A two-dimensional pedestrian navigation solution aided with a visual gyroscope and a visual odometer

Integration of different positioning systems such as wireless local area networks (WLAN) and INS has proven to be the most promising approach for navigation in global navigation satellite system challenging environments. However, the integrated solution suffers from the errors induced by the sensors in the INS and the low availability and infrastructure dependency of the WLAN. Visual aiding is a complementary method for augmenting these systems, because it suffers from errors and availability problems of a different nature. We introduce the concept of a “visual gyroscope” and a “visual odometer,” based on recovering user information by tracking the feature motion between consecutive images. All calculations are of sufficiently low complexity to be adoptable for navigation with current smartphones. The camera orientation is observed using the vanishing point locations, and this information is transformed into user heading change information and also used for visual odometer calculations. The visual odometer retrieves the camera translation information based on a special camera configuration and the motion of the matched scale-invariant feature transform features. The performance of both of these tools is evaluated. Experiments in selected environments have proven that visual aiding with a visual gyroscope and visual odometer improves the two-dimensional navigation solution significantly.     

Adaptation of water resources systems to changing society and environment: a statement by the International Association of Hydrological Sciences

ABSTRACT

We explore how to address the challenges of adaptation of water resources systems under changing conditions by supporting flexible, resilient and low-regret solutions, coupled with on-going monitoring and evaluation. This will require improved understanding of the linkages between biophysical and social aspects in order to better anticipate the possible future co-evolution of water systems and society. We also present a call to enhance the dialogue and foster the actions of governments, the international scientific community, research funding agencies and additional stakeholders in order to develop effective solutions to support water resources systems adaptation. Finally, we call the scientific community to a renewed and unified effort to deliver an innovative message to stakeholders. Water science is essential to resolve the water crisis, but the effectiveness of solutions depends, inter alia, on the capability of scientists to deliver a new, coherent and technical vision for the future development of water systems.

EDITOR D. Koutsoyiannis; ASSOCIATE EDITOR not assigned     

Exchange dynamics of a shallow contaminated wetland

Flux pathways are investigated for a wetland system comprised of a river flowing through two shallow forebays and then entering the main basin of a lake. The hydrodynamic exchanges between these three components influence the fate and transport of heavy metals in the system. During non-storm summer flows the river plume, comprised of river water and entrained forebay water, was cooler than the lake surface water and so plunged as it entered the main basin and inserted near the seasonal thermocline. Because the river plume plunged, only a fraction of its metals flux was available to the epilimnion. A return flow into the forebay was always observed immediately above the river inflow, ensuring a predominantly two-layer exchange system. However during days of negative heat flux (surface heating), an additional exchange mechanism existed when the surface waters from the forebay formed a buoyant plume, flowing out into the main basin. This heated outflow produced a significant, but short-lived, arsenic flux from the forebay into the surface waters of the lake.     

Sea-Surface Temperatures and the History of Monsoon Upwelling in the Northwest Arabian Sea during the Last 500,000 Years

Arabian Sea sediments record changes in the upwelling system off Arabia, which is driven by the monsoon circulation system over the NW Indian Ocean. In accordance with climate models, and differing from other large upwelling areas of the tropical ocean, a 500,000-yr record of productivity at ODP Site 723 shows consistently stronger upwelling during interglaciations than during glaciations. Sea-surface temperatures (SSTs) reconstructed from the alkenone unsaturation index (U^K′₃₇) are high (up to 27°C) during interglaciations and low (22-24°C) during glaciations, indicating a glacial-interglacial temperature change of >3°C in spite of the dampening effect of enhanced or weakened upwelling. The increased productivity is attributed to stronger monsoon winds during interglacial times relative to glacial times, whereas the difference in SSTs must be unrelated to upwelling and to the summer monsoon intensity. The winter (NE) monsoon was more effective in cooling the Arabian Sea during glaciations then it is now.     

High-pressure synthesis of priderite and members of the lindsleyite-mathiasite and hawthorneite-yimengite series

Experiments investigating simplified members of the alkali-titanate mineral series priderite, lindsleyite-mathiasite (LIMA) and hawthorneite-yimengite (HAWYIM) confirm their stability at pressures between 3.5 and 5 GPa for priderite and LIMA, 4.3 and 5 GPa for HAWYIM at likely mantle solidus temperatures. Starting materials with K/Ba=1 resulted in solid-solutions for LIMA, whereas HAWYIM produced separate hawthorneite (K/Ba approx. 0.5) and nearly pure yimengite (K), indicating the existence of an asymmetric solvus for HAWYIM at high pressures. Priderite was examined with iron present as either Fe³⁺ or Fe²⁺; both are stable at 5 GPa, confirming the possible coexistence of priderite with diamond. X-ray powder diffraction data on end-members synthesized at high pressures and calculated reflection patterns improve the scope of diffraction data on these rare mantle minerals, with only small differences existing between the patterns for the synthetic minerals and those observed or expected for natural minerals.     

Spatial variability associated with shifting land use: Water quality and sediment metals in La Parguera, Southwest Puerto Rico

Development in southwest Puerto Rico, as in many areas of the Caribbean, is outpacing the ability of upland flora, salt flats, and mangroves to capture sediments and intercept and transform nutrients. A comparative study to examine the effects of development on near-shore water quality in La Parguera, Puerto Rico, was initiated in 1998. Total suspended solids were significantly higher in the vicinity of developing areas compared to reference areas. Chlorophyll-a measurements near of the wastewater treatment plant averaged two times the level of other areas. The overall average concentrations of copper, chromium, nickel, and zinc in sediments collected from salt flats exceeded values reported to cause impairment of biological systems. Marine sediments near more developed locations had the highest metal concentrations, suggesting a greater transport in this area. Natural resources are the primary attraction in this area; therefore, protection of near-shore resources should receive greater attention in land use planning.