The authors present preliminary results from a new research project based in Jebel Shaqadud, Sudan. Their findings highlight the potential for this region's archaeological record to expand our understanding of the adaptation strategies used by human groups in arid north-east African environments away from rivers and lakes during the Holocene. Furthermore, they present exceptionally early radiocarbon dates that push postglacial human occupation in the eastern Sahel back to the twelfth millennium BP.

The relationship between prehistoric populations and water is often poorly understood, partly as a function of historical reliance on qualitative and fragmentary datasets in many regions. Here, we adopt a quantitative approach to analyze a specific aspect of the relationship between prehistoric populations and water for the Cotswold Hills, southwest UK; an area of documented hydrogeological change and extensive Neolithic (ca. 5.5 ka) activity. Using a database of all known Neolithic monuments, we interrogate the significance of water to their habitation. By marshaling a large dataset of recent (ca. 100 years) changes in the discharge and elevation of 259 springs, we establish a striking negative relationship between present-day spring discharge and annual elevation change. We then formulate an inverse problem to predict spring elevations in Neolithic times. Spring elevations are predicted to be closer to, and higher than, Neolithic-dated sites relative to the location of modern springs. These results emphasize a utilitarian and/or reverential link between water and prehistoric populations. Our approach of reconciling markedly different datasets and timescales can easily be adapted to other regions. While groundwater had behaved reasonably predictably since Neolithic times, recent human activity is (and will continue to be) far more significant in influencing groundwater behavior.

In recent decades some archaeologists have come to doubt key components and properties of the Late Neolithic/Early Bronze Age (EBA) Avebury monument complex. By site excavation of the Beckhampton Avenue, Silbury Hill, and the West Kennet Palisades the idea of an integrated group of contemporaneous monuments has been thrown into doubt. In this paper these critiques are themselves critiqued and further tested by an inter-disciplinary exercise integrating archaeology, landscape phenomenology, and archaeoastronomy. It is suggested that the emergent properties of this procedure reveal that these recent doubts are unfounded and that this monument complex was designed for rituals to initiate neophytes by simulating journeys through a virtual underworld.

Springs in the 40 to 50 large lake basins (>15 km2) on the southern portion of the Southern High Plains (SHP) were active during periods of aridity in the Holocene when there may have been human habitation of the area. Eolian erosion of the lake floors and lunette accretion occurred as groundwater levels declined in response to decreased groundwater recharge. The declining lake floor associated with eolian erosion allowed groundwater evaporative discharge to continue, thus maintaining a groundwater gradient toward the lake. This hydrologic condition was favorable for a relatively continuous spring discharge to the lake, independent of the elevation of the lake floor. To evaluate the postulated dynamic equilibrium critical to this conclusion, 17 optically stimulated ages were determined from a 17.7-m deep core of a lunette adjacent to Double Lakes, Texas (33°13′15″N, 101°54′08″W). The core yielded sediment accumulation dates of 11,500±1100, 6500±700, and 4900±500 yr B.P., corresponding broadly with periods of aridity known from other evidence. Based on analysis of this lunette, it is concluded that springs in Double Lakes basin probably existed throughout the Holocene with discharges similar to those observed historically. We assumed that similar dynamic equilibrium existed in the other large lake basins in the SHP and that these springs could have provided a continuous source of water for indigenous peoples during periods of prolonged aridity. The dynamic equilibrium that is proposed in this study is applicable not only to other arid and semiarid geographic areas with wind-erodible material but also over different geologic times.

The records of early hominins are commonly localized both temporally and spatially even in archaeologically rich basins like Olduvai Gorge, Tanzania. The FLK North site was discovered in 1960, but the reason for the exact location of this dense concentration of fossils and stone tools on a lake-margin flat has not been explained. We present new geological and geochemical information from six excavations in upper Bed I, which revealed up to 1.4-m-thick carbonate deposits, attesting to the presence of freshwater springs in the area surrounding FLK North. The δ18O signatures of the tufa are typical for meteoric water that has evolved during evaporation. Tuff IF that caps the sequence was deposited on uneven topography with the highest area a low-relief ridge between two faults at the archaeological site and lowest areas being sites of groundwater discharge. The model proposed here is that rainfall on adjacent highlands was transported to the basin where faults acted as conduits for water. Similar hydrogeological settings at modern lakes Manyara and Eyasi, currently support lush groundwater forest and woodland despite arid climate. FLK North may have been an “oasis” offering freshwater and shelter for consuming meat by both carnivores and hominins.

Recent radiocarbon dates obtained from two soil cores taken through the Marlborough Castle mound, Wiltshire, show the main body of it to be a contemporaneous monument to Silbury Hill, dating to the second half of the 3rd millennium cal bc. In light of these dates, this paper considers the sequence identified within the cores, which includes two possible flood events early in the construction of the mound. It also describes four cores taken through the surrounding ditch, as well as small-scale work to the north-east of the mound. The topographic location of the mound in a low-lying area and close to rivers and springs is discussed, and the potential for Late Neolithic sites nearby is set out, with the land to the south of the mound identified as an area for future research. The paper ends with the prospect that other apparent mottes in Wiltshire and beyond may well also have prehistoric origins

We examined the associations of microorganism assemblages with a complete mineral richness gradient spanning from extremely mineral-rich tufa-forming calcareous fens to mineral-poor acidic Sphagnum-fens. We also compared the distribution of two dominant taxa, testate amoebae and monogonont rotifers, among the sites differing in water chemistry and among three microhabitats sampled at each site differing in substrate and moisture conditions. Microorganism assemblages primarily changed in relation to the mineral richness gradient; moisture was the second most important factor structuring microorganism assemblages among microhabitats (i.e., wet bryophytes, submerged bryophytes and waterlogged bottom sediments). Densities of testate amoebae taxa and individuals were the highest in rich Sphagnum-fens, indicating a unimodal pattern along the mineral richness gradient. Numbers of testate amoebae taxa decreased notably in wet bryophytes, especially in poor Sphagnum-fens. This pattern might result from a strong effect of Sphagnum acidification due to minimal or no dilution of the acidic environment by mineral-rich groundwater. As a consequence, acid tolerant and relatively xerophilous taxa chiefly dominated in wet bryophytes of poor Sphagnum-fens, while poor Sphagnum-fen bottom sediments could provide a refuge for less tolerant and hydrophilous species. In contrast to testate amoebae, monogonont rotifers preferred bryophytes in all sites, with the number of monogonont taxa distinctly increasing from calcareous fens to poor Sphagnum-fens. In poor Sphagnum-fens, monogononts were the most abundant in wet bryophytes, probably due to reduced food competition and/or predaceous pressure resulting from the limited occurrence of other groups of microorganisms by virtue of the hostile acidic conditions in wet Sphagnum carpets.

The balancing of robotic systems is an important issue, because it allows significant reduction of torques. However, the literature review shows that the balancing of robotic systems is performed without considering the traveling trajectory. Although in static balancing the gravity effects on the actuators are removed, and in complete balancing the Coriolis, centripetal, gravitational, and cross-inertia terms are eliminated, but it does not mean that the required torque to move the manipulator from one point to another point is minimum. In this paper, “optimal spring balancing” is presented for open-chain robotic system based on indirect solution of open-loop optimal control problem. Indeed, optimal spring balancing is an optimal trajectory planning problem in which states, controls, and all the unknown parameters associated with the springs must be determined simultaneously to minimize the given performance index for a predefined point-to-point task. For this purpose, on the basis of the fundamental theorem of calculus of variations, the necessary conditions for optimality are derived that lead to the optimality conditions associated with Pontryagin's minimum principle and an additional condition associated with the constant parameters. The obtained optimality conditions are developed for a two-link manipulator in detail. Finally, the efficiency of the suggested approach is illustrated by simulation for a two-link manipulator and a PUMA-like robot. The obtained results show that the proposed method has dominant superiority over the previous methods such as static balancing or complete balancing.

To improve understanding of how a rare endemic species of Centaurium adapts to a specialized ecological niche, we studied the germination ecology of the mountain spring specialist, C. somedanum, a perennial species restricted to an unusual habitat for this genus. We conducted laboratory experiments with fresh seeds collected from two populations for three consecutive years, to investigate: (1) the effect of temperature and light on germination; (2) the existence of seed dormancy; and (3) inter-population and inter-annual variation in germinability. Germination occurred only in the light and at relatively low temperatures (15–22°C) with no differences between constant and alternating regimes, and a significant decrease at high temperatures (25°C and 30°C). We found non-deep simple morphophysiological dormancy and variation in seed germinability depending on the year of seed collection. C. somedanum diverged from the common germination characteristics of the genus in: (1) its germination at lower temperatures, which contrasts with what is generally expected in wetland species but could be adaptive in the spring habitat; and (2) its morphophysiological dormancy, which we report here for the first time in the genus and which could be an adaptation to its mountain habitat.

Ecological requirements of ostracods in two limnocrene springs (Usta and Çetin Bey) were investigated between January 2000and July 2002 in Bolu, Turkey. Ten taxa (Candona neglecta, Darwinula stevensoni, Eucypris virens, Eucypris sp., Heterocyprisincongruens, Herpetocypris sp., Ilyocypris bradyi, Potamocypris sp., Scottia pseudobrowniana, Tonnacypris lutaria) werefound. Canonical correspondence analysis (CCA) showed that species with wide cosmopolitan distribution could tolerate highlevels of changes in environmental variables. CCA explained about 80 % and 77 % of the relationships between species andenvironmental variables in Usta and Çetin Bey springs, respectively. Electrical conductivity and dissolved oxygen were the twomost influential factors on species occurrence in each spring. According to Spearman correlation analysis, there were no significantrelationships between the numbers of species and environmental variables in both springs. When dissolved oxygen showedsignificant negative correlations to electrical conductivity, water and air temperature in Usta spring, such correlation wasonly negatively significant (P <0.05, r = -0.46) between electrical conductivity and dissolved oxygen in Çetin Bey spring.Clustering analysis (UPGMA) of presence/absence data divided species into four main groups. Results may suggest that anthropogenicactivities were responsible for decreasing water quality of these springs and reducing species richness. Although increasingincentives for conservation of natural springs were proposed, Çetin Bey spring and especially Usta spring are now highlydegraded.

The larval morphology of 20 water mite species from Alpine springs is described, with that of Protzia distincta, Tartarothyas romanica, Sperchon mutilus, S. resupinus, S. violaceus, Bandakia concreta, Lebertia cuneifera, L. lativentris, L. sefvei, Atractides adnatus, A. panniculatus, A. macrolaminatus and A. walteri being presented for the first time. For the other 7 species (Panisus michaeli, Panisopsis curvifrons, Thyas palustris, Partnunia steinmanni, Sperchon thienemanni, Lebertia zschokkei and Hygrobates norvegicus), old descriptions exist but, in most cases are not accurate enough to be usable in taxonomy. These species have therefore been re-described. Some general observations on larval morphology and taxonomy are discussed. A short survey of the larval descriptions of West-Palaearctic water mites in general and of spring-living taxa in particular is given, together with a perspective for future research into larval morphology in this geographical area.

The author reports new collections of 10 water-mite species from the Peloponnes (Greece), Sardinia (Italy), Corsica (France), and Andalusia (Spain). Barbaxonella reverendissima is described as a new species ; first descriptions are given of the male of Bandakia Corsica, the larva of Monotonia tegulata and the deutonymphs of Psammotorrenticola gracilis, Utaxatax ventriplax and Momonides lundbladi. Momonisia phreatica and Bandakia concreta were found for the first time in the Mediterranean region. The zoogeographical significance of the new records is briefly discussed.