithms with several ablation studies using a sperm whale visual encounter dataset collected by marine biologists. 

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping. 

Marine cloud brightening (MCB) is the deliberate injection of aerosol particles into shallow marine clouds to increase their reflection of solar radiation and reduce the amount of energy absorbed by the climate system. From the physical science perspective, the consensus of a broad international group of scientists is that the viability of MCB will ultimately depend on whether observations and models can robustly assess the scale-up of local-to-global brightening in today’s climate and identify strategies that will ensure an equitable geographical distribution of the benefits and risks associated with projected regional changes in temperature and precipitation. To address the physical science knowledge gaps required to assess the societal implications of MCB, we propose a substantial and targeted program of research—field and laboratory experiments, monitoring, and numerical modeling across a range of scales. 

Regulation systems for fluid-driven soft robots predominantly consist of inflexible and bulky components. These rigid structures considerably limit the adaptability and mobility of these robots. Soft valves in various forms for fluidic actuators have been developed, primarily fluidically or electrically driven. However, fluidic soft valves require external pressure sources that limit robot locomotion. State-of-the-art electrostatic valves are unable to modulate pressure beyond 3.5 kPa with a sufficient flow rate (>6 mL⋅min −1 ). In this work, we present an electrically powered soft valve for hydraulic actuators with mesoscale channels based on a different class of ultrahigh-power density dynamic dielectric elastomer actuators. The dynamic dielectric elastomer actuators (DEAs) are actuated at 500 Hz or above. These DEAs generate 300% higher blocked force compared with the dynamic DEAs in previous works and their loaded power density reaches 290 W⋅kg −1 at operating conditions. The soft valves are developed with compact (7 mm tall) and lightweight (0.35 g) dynamic DEAs, and they allow effective control of up to 51 kPa of pressure and a 40 mL⋅min −1 flow rate with a response time less than 0.1 s. The valves can also tune flow rates based on their driving voltages. Using the DEA soft valves, we demonstrate control of hydraulic actuators of different volumes and achieve independent control of multiple actuators powered by a single pressure source. This compact and lightweight DEA valve is capable of unprecedented electrical control of hydraulic actuators, showing the potential for future onboard motion control of soft fluid-driven robots. 

The Arctic is warming at almost four times the global rate. Cooling caused by anthropogenic aerosols has been estimated to offset sixty percent of greenhouse-gas-induced Arctic warming, but the contribution of aerosols to radiative forcing (RF) represents the largest uncertainty in estimating total RF, largely due to unknown preindustrial aerosol abundance. Here, sulfur isotope measurements in a Greenland ice core show that passive volcanic degassing contributes up to 66 ± 10% of preindustrial ice core sulfate in years without major eruptions. A state-of-the-art model indicates passive volcanic sulfur emissions influencing the Arctic are underestimated by up to a factor of three, possibly because many volcanic inventories do not include hydrogen sulfide emissions. Higher preindustrial volcanic sulfur emissions reduce modeled anthropogenic Arctic aerosol cooling by up to a factor of two (+0.11 to +0.29 W m-2 (watts per square meter)), suggesting that underestimating passive volcanic sulfur emissions has significant implications for anthropogenic-induced Arctic climate change. These data include sulfur isotopes of sulfate measurements from a Greenland ice core and volcanic gas measurements (CO2:S (carbon dioxide:sulfur) ratios) from various volcanoes and hot springs in Iceland.