Optimization of two GPS/MEMS-IMU integration strategies with application to sports

The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison of athletes’ performance throughout a racecourse. In this paper, we compare loosely and closely coupled integration strategies under realistic racing scenarios when GPS is partially or completely masked. The study reveals that both integration approaches have a similar performance when the satellite constellation is completed or the outages are short. However, for less than four satellites, the closely coupled strategy clearly outperforms the loosely coupled approach. The second part of the paper is devoted to the important problem of system initialization, because the conventional GPS/IMU alignment methods are no longer applicable when using MEMS-IMU. We introduce a modified coarse alignment method and a quaternion estimation method for the computation of the initial orientation. Simulations and practical experiments reveal that both methods are numerically stable for any initial orientation of the sensors with the error characteristics of MEMS-IMUs. Throughout the paper, our findings are supported by racing experiments with references provided in both, the measurement and the navigation domains.     

Deformation and patterns of sedimentation,South San Clemente Basin,California Borderland

Seismic reflection profiling in the South San Clemente Basin and the southern portion of the San Diego Trough has revealed at least six sedimentary units exhibiting varying stages of deformation. Four of the units are interpreted to be marine turbidites supplied by adjacent submarine canyons. Sediments comprising the Descanso Plain and correlative material within the South San Clemente Basin are attributed to a southerly source (Banda Canyon), while the more recent Quaternary turbidites from Coronado Canyon filled the southern San Diego Trough and then spilled over into South San Clemente Basin. The relatively high but intermittent rates of sedimentation, together with shifting sources and areas of deposition, have resulted in sedimentary units that were emplaced in comparatively short episodes but which were subjected to relatively continuous tectonic activity. Consequently, the sedimentary layers of each unit appear uniformly affected by deformation which increases in successively older units.     

Comparison of sedimentation-compression curves obtained by nuclear and gravimetric methods for Wilkinson Basin,Gulf of Maine,sediments

Accurate measurements of bulk density are important in the construction of sedimentation-compression curves of water-saturated, fine-grained cohesive sediments for consolidation studies. The bulk density of five cores was measured nondestructively on a laboratory nuclear transmission densitometer and the water content, expressed as void ratio, was derived from an empirical relationship between bulk density and water content. Bulk density and water content measured destructively was determined every 10 cm for a comparison with the nuclear data. Agreement between nuclear and gravimetric methods was within ± 0.02 g/cm³ for bulk density ranging from 1.2 to 1.4 g/cm³. Sedimentation-compression curves made using both methods were in generally good agreement.In the Wilkinson Basin, void ratio gradually decreases with increasing effective overburden pressure. This indicates that consolidation by dewatering the surficial sediments is normal and that the environmental conditions during deposition remained relatively constant.     

The multiple chronological techniques applied to the Lake Suigetsu SG06 sediment core,central Japan

The varved sediment of Lake Suigetsu (central Japan) provides a valuable opportunity to obtain high‐resolution, multi‐proxy palaeoenvironmental data across the last glacial/interglacial cycle. In order to maximize the potential of this archive, a well‐constrained chronology is required. This paper outlines the multiple geochronological techniques being applied – namely varve counting, radiocarbon dating, tephrochronology (including argon–argon dating) and optically stimulated luminescence (OSL) – and the approaches by which these techniques are being integrated to form a single, coherent, robust chronology. Importantly, we also describe here the linkage of the floating Lake Suigetsu (SG06) varve chronology and the absolute (IntCal09 tree‐ring) time scale, as derived using radiocarbon data from the uppermost (non‐varved) portion of the core. This tie‐point, defined as a distinct (flood) marker horizon in SG06 (event layer B‐07–08 at 1397.4 cm composite depth), is thus derived to be 11 255 to 11 222 IntCal09 cal. years BP (68.2% probability range).     

Drained cavity expansions in soils of finite radial extent subjected to two boundary conditions

The problem of drained cavity expansion in soils of finite radial extent is investigated. Cylindrical and spherical cavities expanded from zero radius subjected to either constant stress or zero displacement at the finite boundary are considered. The generalised analytical solution procedure presented enables more advanced constitutive models to be implemented than have been possible in previous studies. Results generated for Sydney quartz sand highlight substantial differences between cavity limit pressures for the two boundary conditions and for boundaries of finite and infinite radial extent. This is of significance in accounting for boundary effects when interpreting cone penetration tests conducted in calibration chambers. Copyright © 2011 John Wiley & Sons, Ltd.     

Extreme events as drivers of early human behaviour in Africa? The case for variability,not catastrophic drought

Extreme Late Quaternary climatic events, sometimes of considerable continental extent, are being proposed as major contributors to ancestral human behaviour, particularly migration, in Africa. Most recently, a catastrophic drought in the Afro‐Asian monsoon region has been proposed for 16 000–17 000 years ago, driven by global impacts of the Heinrich event 1 (H1), with potentially significant consequences for Palaeolithic cultures. We provide a new analysis of the assertion and find, on examination of a wide set of palaeoenvironmental records, that the scale and extent of the proposed drought is not supported. While some parts of the African tropics, close to the equator, do appear dry at this time, data for the tropics as a whole suggest markedly variable terrestrial conditions, with some environmental systems experiencing very positive hydrological excursions during H1. We contend that in the quest for evidence of climate drivers of ancestral human behaviour, the variability associated with spatially and temporally complex climatic conditions is a significant factor in itself. Copyright © 2011 John Wiley & Sons, Ltd.     

Structure and collapse of three-dimensional magnetic neutral points

Abstract

The structure and collapse of linear three-dimensional magnetic neutral points is studied by varying the four parameters (p, q,j_|,j_⊥ ) that define, in general, the linear field of a neutral point. The effect of these parameters on both the skeleton structure (i.e. the fan and spine) and the actual field line structure of the null is considered. It is found that one current component (j_⊥ ) causes the skeleton structure of the null to fold up from its potential state, whereas the other current component (j _|;) causes the field lines to bend. The two other parameters (p,q) determine the potential structure of the null and cause the null to transform from a three-dimensional null to a two-dimensional null and from a positive (type B) null to a negative (type A) null.

To investigate the collapse of three-dimensional nulls, solutions to the linear, low-β ideal magnetohydrodynamic equations are found. It is found that three-dimensional null points can collapse if the field line foot-points are free and energy can propagate into the system.     

Geophysical surveys of the sediments of Loch Ness,Scotland: implications for the deglaciation of the Moray Firth Ice Stream,British–Irish Ice Sheet

We present results from three geophysical campaigns using high‐resolution sub‐bottom profiling to image sediments deposited in Loch Ness, Scotland. Sonar profiles show distinct packages of sediment, providing insight into the loch's deglacial history. A recessional moraine complex in the north of the loch indicates initial punctuated retreat. Subsequent retreat was rapid before stabilisation at Foyers Rise formed a large stillstand moraine. Here, the calving margin produced significant volumes of laminated sediments in a proglacial fjord‐like environment. Subsequent to this, ice retreated rapidly to the southern end of the loch, where it again deposited a sequence of proglacial laminated sediments. Sediment sequences were then disturbed by the deposition of a thick gravel layer and a large turbidite deposit as a result of a jökulhlaup from the Spean/Roy ice‐dammed lake. These sediments are overlain by a Holocene sheet drape. Data indicate: (i) a former tributary of the Moray Firth Ice Stream migrated back into Loch Ness as a major outlet glacier with a calving margin in a fjord‐like setting; (ii) there was significant sediment supply to the terminus of this outlet glacier in Loch Ness; and (iii) that jökulhlaups are important for sediment supply into proglacial fjord/lake environments and may compose >20% of proglacial sedimentary sequences. Copyright © 2011 John Wiley & Sons, Ltd.     

MinIdent: An application to the identification and classification of amphiboles

Summary Amphibole data in the MinIdent database (Smith andLeibovitz, 1986) were initially entered using species names quoted in the original source. The database has been updated by reclassifying these early data using the program AMPHTAB supplied by N. M. S. Rock and by adding supplemental data from the more recent literature, with the species names again checked using AMPHTAB. Associated MinIdent mineral identification software was utilized to determine which minerals in the database most closely resemble a series of unknown specimens chemically, as expressed in the Chemical Matching Index, CM, a relative figure-of-merit. Chemical data fromMogessie and Tessadri (1982) and Hawthorne (1983) were used to check the agreement between MinIdent and AMPHTAB for the classification of 221 unknown amphiboles.With 450 amphibole analyses entered and compiled in MinIdent, the name assigned by AMPHTAB showed the highest value of CM in MinIdent for 127 of the 221 unknown amphiboles (57.5°/x) and the second highest value for another 32 (14.5%). A chemically adjacent amphibole field had the highest value of CM for 59 of the 221 unknowns (26.7%), where chemically adjacent refers to a change in one chemical parameter. The greatest discrepancy between the two programs occurred in the hornblendes, with an agreement of just 20%, although for 58% of the unknowns the species with the highest CM in MinIdent was in a chemical field adjacent to the species name assigned by AMPHTAB. In many cases the disagreement between MinIdent and AMPHTAB could be ascribed to a lack of data in MinIdent.A comparison of the two programs suggests that the assignment of a single name to an unknown amphibole by AMPHTAB with no direct indication of its reliability may be; misleading. Standard analytical errors are frequently sufficient to overlap the arbitrary boundaries between amphibole species fields. In such cases it may be preferable to use a program such as MinIdent which, rather than assigning an arbitrary amphibole name, presents a list of 20 amphiboles with the degree of similarity between them and the unknown amphibole indicated. MinIdent offers the additional benefit of allowing input of other than chemical data and bases the match between unknown and standard data upon all input data. This will become more of an advantage as instruments such as automated refractometers become available for routine use.

---

Zusammenfassung Ausgangspunkt war das Amphibol-Datenmaterial (Smith und Leibovitz, 1986) mit den dort verwendeten Artnamen. Diese Basisdaten wurden vervollständigt und erneuert durch Reklassifizierung mittels des AMPHTAB Programms, ergänzt durch N. M. S. Rock, und durch Hinzufügung weiterer Daten aus der neuesten Literatur, deren Speciesnamen wiederum mit AMPHTAB überprüft wurden. Außerdem wurde eine MinIdent Mineralidentifizierungs-Software verwendet, um die Minerale zu bestimmen, die in ihrem Chemismus am ehesten einer Serie von unbekannten Amphibol-Species entsprechen, wie sie im Chemical Matching Index (CM) aufscheinen. Zur Klassifikation von 221 unbekannten Amphibolen wurden chemische Daten von Mogessie und Tessadri (1982) verwendet um die Übereinstimmung zwischen MinIdent und AMPHTAB zu überprüfen.Unter den 450 in MinIdent zusammengestellten und eingegebenen Amphibolanalysen zeigen die bei AMPHTAB angegebenen die höchsten CM Werte, nämlich 127 von 221 unbekannten Amphibolen (57,5%) und weitere 32 (14,5%) die zweithöchsten Werte. Innerhalb eines chemisch benachbarten Amphibolfeldes hatten 59 der 221 unbekannten Amphibole (26,7%) die höchsten CM Werte, wobei unter achemisch benachbart die Änderung eines chemischen Parameters zu verstehen ist. Die größten Unterschiede zwischen den beiden Programmen traten bei den Hornblenden auf. Die Übereinstimmung lag bei nur 20%, obwohl bei 58% der unbekannten Amphibole die Species mit dem höchsten CM Wert in MinIdent in ein chemisches Feld zu liegen kamen, welches zu den bei AMPHTAB angegebenen Speciesnamen eine benachbarte Position einnimmt. Die Unterschiede zwischen MinIdent und AMPHTAB könnten in vielen Fällen auf ein Fehlen von Daten in MinIdent zurükzuführen sein.Ein Vergleich beider Programme deutet an, daß die Angabe eines Einzelnamens für ein unbekanntes Amphibol im AMPHTAB Programm ohne Angaben über die Zuverlässigkeit zu Mißverständnissen führen kann. Normale analytische Fehler können bereits dazu führen, daß die Grenzen zweier willkürlicher Amphibolfelder überlappen. In derartigen Fällen emphiehlt sich die Anwendung des MinIdent Programmes, welches eben nicht einen willkürlichen Amphibolnamen angibt, sondern eine Liste von 20 Amphibolen mit dem Grad ihrer Ähnlichkeit, und einem Hinweis auf den unbekannten Amphibol. MinIdent bietet den zusätzlichen Vorteil, daß man außer chemischen auch andere Daten eingeben kann, und stellt dann sämtliche Daten des unbekannten Amphibols den Standard Daten gegenüber. Dieser Klassifizierungsvorgang wird mit der zunehmenden Routineanwendung von automatischen Refraktometern verstärkte Anwendung finden.