Contrasting crustal production and rapid mantle transitions beneath back-arc ridges

The opening of back-arc basins behind subduction zones progresses from initial rifting near the volcanic arc to seafloor spreading. During this process, the spreading ridge and the volcanic arc separate and lavas erupted at the ridge are predicted to evolve away from being heavily subduction influenced (with high volatile contents derived from the subducting plate). Current models predict gradational, rather than abrupt, changes in the crust formed along the ridge as the inferred broad melting region beneath it migrates away from heavily subduction-influenced mantle. In contrast, here we show that across-strike and along-strike changes in crustal properties at the Eastern Lau spreading centre are large and abrupt, implying correspondingly large discontinuities in the nature of the mantle supplying melt to the ridge axes. With incremental separation of the ridge axis from the volcanic front of as little as 5?km, seafloor morphology changes from shallower complex volcanic landforms to deeper flat sea floor dominated by linear abyssal hills, upper crustal seismic velocities abruptly increase by over 20%, and gravity anomalies and isostasy indicate crustal thinning of more than 1.9?km. We infer that the abrupt changes in crustal properties reflect rapid evolution of the mantle entrained by the ridge, such that stable, broad triangular upwelling regions, as inferred for mid-ocean ridges, cannot form near the mantle wedge corner. Instead, the observations imply a dynamic process in which the ridge upwelling zone preferentially captures water-rich low-viscosity mantle when it is near the arc. As the ridge moves away from the arc, a tipping point is reached at which that material is rapidly released from the upwelling zone, resulting in rapid changes in the character of the crust formed at the ridge.     

全方位移动避障实时轨迹控制算法的研究

针对机器人避障轨迹控制过程中存在的路径优化以及如何躲避大障碍物或者是多障碍物的情况,本文提出一种基于狄克斯特拉算法与贝塞尔曲线的机器人移动避障实时控制改进算法,该算法引入机器人与目标终点路径的速度分量,采用狄克斯特拉算法进行移动轨迹路径优化,进而采用贝赛尔曲线修订优化路径,以此满足动态约束条件.仿真结果表明:相对于改进人工势场算法,本文构建的改进算法使得机器人移动时间缩短,机器人避障运动规划明显改善,具有较强的鲁棒性.