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This paper presents a behavior-based adaptive mission planner (AMP) to trace a chemical plume to its source and reliably declare the source location. The proposed AMP is implemented on a REMUS autonomous underwater vehicle (AUV) equipped with multiple types of sensors that measure chemical concentration, the flow velocity vector, and AUV position, depth, altitude, attitude, and speed. This paper describes the methods and results from experiments conducted in November 2002 on San Clemente Island, CA, using a plume of Rhodamine dye developed in a turbulent fluid flow (i.e., near-shore ocean conditions). These experiments demonstrated chemical plume tracing over 100 m and source declaration accuracy relative to the nominal source location on the order of tens of meters. The designed maneuvers are divided into four behavior types: finding a plume, tracing the plume, reacquiring the plume, and declaring the source location. The tracing and reacquiring behaviors are inspired by male moths flying upwind along a pheromone plume to locate a sexually receptive female. All behaviors are formulated by perception and action modules and translated into chemical plume-tracing algorithms suitable for implementation on a REMUS AUV. To coordinate the different behaviors, the subsumption architecture is adopted to define and arbitrate the behavior priorities. AUVs capable of such feats would have applicability in searching for environmentally interesting phenomena, unexploded ordnance, undersea wreckage, and sources of hazardous chemicals or pollutants. [ABSTRACT FROM AUTHOR]

Elemental sulfur, a natural substance, is used as a fungicide. Elemental sulfur is the most heavily used agricultural chemical in California. In 2003, annual sulfur usage in California was about 34% of the total weight of pesticide active ingredient used in production agriculture. Even though sulfur is mostly used in dust form, the respiratory health effects of elemental sulfur are not well documented. The purpose of this paper is to address the possible respiratory effect of elemental sulfur using the California Pesticide Illness Database and laboratory experiments with mice. We analyzed the California Pesticide Illness Database between 1991 and 2001. Among 127 reports of definite, probable, and possible illness involving sulfur, 21 cases (16%) were identified as respiratory related. A mouse model was used to examine whether there was an inflammatory or fibrotic response to elemental sulfur. Dust solutions were injected intratracheally into ovalbumin sensitized mice and lung damage was evaluated. Lung inflammatory response was analyzed via total lavage cell counts and differentials, and airway collagen content was analyzed histologically and biochemically. No significant differences from controls were seen in animals exposed to sulfur particles. The findings suggest that acute exposure of elemental sulfur itself may not cause an inflammatory reaction. However, further studies are needed to understand the possible health effects of chronic sulfur exposure and environmental weathering of sulfur dust. [ABSTRACT FROM AUTHOR]

Over the past decade, there has been much publicity surrounding the impact of Methyl tert -butyl ether (MTBE) on drinking water supplies in the United States. In California, the presence of MTBE in groundwater and drinking water has led to a ban on the future use of MTBE in gasoline. Other states, such as those in the northeast, are also seeking ways to reduce or eliminate the use of MTBE due to perceived threats to the environment and public health. Despite claims about the incidence of MTBE in drinking water, no comprehensive characterization has been conducted on the available drinking water monitoring data. This paper provides a detailed analysis of the MTBE drinking water data compiled by the California Department of Health Services (CDHS) from 1995 to 2000. We find that MTBE was detected in about 1.3% of all drinking water samples, 2.5% of drinking water sources, and 3.7% of drinking water systems in California over this 6-year period. Our analysis reveals that many drinking water sources are not sampled routinely for MTBE, and in those sources that appear to be affected by MTBE, the compound is not consistently detected. The majority of MTBE detections are also concentrated in several geographic areas, which contain about 9-21% of the total California population. Average detected MTBE concentrations have decreased significantly since 1995 and 1996, ranging from 5 to 15 ppb over the last 3 years depending on the outcome of interest. Of the samples in which MTBE was present above the analytical detection limit, the concentrations in approximately 73% of drinking water samples and 86% of drinking water sources and systems were below the State's primary health-based standard of 13 ppb. Our findings suggest that, although some drinking water supplies in California have been affected by MTBE, the majority of drinking water sources and systems either have not been affected at all or contain MTBE at concentrations below levels that are likely to be of health concern. [ABSTRACT FROM AUTHOR]