Improving trajectory estimation using 3D city models and kinematic point clouds

Accurate and robust positioning of vehicles in urban environments is of high importance for autonomous driving or mobile mapping. In mobile mapping systems, a simultaneous mapping of the environment using laser scanning and an accurate positioning using global navigation satellite systems are targeted. This requirement is often not guaranteed in shadowed cities where global navigation satellite system signals are usually disturbed, weak or even unavailable. We propose a novel approach which incorporates prior knowledge (i.e., a 3D city model of the environment) and improves the trajectory. The recorded point cloud is matched with the semantic city model using a point‐to‐plane iterative closest point method. A pre‐classification step enables an informed sampling of appropriate matching points. Random forest is used as classifier to discriminate between facade and remaining points. Local inconsistencies are tackled by a segmentwise partitioning of the point cloud where an interpolation guarantees a seamless transition between the segments. The general applicability of the method implemented is demonstrated on an inner‐city data set recorded with a mobile mapping system.     

Materials embodied in international trade – Global material extraction and consumption between 1995 and 2005

Production and consumption activities in industrialized countries are increasingly dependent on material and energy resources from other world regions and imply significant economic and environmental consequences in other regions around the world. The substitution of domestic material extraction and processing through imports is also shifting environmental burden abroad and thus extends the responsibility for environmental impacts as well as social consequences from the national to the global level. Based on the results of the Global Resource Accounting Model, this paper presents the first trade balances and consumption indicators for embodied materials in a time series from 1995 to 2005. The model includes 53 countries and two world regions. It is based on the 2009 edition of the input–output tables and bilateral trade data published by the Organisation for Economic Co-operation and Development (OECD) and is extended by physical data on global material extraction. The results quantify the global shift of embodied material resources from developing and emerging countries to the industrialized world. In addition to the level of industrialization and wealth, population density is identified as an important factor for the formation of physical trade patterns. Exports of embodied materials of less densely populated countries tend to surpass their imports, and vice versa. We also provide a quantitative comparison between conventionally applied indicators on material consumption based on direct material flows and indicators including embodied material flows. We show that the difference between those two indicators can be as much as 200%, calling for an adjustment of conventional national material flow indicators. Multi-regional input–output models prove to be a useful methodological approach to derive globally consistent and comprehensive data on material embodiments of trade and consumption.     

Coupling the atmosphere with interior dynamics: Implications for the resurfacing of Venus

We calculated 2D and 3D mantle convection models for Venus using digitized atmosphere temperatures from the model of Bullock and Grinspoon (Bullock, M.A., Grinspoon, D.H. [2001]. Icarus 150, 19–37) to study the interaction between interior dynamics and atmosphere thermal evolution. The coupling between atmosphere and interior occurs through mantle degassing and the effect of varying concentrations of the greenhouse gas H₂O on the surface temperature. Exospheric loss of hydrogen to space is accounted for as a H₂O sink. The surface temperature enters the mantle convection model as a boundary condition.Our results suggest a self-consistent feedback mechanism between the interior and the atmosphere resulting in spatial–temporal surface renewal. Greenhouse warming of the atmosphere results in an increase in the surface temperature. Whenever the surface temperature reaches a critical value, the viscosity difference across the lithosphere becomes smaller than about 10⁵ and the surface becomes locally mobile. The critical surface temperature depends on the activation energy for mantle creep, the stress exponent in the non-Newtonian mantle rheology law, and the mantle temperature. Surface renewal together with surface lava flow may explain why the surface of Venus is young on average, i.e. not older than a few hundred million years.The mobilization of the near-surface lithosphere increases the rate of heat removal from the mantle and thereby the interior cooling rate. The enhanced cooling results in a reduction of the water outgassing rates. As a consequence of decreasing water concentrations in the atmosphere, the surface temperature decreases. Our model calculations suggest that Venus should have been geologically active until recently. This is in agreement with several lines of observational evidence from thermal emissivity measurements and crater distribution analyses.     

AgClimate: a case study in participatory decision support system development

Potential economic benefit exists from the use of seasonal climate forecasts in agriculture. To assess potential end user attitudes toward and interests in climate data, and to provide inputs from users to the development of decision support tools, we conducted a series of surveys. Survey results affected the design, development, and enhancement of AgClimate, a web-based decision support system for minimizing climate risks to agriculture. The overall process is an example of how decision makers can participate in the research process, thereby improving the value and relevance of research products such as decision support systems.     

The phenomenon of deficient electron microprobe totals in radiation-damaged and altered zircon

The phenomenon of deficient electron microprobe analyses, with sums of analyzed constituents often below 95 wt%, is assigned to the analysis of altered, porous minerals. With the example of three zircon populations we show that low totals are related to textural features (i.e., numerous pores of tens to hundreds of nanometers size) as well as to the chemical composition (i.e., water content well within the wt% range, which may affect partial sample degradation under the electron beam). The formation of the spongy texture is explained by the alteration of a previously radiation-damaged and, thus, volume-expanded material in a fluid-driven replacement reaction. The smaller volume of the reaction product (crystalline, non volume-expanded zircon) accounts for the formation of numerous voids and pores, which are perfect candidates for the incorporation of water. The alteration has also resulted in uptake of non-formula elements such as Al, P, Ca, Fe, Y, and REEs whereas Si and Zr are depleted. In one case, strong uptake of non-radiogenic Pb in altered zircon was observed. Because porous, low-total zircon has formed in secondary alteration process, its occurrence can be considered as an indicator of a secondary alteration history of the host rock. Low-total zircon is easily recognized by very low electron back-scatter intensities, which are closely related to the two main causes of the analytical shortfall (i.e., water content and porosity) and often lowered furthermore by the presence of light non-formula elements (especially P and Fe) up to the wt% range.     

Mars environment and magnetic orbiter model payload

Mars Environment and Magnetic Orbiter was proposed as an answer to the Cosmic Vision Call of Opportunity as a M-class mission. The MEMO mission is designed to study the strong interconnections between the planetary interior, atmosphere and solar conditions essential to understand planetary evolution, the appearance of life and its sustainability. MEMO provides a high-resolution, complete, mapping of the magnetic field (below an altitude of about 250 km), with an yet unachieved full global coverage. This is combined with an in situ characterization of the high atmosphere and remote sensing of the middle and lower atmospheres, with an unmatched accuracy. These measurements are completed by an improved detection of the gravity field signatures associated with carbon dioxide cycle and to the tidal deformation. In addition the solar wind, solar EUV/UV and energetic particle fluxes are simultaneously and continuously monitored. The challenging scientific objectives of the MEMO mission proposal are fulfilled with the appropriate scientific instruments and orbit strategy. MEMO is composed of a main platform, placed on a elliptical (130 × 1,000 km), non polar (77° inclination) orbit, and of an independent, higher apoapsis (10,000 km) and low periapsis (300 km) micro-satellite. These orbital parameters are designed so that the scientific return of MEMO is maximized, in terms of measurement altitude, local time, season and geographical coverage. MEMO carry several suites of instruments, made of an ‘exospheric-upper atmosphere’ package, a ‘magnetic field’ package, and a ‘low-middle atmosphere’ package. Nominal mission duration is one Martian year.     

Implications of large elastic thicknesses for the composition and current thermal state of Mars

The martian elastic lithosphere thickness Te has recently been constrained by modeling the geodynamical response to loading at the martian polar caps and Te was found to exceed 300 km at the north pole today. Geological evidence suggests that Mars has been volcanically active in the recent past and we have reinvestigated the martian thermal evolution, identifying models which are consistent with Te>300 km and the observed recent magmatic activity. We find that although models satisfying both constraints can be constructed, special assumptions regarding the concentration and distribution of radioactive elements, the style of mantle convection and/or the mantle's volatile content need to be made. If a dry mantle rheology is assumed, strong plumes caused by, e.g., a strongly pressure dependent mantle viscosity or endothermic phase transitions near the core-mantle boundary are required to allow for decompression melting in the heads of mantle plumes. For a wet mantle, large mantle water contents of the order of 1000 ppm are required to allow for partial mantle melting. Also, for a moderate crustal enrichment of heat producing, elements the planet's bulk composition needs to be 25 and 50% sub-chondritic for dry and wet mantle rheologies, respectively. Even then, models resulting in a globally averaged elastic thicknesses of Te>300 km are difficult to reconcile with most elastic thickness estimates available for the Hesperian and Amazonian periods. It therefore seems likely that large elastic thicknesses in excess of 300 km are not representative for the bulk of the planet and that Te possibly shows a large degree of spatial heterogeneity.     

Continental climate in the East Siberian Arctic during the last interglacial: Implications from palaeobotanical records

To evaluate the consequences of possible future climate changes and to identify the main climate drivers in high latitudes, the vegetation and climate in the East Siberian Arctic during the last interglacial are reconstructed and compared with Holocene conditions. Plant macrofossils from permafrost deposits on Bol'shoy Lyakhovsky Island, New Siberian Archipelago, in the Russian Arctic revealed the existence of a shrubland dominated by Duschekia fruticosa, Betula nana and Ledum palustre and interspersed with lakes and grasslands during the last interglacial. The reconstructed vegetation differs fundamentally from the high arctic tundra that exists in this region today, but resembles an open variant of subarctic shrub tundra as occurring near the tree line about 350 km southwest of the study site. Such difference in the plant cover implies that, during the last interglacial, the mean summer temperature was considerably higher, the growing season was longer, and soils outside the range of thermokarst depressions were drier than today. Our pollen-based climatic reconstruction suggests a mean temperature of the warmest month (MTWA) range of 9–14.5 °C during the warmest interval of the last interglacial. The reconstruction from plant macrofossils, representing more local environments, reached MTWA values above 12.5 °C in contrast to today's 2.8 °C. We explain this contrast in summer temperature and soil moisture with a combination of summer insolation higher than present and climatic continentality in arctic Yakutia stronger than present as result of a considerably less inundated Laptev Shelf during the last interglacial.     

In situ micro‐Raman and X‐ray diffraction study of diamonds and petrology of the new ureilite UAE 001 from the United Arab Emirates

Abstract— A new olivine‐pigeonite ureilite containing abundant diamonds and graphite was found in the United Arab Emirates. This is the first report of a meteorite in this country. The sample is heavily altered, of medium shock level, and has a total weight of 155 g. Bulk rock, olivine (Fo_79.8–81.8) and pyroxene (En_73.9–75.2, Fs_15.5–16.9, Wo_8.8–9.5) compositions are typical of ureilites. Olivine rims are reduced with Fo increasing up to Fo_96.1–96.8. Metal in these rims is completely altered to Fehydroxide during terrestrial weathering. We studied diamond and graphite using micro‐Raman and in situ synchrotron X‐ray diffraction. The main diamond Raman band (LO = TO mode at ?1332 cm^?1) is broadened when compared to well‐ordered diamond single crystals. Full widths at half maximum (FWHM) values scatter around 7 cm^?1. These values resemble FWHM values obtained from chemical vapor deposition (CVD) diamond. In situ XRD measurements show that diamonds have large grain sizes, up to >5 μm. Some of the graphite measured is compressed graphite. We explore the possibilities of CVD versus impact shock origin of diamonds and conclude that a shock origin is much more plausible. The broadening of the Raman bands might be explained by prolonged shock pressure resulting in a transitional Raman signal between experimentally shock‐produced and natural diamonds.