Hybrid derivative-free extended Kalman filter for unknown lever arm estimation in tightly coupled DGPS/INS integration

Differential carrier phase observations from GPS (Global Positioning System) integrated with high-rate sensor measurements, such as those from an inertial navigation system (INS) or an inertial measurement unit (IMU), in a tightly coupled approach can guarantee continuous and precise geo-location information by bridging short outages in GPS and providing a solution even when less than four satellites are visible. However, to be efficient, the integration requires precise knowledge of the lever arm, i.e. the position vector of the GPS antenna relative to the IMU. A previously determined lever arm by direct measurement is not always available in real applications; therefore, an efficient automatic estimation method can be very useful. We propose a new hybrid derivative-free extended Kalman filter for the estimation of the unknown lever arm in tightly coupled GPS/INS integration. The new approach takes advantage of both the linear time propagation of the Kalman filter and the nonlinear measurement propagation of the derivative-free extended Kalman filter. Compared to the unscented Kalman filter, which in recent years is typically used as a superior alternative to the extended Kalman filter for nonlinear estimation, the virtue of the new Kalman filter is equal estimation accuracy at a significantly reduced computational burden. The performance of the new lever arm estimation method is assessed with simulated and real data. Simulations show that the proposed technique can estimate the unknown lever arm correctly provided that maneuvers with attitude changes are performed during initialization. Field test results confirm the effectiveness of the new method.     

Spatiotemporal analysis of particulate matter, sulfur dioxide and carbon monoxide concentrations over the city of Rio de Janeiro, Brazil

Time series of pollutants and weather variables measured at four sites in the city of Rio de Janeiro, Brazil, between 2002 and 2004, were used to characterize temporal and spatial relationships of air pollution. Concentrations of particulate matter (PM₁₀), sulfur dioxide (SO₂) and carbon monoxide (CO) were compared to national and international standards. The annual median concentration of PM₁₀ was higher than the standard set by the World Health Organization (WHO) on all sites and the 24?h means exceeded the standards on several occasions on two sites. SO₂ and CO did not exceed the limits, but the daily maximum of CO in one of the stations was 27% higher on weekends compared to weekdays, due to increased activity in a nearby Convention Center. Air temperature and vapor pressure deficit have both presented the highest correlations with pollutant??s concentrations. The concentrations of SO₂ and CO were not correlated between sites, suggesting that local sources are more important to those pollutants compared to PM₁₀. The time series of pollutants and air temperature were decomposed in time and frequency by wavelet analysis. The results revealed that the common variability of air temperature and PM₁₀ is dominated by temporal scales of 1?C8?days, time scales that are associated with the passage of weather events, such as cold fronts.     

Modeling rock permeability from NMR relaxation data by PLS regression

This study explores the application of the partial least squares regression (PLSR) technique to rock permeability prediction from nuclear magnetic resonance (NMR) relaxation data. A total of 68 Brazilian sandstone cores selected from reservoirs and outcrop analogs were fully saturated and analyzed by NMR. The permeability of the cores ranged from 0.007 to 9,800 mD. From their ¹H transverse relaxation times (T₂) measured at 2 MHz, two PLSR models were developed for the relaxation spectra and the raw relaxation curves. Both models led to more uniform and accurate predictions (RMSE = 0.47 and 0.50 log mD, respectively) compared with the classical Kenyon model (RMSE = 0.78 log mD).     

Complex size-dependent habitat associations in potamodromous fish species

Knowledge of the distribution of species life stages at multiple spatial scales is fundamental to both a proper assessment of species management and conservation programmes and the ability to predict the consequences of human disturbances for river systems. The habitat requirements of three native cyprinid species—the Iberian barbel Barbus bocagei Steindachner, the Iberian straight-mouth nase Pseudochondrostoma polylepis (Steindachner), and the Northern straight-mouth nase Pseudochondrostoma duriense (Coelho)—were examined at 174 undisturbed or minimally disturbed sites in 8 river catchments across western Iberia, by modelling occurrence and counts of species life stages at two spatial scales—large (regional) and instream (local)—using hurdle models. All the life stages of the barbel showed a negative association with upstream high-gradient river reaches, whereas juvenile P. duriense favoured such areas. Stream width and openness were negatively related with the occurrence of juvenile and small adult barbel, but not with large adults. Juvenile nase, on the other hand, were found to be mainly confined to fast-flowing habitats with high instream cover and coarser substrata. Advanced life stages of the barbel were mainly associated with the “pure” regional and shared components, whereas the purely local attributes accounted for much of the model variation among nases, in particular juveniles, and juvenile barbel. The results of this study are useful for setting or refining management goals, and highlight the need to separately consider life stages when performing conservation-related studies of species distribution.     

Recovery of macrobenthos in defaunated tropical estuarine sediments

In the estuarine environment, hypoxia and/or anoxia have become a major cause of benthic defaunation and are strongly associated with increased eutrophication. Mesoscale field experiments were carried out to examine the recolonization and recovery time of macrobenthos after defaunation. Azoic sediments were achieved by covering four areas with polyethylene sheeting. Temporal changes and depth distribution of macrobenthos within the defaunated sediments were compared with those in undisturbed natural sediments at the same site. Within 3 days, annelids appeared as the first immigrants. After 153 days, the process of recovery had not yet been completed in terms of species richness. Whereas diversity and evenness showed no significant differences between treatments during the entire experiment, multivariate analyses proved that differences between treatments were still significant 93 days after the start of the experiment.     

Numerical analysis of an embankment built on soft soil reinforced with deep mixing columns: Parametric study

The behaviour of an embankment built on normally consolidated soft soil reinforced with deep mixing columns is studied using a coupled soil–water formulation. The numerical predictions are analysed in terms of settlements, increments in vertical effective stresses and excess pore pressures. Firstly, the effectiveness of the use of deep mixing columns is studied. Afterwards, a parametric analysis is performed to study the influence on the soil-columns system of the replacement ratio (columns’ spacing), the deformability of the embankment and columns, and the coefficient of vertical permeability of the columns.     

Free Eu(III) Determination by Donnan Membrane Technique with Electrochemical Detection: Implementation and Evaluation

Aquatic Geochemistry - The aim of this study was to develop an analytical method to determine free concentrations of Europium (Eu(III)) in natural waters. Europium(III) in solution was detected...     

Assessing the influence of a rapid water drawdown on the seismic response characteristics of a reservoir rock slope using time–frequency analysis

Acta Geotechnica - To investigate the influence of a rapid water drawdown (RWD) on the seismic response characteristics of reservoir rock slopes, numerical dynamic analyses and shaking table tests...     

Analysis of the 1 November 2015 heavy rainfall episode in Algarve by using weather radar and rain gauge data

The trigger for the study presented in this paper was the extreme rain event of 1 November 2015 in Algarve region. The main objective was the analysis and improvement of the precipitation field using a radar–rain gauge merging method. Ordinary kriging with radar-based error correction has been applied to hourly values of precipitation from both sensors. The merging technique allowed keeping the better radar spatial pattern, being the respective estimates corrected by the rain gauges observations. The procedure led to a reduction in the errors of the precipitation estimates, evaluated by cross-validation, when compared to univariate interpolation of rain gauge observation or radar rain product. Finally, some discussion is also added on the problematic of flooding in urban areas, especially those with absent or deficient urban planning.