Quaternary glaciationThe Quaternary glaciation, also known as the Pleistocene glaciation, is an alternating series of glacial and interglacial periods during the Quaternary period that began 2.58 Ma (million years ago) and is ongoing. Although geologists describe this entire period up to the present as an "ice age", in popular culture this term usually refers to the most recent glacial period, or to the Pleistocene epoch in general. Since Earth still has polar ice sheets, geologists consider the Quaternary glaciation to be ongoing, though currently in an interglacial period.
WaterwayA waterway is any navigable body of water. Broad distinctions are useful to avoid ambiguity, and disambiguation will be of varying importance depending on the nuance of the equivalent word in other languages. A first distinction is necessary between maritime shipping routes and waterways used by inland water craft. Maritime shipping routes cross oceans and seas, and some lakes, where navigability is assumed, and no engineering is required, except to provide the draft for deep-sea shipping to approach seaports (channels), or to provide a short cut across an isthmus; this is the function of ship canals.
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
Decompression sicknessDecompression sickness (abbreviated DCS; also called divers' disease, the bends, aerobullosis, and caisson disease) is a medical condition caused by dissolved gases emerging from solution as bubbles inside the body tissues during decompression. DCS most commonly occurs during or soon after a decompression ascent from underwater diving, but can also result from other causes of depressurisation, such as emerging from a caisson, decompression from saturation, flying in an unpressurised aircraft at high altitude, and extravehicular activity from spacecraft.
Channel (geography)In physical geography, a channel is a type of landform consisting of the outline of a path of relatively shallow and narrow body of water or of other fluids (e.g., lava), most commonly the confine of a river, river delta or strait. The word is generally used to refer to a natural formation of a narrow and is cognate to canal, which is more commonly used to denote an artificial formation. Channels are important for the functionality of ports and other bodies of water used for navigability for shipping.
Diving regulatorA diving regulator is a pressure regulator that controls the pressure of breathing gas for diving. The most commonly recognised application is to reduce pressurized breathing gas to ambient pressure and deliver it to the diver, but there are also other types of gas pressure regulator used for diving applications. The gas may be air or one of a variety of specially blended breathing gases. The gas may be supplied from a scuba cylinder carried by the diver, in which case it is called a scuba regulator, or via a hose from a compressor or high-pressure storage cylinders at the surface in surface-supplied diving.
Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Decompression theoryDecompression theory is the study and modelling of the transfer of the inert gas component of breathing gases from the gas in the lungs to the tissues and back during exposure to variations in ambient pressure. In the case of underwater diving and compressed air work, this mostly involves ambient pressures greater than the local surface pressure, but astronauts, high altitude mountaineers, and travellers in aircraft which are not pressurised to sea level pressure, are generally exposed to ambient pressures less than standard sea level atmospheric pressure.
Earth's rotationEarth's rotation or Earth's spin is the rotation of planet Earth around its own axis, as well as changes in the orientation of the rotation axis in space. Earth rotates eastward, in prograde motion. As viewed from the northern polar star Polaris, Earth turns counterclockwise. The North Pole, also known as the Geographic North Pole or Terrestrial North Pole, is the point in the Northern Hemisphere where Earth's axis of rotation meets its surface. This point is distinct from Earth's North Magnetic Pole.
Rotation matrixIn linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates v = (x, y), it should be written as a column vector, and multiplied by the matrix R: If x and y are the endpoint coordinates of a vector, where x is cosine and y is sine, then the above equations become the trigonometric summation angle formulae.
