Velocity-Aided Underwater Navigation System Using Receding Horizon Kalman Filter

This paper discusses the problems related to constructing a receding horizon filter for underwater inertial navigation systems which are subject to external disturbances. Noises are assumed to be bounded, additive, and contained in both state and measurement equations. An estimator is designed according to the sliding-window strategy to minimize the receding horizon estimation cost function. The derived filter is applied to a velocity-aided inertial navigation system. Simulations show that the derived filter is more accurate than the standard Kalman filter (KF) for underwater navigation systems subject to temporary unknown disturbances     

Metallic Mineral Resources in the Twenty-First Century: II. Constraints on Future Supply

Supplying worldwide demand of metallic raw materials throughout the rest of this century may require 5–10 times the amount of metals contained in known ore deposits. This demand can be met only if mineral deposits containing the required masses of metals, in excess of present day ore reserves, exist in the Earth’s crust. It is, by definition, not known whether or not such mineral deposits exist. On the basis of the statistical distribution of metal tonnages contained in known ore deposits, however, it is possible to place constraints on the size distribution of the deposits that must be discovered in order to meet the expected demand. A nondimensional analysis of the distribution of metal tonnages in deposits of 20 metals shows that most of them follow distributions that, although not strictly lognormal, share important characteristics with a lognormal distribution. Chief among these is the observation that frequency falls off symmetrically and geometrically with deposit size, relative to a median deposit size that is approximately equal to the geometric mean deposit size. An immediate consequence of this behavior is that most of the metal endowment is concentrated in deposits that are several orders of magnitude larger than the median deposit size, and that are much rarer than the most common deposits that cluster around the median deposit size. The analysis reveals remarkable similarities among the statistical distributions of most of the metals included in this study, in particular, the fact that distribution of most metals can be fully described with essentially the same value (about 2–3) of the scale parameter, σ, which is the only parameter needed to describe the behavior of a normalized lognormal variable. This observation makes it possible to derive the following general conclusions, which are applicable to most metals—both scarce and abundant. First, it is unlikely that undiscovered mineral deposits of sizes comparable to those that contain most of the known metal endowment exist in sufficient quantities to supply the expected worldwide demand throughout the rest of this century. Second, if the expected demand is to be met, one must hope that very large deposits, perhaps up to one order of magnitude larger than the largest known deposits, exist in accessible portions of the Earth’s crust, and that these deposits are discovered.     

W–Au skarns in the Neo-Proterozoic Seridó Mobile Belt,Borborema Province in northeastern Brazil: an overview with emphasis on the Bonfim deposit

The Seridó Mobile Belt (SMB) is located in the Borborema Province in northeastern Brazil and consists of a gneiss basement (Archean to Paleo-Proterozoic), a metasedimentary sequence (marble, quartzites, and schists), and the Brasiliano igneous suite (both of Neo-Proterozoic age). In this region, skarns occur within marble and at the marble–schist contact in the metasedimentary sequence. Most of the skarn deposits have been discovered in the early 1940s, and since then, they have been exploited for tungsten and locally gold. Recently, the discovery of gold in the Bonfim tungsten skarn has resulted in a better understanding of the skarn mineralization in this region. The main characteristics of the SMB skarns are that they are dominantly oxidized tungsten skarns, with the exception of the Itajubatiba and Bonfim gold-bearing skarns, which are reduced based on pyrrhotite as the dominant sulfide, garnet with high almandine and spessartine component, and elevated gold contents. In the Bonfim deposit, pressure estimates indicate that the skarns formed at 10- to 15-km depth. The mineralized skarns present the prograde stage with almandine, diopside, anorthite, and actinolite-magnesio-hornblende, and titanite, apatite, allanite, zircon, and monazite as accessory minerals. The retrograde stage is characterized by alkali feldspar, clinozoisite–zoisite–sericite, calcite, and quartz. Scheelite occurs in four ore-shoots distributed within the marble and at the marble–schist contact. The main ore body is 5–120 cm wide and contains an average of 4.8-wt.% WO₃, which occurs in the basal marble–schist contact. Fold hinges appear to control the location of high-grade scheelite. The late-stage gold mineralization contains bismite (Bi₂O₃), fluorine-bearing bismite, native bismuth, bismuthinite (Bi₂S₃), and joseite [Bi₄(Te,S)₃], and also chlorite, epidote, prehnite, chalcopyrite, and sphalerite. This gold–bismuth–tellurium mineralization exhibits a typical late character and occurs as a black fine-grained mineral assemblage controlled by conjugate brittle-ductile faults (and extensional fractures) that crosscut not only the banding in prograde skarn but also the retrograde alkali feldspar and clinozoisite–zoisite–sericite assemblage. The Au–Bi–Te-bearing minerals are intergrown with retrograde epidote, prehnite, chlorite, chalcopyrite, and sphalerite, indicating that gold mineralization at Bonfim is linked to a late-stage skarn event. The polymetallic nature of the Bonfim deposit can be used as an important guide for the exploration of this type of skarn deposit in the Borborema Province, which potentially contains significant new, undiscovered gold and polymetallic deposits.     

Evidence of temperature depression and hydrological variations in the eastern Sierra Nevada during the Younger Dryas stade

Sediment records from two lakes in the east-central Sierra Nevada, California, provide evidence of cooling and hydrological shifts during the Younger Dryas stade (YD; ~ 12,900-11,500 cal yr BP). A chironomid transfer function suggests that lake-water temperatures were depressed by 2°C to 4°C relative to maximum temperatures during the preceding Bølling-Allerød interstade (BA; ~ 14,500-12,900 cal yr BP). Diatom and stable isotope records suggest dry conditions during the latter part of the BA interstade and development of relatively moist conditions during the initiation of the YD stade, with a reversion to drier conditions later in the YD. These paleohydrological inferences correlate with similar timed changes detected in the adjacent Great Basin. Vegetation response during the YD stade includes the development of more open and xeric vegetation toward the end of the YD. The new records support linkages between the North Atlantic, the North Pacific, and widespread YD cooling in western North America, but they also suggest complex hydrological influences. Shifting hydrological conditions and relatively muted vegetation changes may explain the previous lack of evidence for the YD stade in the Sierra Nevada and the discordance in some paleohydrological and glacial records of the YD stade from the western United States.     

U–Pb SHRIMP and Sm–Nd geochronology of granite–gneiss complexes and implications for the evolution of the Central Brazil Archean Terrain

The paper is a first attempt to unravel the Archean multi-stage metaplutonic assemblage of the Meso/Neoarchean terrane of the State of Goiás, Central Brazil, by means of the U–Pb SHRIMP zircon and Sm–Nd techniques. Two stages of granitic plutonism, spanning ca. 140 m.y., were precisely established for the accretion of the gneiss protoliths. The earliest stage embraces tonalitic to granodioritic and minor granitic orthogneisses with Nd juvenile signature, emplaced from ca. 2845 to ca. 2785 Ma, interpreted as the roots of an early arc. Inherited zircon xenocrysts and Nd isotopic data indicate that the juvenile magmas underwent contamination from a sialic crust as old as 3.3 Ga, from which there are, so far, no recognizable exposures. The second stage comprises granodioritic to granitic gneisses and lasted from ca. 2711 to 2707 Ma. Based on their Nd isotopic signatures and on inherited zircon crystals, their protoliths are interpreted as dominantly crustal-derived. The SHRIMP data from zircon crystals did not depict a Paleoproterozoic overprinting on the Archean gneisses, which is due to geological processes with prevailing temperatures below the isotopic stability of the U/Pb/Th system in the mineral. These processes comprise crustal extension and intrusion of a mafic dike swarm at ca. 2.3 Ga, followed by low grade events mostly related to shear zones between ca. 2.15 and 2.0 Ga. The study also revealed the extent of the Pan- African tectono-thermal overprinting on the Archean orthogneisses. Most of the zircon populations show morphological evidence of metamorphic peripheral recrystallization dated between ca. 750 and 550 Ma. One of the banded gneisses with a crystallization age of ca. 2700 Ma (2σ) has a more complex zircon population including magmatic new grains, which yielded a precise 206Pb/238U crystallization age of 590 ± 10 Ma (2σ). These new grains are interpreted to have grown in anatectic veins injected within strongly sheared gneiss.The data characterize a widespread Pan-African-aged metamorphic overprinting, culminating with localized anatexis of the Archean orthogneisses.     

Identification of the affected areas by mass movement through a physically based model of landslide hazard combined with an empirical model of debris flow

In tropical areas, mass movements are common phenomena, especially during periods of heavy rainfall, which frequently take place in the summer season. These phenomena have caused loss of life and serious damage to infrastructure and properties. The most prominent of these phenomena are landslides that can produce debris flows. Thus, this article aims at determining affected areas using a model to predict landslide prone areas (SHALSTAB) combined with an empirical model designed to define the debris flow travel distance and area of deposition. The methodology of this work consists of the following steps: (a) elaboration of a digital elevation model (DEM), (b) application of the deterministic SHALSTAB model to locate the landslide prone areas, (c) identification of the debris flow travel distance and area of deposition, and (d) mapping of the affected areas (landslides and debris flows). This work was developed in an area in which many mass movements occurred after intense rainfall during the summer season (February 1996) in the state of Rio de Janeiro, southeast Brazil. All of the scars produced by that event were mapped, allowing for validation of the applied models. The model results show that the mapped landslide locations can adequately be simulated by the model.