Three generations of automatically designed robots.

The difficulties associated with designing, building, and controlling robots have led their development to a stasis: Applications are limited mostly to repetitive tasks with predefined behavior. Over the last few years we have been trying to address this challenge through an alternative approach: Rather than trying to control an existing machine or create a general-purpose robot, we propose that both the morphology and the controller should evolve at the same time. This process can lead to the automatic design of special-purpose mechanisms and controllers for specific short-term objectives. Here we provide a brief review of three generations of our recent research, which underlies the robots shown on the cover of this issue: Automatically designed static structures, automatically designed and manufactured dynamic electromechanical systems, and modular robots automatically designed through a generative DNA-like encoding.

Automatic design and manufacture of robotic lifeforms.

Biological life is in control of its own means of reproduction, which generally involves complex, autocatalysing chemical reactions. But this autonomy of design and manufacture has not yet been realized artificially. Robots are still laboriously designed and constructed by teams of human engineers, usually at considerable expense. Few robots are available because these costs must be absorbed through mass production, which is justified only for toys, weapons and industrial systems such as automatic teller machines. Here we report the results of a combined computational and experimental approach in which simple electromechanical systems are evolved through simulations from basic building blocks (bars, actuators and artificial neurons); the 'fittest' machines (defined by their locomotive ability) are then fabricated robotically using rapid manufacturing technology. We thus achieve autonomy of design and construction using evolution in a 'limited universe' physical simulation coupled to automatic fabrication.

Absorption and scattering properties of the Martian dust in the solar wavelengths.

A new wavelength-dependent model of the single-scattering properties of the Martian dust is presented. The model encompasses the solar wavelengths (0.3 to 4.3 micrometers at 0.02 micrometer resolution) and does not assume a particular mineralogical composition of the particles. We use the particle size distribution, shape, and single-scattering properties at Viking Lander wavelengths presented by Pollack et al. [1995]. We expand the wavelength range of the aerosol model by assuming that the atmospheric dust complex index of refraction is the same as that of dust particles in the bright surface geologic units. The new wavelength-dependent model is compared to observations taken by the Viking Orbiter Infrared Thermal Mapper solar channel instrument during two dust storms. The model accurately matches afternoon observations and some morning observations. Some of the early morning observations are much brighter than the model results. The increased reflectance can be ascribed to the formation of a water ice shell around the dust particles, thus creating the water ice clouds which Colburn et al. [1989], among others, have predicted.

Radiative heating of interstellar grains falling toward the solar nebula: 1-D diffusion calculations.

As the dense molecular cloud that was the precursor of our Solar System was collapsing to form a protosun and the surrounding solar-nebula accretion disk, infalling interstellar grains were heated much more effectively by radiation from the forming protosun than by radiation from the disk's accretion shock. Accordingly, we have estimated the temperatures experienced by these infalling grains using radiative diffusion calculations whose sole energy source is radiation from the protosun. Although the calculations are 1-dimensional, they make use of 2-D, cylindrically symmetric models of the density structure of a collapsing, rotating cloud. The temperature calculations also utilize recent models for the composition and radiative properties of interstellar grains (Pollack et al. 1994. Astrophys. J. 421, 615-639), thereby allowing us to estimate which grain species might have survived, intact, to the disk accretion shock and what accretion rates and molecular-cloud rotation rates aid that survival. Not surprisingly, we find that the large uncertainties in the free parameter values allow a wide range of grain-survival results: (1) For physically plausible high accretion rates or low rotation rates (which produce small accretion disks), all of the infalling grain species, even the refractory silicates and iron, will vaporize in the protosun's radiation field before reaching the disk accretion shock. (2) For equally plausible low accretion rates or high rotation rates (which produce large accretion disks), all non-ice species, even volatile organics, will survive intact to the disk accretion shock. These grain-survival conclusions are subject to several limitations which need to be addressed by future, more sophisticated radiative-transfer models. Nevertheless, our results can serve as useful inputs to models of the processing that interstellar grains undergo at the solar nebula's accretion shock, and thus help address the broader question of interstellar inheritance in the solar nebula and present Solar System. These results may also help constrain the size of the accretion disk: for example, if we require that the calculations produce partial survival of organic grains into the solar nebula, we infer that some material entered the disk intact at distances comparable to or greater than a few AU. Intriguingly, this is comparable to the heliocentric distance that separates the C-rich outer parts of the current Solar System from the C-poor inner regions.

Spectroscopy of Mars from 2.04 to 2.44 micrometers during the 1993 opposition: absolute calibration and atmospheric vs mineralogic origin of narrow absorption features.

We present moderate-resolution (lambda/delta lambda = 300 to 370) reflectance spectra of Mars from 2.04 to 2.44 micrometers that were obtained at UKIRT during the 1993 opposition. Seven narrow absorption features were detected and found to have a Mars origin. By comparison with solar and Mars atmospheric spectra, five of these features were attributed all or in part to Mars atmospheric CO2 or CO(2.052 +/- 0.003, 2.114 +/- 0.002, 2.150 +/- 0.003, 2.331 +/- 0.001, and 2.357 +/- 0.002 micrometers). Two of the bands (2.331 +/- 0.001 and 2.357 +/- 0.002 micrometers) appear to have widths and depths that are consistent with additional, nonatmospheric absorptions, although a solar contribution cannot be entirely ruled out. Two other weak bands centered at 2.278 +/- 0.002 and 2.296 +/- 0.002 micrometers may be at least partially mineralogic in origin. The data provide no conclusive identification of the mineralogy responsible for these absorption features. However, examination of terrestrial spectral libraries and previous moderate spectral resolution mineral studies indicates that the most likely origin of these features is either (bi)carbonate or (bi)sulfate anions in framework silicates or (Fe, Mg)-OH bonds in sheet silicates. If the bands are caused by phyllosilicate minerals, then an explanation must be found for the extremely narrow widths of the cation-OH features in the Mars spectra as compared to terrestrial minerals.

H2O-H2SO4 system in Venus' clouds and OCS, CO, and H2SO4 profiles in Venus' troposphere.

A coupled problem of diffusion and condensation is solved for the H2SO4-H2O system in Venus' cloud layer. The position of the lower cloud boundary and profiles of the H2O and H2SO4 vapor mixing ratios and of the H2O/H2SO4 ratio of sulfuric acid aerosol and its flux are calculated as functions of the column photochemical production rate of sulfuric acid, phi H2SO4. Variations of the lower cloud boundary are considered. Our basic model, which is constrained to yield fH2O (30 km) = 30 ppm (Pollack et al. 1993), predicts the position of the lower cloud boundary at 48.4 km coinciding with the mean Pioneer Venus value, the peak H2SO4 mixing ratio of 5.4 ppm, and the H2SO4 production rate phi H2SO4 = 2.2 x 10(12) cm-2 sec-1. The sulfur to sulfuric acid mass flux ratio in the clouds is 1 : 27 in this model, and the mass loading ratio may be larger than this value if sulfur particles are smaller than those of sulfuric acid. The model suggests that the extinction coefficient of sulfuric acid particles with radius 3.7 micrometers (mode 3) is equal to 0.3 km-1 in the middle cloud layer. The downward flux of CO is equal to 1.7 x 10(12) cm-2 sec-1 in this model. Our second model, which is constrained to yield fH2SO4 = 10 ppm at the lower cloud boundary, close to the value measured by the Magellan radiooccultations, predicts the position of this boundary to be at 46.5 km, which agrees with the Magellan data; fH2O(30 km) = 90 ppm, close to the data of Moroz et al. (1983) at this altitude; phi H2SO4 = 6.4 x 10(12) cm-2 sec-1; and phi co = 4.2 x 10(12) cm-2 sec-1. The S/H2SO4 flux mass ratio is 1 : 18, and the extinction coefficient of the mode 3 sulfuric acid particles is equal to 0.9 km-1 in the middle cloud layer. A strong gradient of the H2SO4 vapor mixing ratio near the bottom of the cloud layer drives a large upward flux of H2SO4, which condenses and forms the excessive downward flux of liquid sulfuric acid, which is larger by a factor of 4-7 than the flux in the middle cloud layer. This is the mechanism of formation of the lower cloud layer. Variations of the lower cloud layer are discussed. Our modeling of the OCS and CO profiles in the lower atmosphere measured by Pollack et al. (1993) provides a reasonable explanation of these data and shows that the rate coefficient of the reaction SO3 + CO --> CO2 + SO2 is equal to 10(-11) exp(-(13,100 +/- 1000)/T) cm3/s. The main channel of the reaction between SO3 and OCS is CO2 + (SO)2, and its rate coefficient is equal to 10(-11) exp(-(8900 +/- 500)T)cm3/s. In the conditions of Venus' lower atmosphere, (SO)2 is removed by the reaction (SO)2 + OCS --> CO + S2 + SO2. The model predicts an OCS mixing ratio of 28 ppm near the surface.

An evolutionary algorithm that constructs recurrent neural networks.

Standard methods for simultaneously inducing the structure and weights of recurrent neural networks limit every task to an assumed class of architectures. Such a simplification is necessary since the interactions between network structure and function are not well understood. Evolutionary computations, which include genetic algorithms and evolutionary programming, are population-based search methods that have shown promise in many similarly complex tasks. This paper argues that genetic algorithms are inappropriate for network acquisition and describes an evolutionary program, called GNARL, that simultaneously acquires both the structure and weights for recurrent networks. GNARL's empirical acquisition method allows for the emergence of complex behaviors and topologies that are potentially excluded by the artificial architectural constraints imposed in standard network induction methods.

Coupled atmosphere-ocean models of Titan's past.

We have developed a coupled atmosphere and ocean model of Titan's surface. The atmospheric model is a 1-D spectrally-resolved radiative-convective model. The ocean thermodynamics are based upon solution theory. The ocean, initially composed of CH4, becomes progressively enriched in ethane over time. The partial pressures of N2 and CH4 in the atmosphere are dependent on the ocean temperature and composition. We find that the resulting system is stable against a runaway greenhouse. Accounting for the decreased solar luminosity, we find that Titan's surface temperature was about 20 K colder 4 Gyr ago. Without an ocean, but only small CH4 lakes, the temperature change is 12 K. In both cases we find that the surface of Titan may have been ice covered about 3 Gyr ago. In the lakes case condensation of N2 provides the ice, whereas in the ocean case the ocean freezes. The dominant factor influencing the evolution of Titan's surface temperature is the change in the solar constant--amplified, if an ocean is present, by the temperature dependence of the solubility of N2. Accretional heating can dramatically alter the surface temperature; a surface thermal flux of 500 erg cm-2 sec-1, representative of small levels of accretional heating, results in a approximately 20 K change in surface temperatures.

Impact-generated atmospheres over Titan, Ganymede, and Callisto.

The competition between impact erosion and impact supply of volatiles to planetary atmospheres can determine whether a planet or satellite accumulates an atmosphere. In the absence of other processes (e.g., outgassing), we find either that a planetary atmosphere should be thick, or that there should be no atmosphere at all. The boundary between the two extreme cases is set by the mass and velocity distributions and intrinsic volatile content of the impactors. We apply our model specifically to Titan, Callisto, and Ganymede. The impacting population is identified with comets, either in the form of stray Uranus-Neptune planetesimals or as dislodged Kuiper belt comets. Systematically lower impact velocities on Titan allow it to retain a thick atmosphere, while Callisto and Ganymede get nothing. Titan's atmosphere may therefore be an expression of a late-accreting, volatile-rich veneer. An impact origin for Titan's atmosphere naturally accounts for the high D/H ratio it shares with Earth, the carbonaceous meteorites, and Halley. It also accounts for the general similarity of Titan's atmosphere to those of Triton and Pluto, which is otherwise puzzling in view of the radically different histories and bulk compositions of these objects.

Images from galileo of the venus cloud deck.

Images of Venus taken at 418 (violet) and 986 [near-infrared (NIR)] nanometers show that the morphology and motions of large-scale features change with depth in the cloud deck. Poleward meridional velocities, seen in both spectral regions, are much reduced in the NIR In the south polar region the markings in the two wavelength bands are strongly anticorrelated. The images follow the changing state of the upper cloud layer downwind of the subsolar point, and the zonal flow field shows a longitudinal periodicity that may be coupled to the formation of large-scale planetary waves. No optical lightning was detected.

Galileo infrared imaging spectroscopy measurements at venus.

During the 1990 Galileo Venus flyby, the Near Infaied Mapping Spectrometer investigated the night-side atmosphere of Venus in the spectral range 0.7 to 5.2 micrometers. Multispectral images at high spatial resolution indicate substanmial cloud opacity variations in the lower cloud levels, centered at 50 kilometers altitude. Zonal and meridional winds were derived for this level and are consistent with motion of the upper branch of a Hadley cell. Northern and southern hemisphere clouds appear to be markedly different. Spectral profiles were used to derive lower atmosphere abundances of water vapor and other species.

The greenhouse and antigreenhouse effects on Titan.

There are many parallels between the atmospheric thermal structure of the Saturnian satellite Titan and the terrestrial greenhouse effect; these parallels provide a comparison for theories of the heat balance of Earth. Titan's atmosphere has a greenhouse effect caused primarily by pressure-induced opacity of N2, CH4, and H2. H2 is a key absorber because it is primarily responsible for the absorption in the wave number 400 to 600 cm-1 "window" region of Titan's infrared spectrum. The concentration of CH4, also an important absorber, is set by the saturation vapor pressure and hence is dependent on temperature. In this respect there is a similarity between the role of H2 and CH4 on Titan and that of CO2 and H2O on Earth. Titan also has an antigreenhouse effect that results from the presence of a high-altitude haze layer that is absorbing at solar wavelengths but transparent in the thermal infrared. The antigreenhouse effect on Titan reduces the surface temperature by 9 K whereas the greenhouse effect increases it by 21 K. The net effect is that the surface temperature (94 K) is 12 K warmer than the effective temperature (82 K). If the haze layer were removed, the antigreenhouse effect would be greatly reduced, the greenhouse effect would become even stronger, and the surface temperature would rise by over 20 K.

The dark side of Venus: near-infrared images and spectra from the Anglo-Australian observatory.

Near-infrared images and spectra of the night side of Venus taken at the Anglo-Australian Telescope during February 1990 reveal four new thermal emission windows at 1.10, 1.18, 1.27, and 1.31 micrometers, in addition to the previously discovered windows at 1.74 and 2.3 micrometers. Images of the Venus night side show similar bright and dark markings in all windows, but their contrast is much lower at short wavelengths. The 1.27-micrometers window includes a bright, high-altitude O2 airglow feature in addition to a thermal contribution from the deep atmosphere. Simulations of the 1.27- and 2.3 micrometers spectra indicate water vapor mixing ratios near 40 +/- 20 parts per million by volume between the surface and the cloud base. No large horizontal gradients in the water vapor mixing ratios were detected at these altitudes.

Scatterers in Triton's Atmosphere: Implications for the Seasonal Volatile Cycle.

Nitrogen and methane ices on the surface of Triton, Neptune's largest satellite, are exchanged between the summer and winter hemispheres on a seasonal time scale. Images of the satellite's sky obtained by the Voyager 2 spacecraft show the presence of several types of scattering materials that provide insights into this seasonal cycle of volatiles. Discrete clouds, probably composed of N(2) ice particles, arise in regions of active sublimation. They are found chiefly poleward of 30 degrees S in the southern, summer hemisphere. Haze particles, probably made of hydrocarbon ices, are present above most, but not all places. Recent snowfall may have occurred at low southern latitudes in places where they are absent. The latent heat released in the formation of the discrete clouds may have a major impact on the thermal balance of the lower atmosphere. Triton may have been less red at the time of the Voyager flyby than 12 years earlier due to recent N(2) snowfall at a wide range of latitudes.

Xenon fractionation in porous planetesimals.

The distinctively fractionated Xe on Mars and Earth may have its root in a common source from which both planets accreted. We begin with Ozima and Nakazawa's hypothesis that terrestrial Xe fractionation was caused by gravitational separation of adsorbed solar nebular gases inside large porous planetesimals. We point out that Xe would have been trapped as the planetesimal grew and pores were squeezed shut by lithostatic pressure. We show that enough fractionated Xe to supply the Earth could have been trapped this way. The degree of fractionation is controlled by the lithostatic pressure at the pore-closing front and so would have been roughly the same for all large planetesimals. The predicted degree of fractionation agrees well with that preserved in terrestrial and martian Xe. Relative to Xe, this source is strongly depleted in other noble gases. In contrast to the original Ozima and Nakazawa hypothesis, our hypothesis predicts the observed fractionation, and it allows planetary accretion to occur after the dissipation of the solar nebula. The required planetesimals are large, representing a class of object now extinct in the solar system.

Climate and smoke: an appraisal of nuclear winter.

The latest understanding of nuclear winter is reviewed. Considerable progress has been made in quantifying the production and injection of soot by large-scale fires, the regional and global atmospheric dispersion of the soot, and the resulting physical, environmental, and climatic perturbations. New information has been obtained from laboratory studies, field experiments, and numerical modeling on a variety of scales (plume, mesoscale, and global). For the most likely soot injections from a full-scale nuclear exchange, three-dimensional climate simulations yield midsummer land temperature decreases that average 10 degrees to 20 degrees C in northern mid-latitudes, with local cooling as large as 35 degrees C, and subfreezing summer temperatures in some regions. Anomalous atmospheric circulations caused by solar heating of soot is found to stabilize the upper atmosphere against overturning, thus increasing the soot lifetime, and to accelerate interhemispheric transport, leading to persistent effects in the Southern Hemisphere. Serious new environmental problems associated with soot injection have been identified, including disruption of monsoon precipitation and severe depletion of the stratospheric ozone layer in the Northern Hemisphere. The basic physics of nuclear winter has been reaffirmed through several authoritative international technical assessments and numerous individual scientific investigations. Remaining areas of uncertainty and research priorities are discussed in view of the latest findings.

Mass fractionation of noble gases in diffusion-limited hydrodynamic hydrogen escape.

Mass fractionation by hydrodynamic hydrogen escape is a promising mechanism for explaining the observed elemental and isotopic abundance patterns in terrestrial planet atmospheres. Previous work has considered only pure hydrogen winds. Here, the theory of mass fractionation by hydrogen escape is extended to atmospheres in which hydrogen is not the only major constituent. Analytical solutions are derived for cases in which all relevant atmospheric constituents escape; both analytical and numerical solutions are obtained for cases in which important heavy constituents are retained. In either case the fractionation patterns that result can differ significantly from those produced by pure hydrogen winds. Three applications of the theory are discussed: (1) The observed fractionation of terrestrial atmospheric neon with respect to mantle neon can be explained as a by-product of diffusion-limited hydrogen escape from a steam atmosphere toward the end of accretion. (2) The anomalously high Martian (SNC) 38Ar/36Ar ratio is attributed to hydrodynamic fractionation by a vigorously escaping, nearly pure hydrogen wind. (3) It is possible that the present high Martian D/H ratio was established during the same hydrodynamic escape phase that fractionated argon, but the predicted degree of D/H enrichment is sensitive to other, less well constrained parameters.

Voyager 2 at neptune: imaging science results.

Voyager 2 images of Neptune reveal a windy planet characterized by bright clouds of methane ice suspended in an exceptionally clear atmosphere above a lower deck of hydrogen sulfide or ammonia ices. Neptune's atmosphere is dominated by a large anticyclonic storm system that has been named the Great Dark Spot (GDS). About the same size as Earth in extent, the GDS bears both many similarities and some differences to the Great Red Spot of Jupiter. Neptune's zonal wind profile is remarkably similar to that of Uranus. Neptune has three major rings at radii of 42,000, 53,000, and 63,000 kilometers. The outer ring contains three higher density arc-like segments that were apparently responsible for most of the ground-based occultation events observed during the current decade. Like the rings of Uranus, the Neptune rings are composed of very dark material; unlike that of Uranus, the Neptune system is very dusty. Six new regular satellites were found, with dark surfaces and radii ranging from 200 to 25 kilometers. All lie inside the orbit of Triton and the inner four are located within the ring system. Triton is seen to be a differentiated body, with a radius of 1350 kilometers and a density of 2.1 grams per cubic centimeter; it exhibits clear evidence of early episodes of surface melting. A now rigid crust of what is probably water ice is overlain with a brilliant coating of nitrogen frost, slightly darkened and reddened with organic polymer material. Streaks of organic polymer suggest seasonal winds strong enough to move particles of micrometer size or larger, once they become airborne. At least two active plumes were seen, carrying dark material 8 kilometers above the surface before being transported downstream by high level winds. The plumes may be driven by solar heating and the subsequent violent vaporization of subsurface nitrogen.

Neptune's Wind Speeds Obtained by Tracking Clouds in Voyager Images.

Images of Neptune obtained by the narrow-angle camera of the Voyager 2 spacecraft reveal large-scale cloud features that persist for several months or longer. The features' periods of rotation about the planetary axis range from 15.8 to 18.4 hours. The atmosphere equatorward of -53 degrees rotates with periods longer than the 16.05-hour period deduced from Voyager's planetary radio astronomy experiment (presumably the planet's internal rotation period). The wind speeds computed with respect to this radio period range from 20 meters per second eastward to 325 meters per second westward. Thus, the cloud-top wind speeds are roughly the same for all the planets ranging from Venus to Neptune, even though the solar energy inputs to the atmospheres vary by a factor of 1000.